From 99ec28bcf3aece7daa82a940f62ac66c724320d3 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 23 Jun 2023 15:27:42 +0900 Subject: [PATCH 001/118] feat(dynamic_avoidance): apply LPF to shift length, and positive relative velocity (#4047) Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance_module.hpp | 50 +++++++++++++++++-- planning/behavior_path_planner/package.xml | 1 + .../dynamic_avoidance_module.cpp | 35 +++++++++++-- 3 files changed, 76 insertions(+), 10 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp index 1dadf8c02ad5e..217104eb7c938 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp @@ -67,9 +67,10 @@ class DynamicAvoidanceModule : public SceneModuleInterface public: struct DynamicAvoidanceObject { - explicit DynamicAvoidanceObject( + DynamicAvoidanceObject( const PredictedObject & predicted_object, const double arg_path_projected_vel) - : pose(predicted_object.kinematics.initial_pose_with_covariance.pose), + : uuid(tier4_autoware_utils::toHexString(predicted_object.object_id)), + pose(predicted_object.kinematics.initial_pose_with_covariance.pose), path_projected_vel(arg_path_projected_vel), shape(predicted_object.shape) { @@ -78,9 +79,10 @@ class DynamicAvoidanceModule : public SceneModuleInterface } } - const geometry_msgs::msg::Pose pose; - const double path_projected_vel; - const autoware_auto_perception_msgs::msg::Shape shape; + std::string uuid; + geometry_msgs::msg::Pose pose; + double path_projected_vel; + autoware_auto_perception_msgs::msg::Shape shape; std::vector predicted_paths{}; bool is_left; @@ -124,7 +126,45 @@ class DynamicAvoidanceModule : public SceneModuleInterface const DynamicAvoidanceObject & object) const; std::vector target_objects_; + // std::vector prev_target_objects_; std::shared_ptr parameters_; + + struct ObjectsVariable + { + void resetCurrentUuids() { current_uuids_.clear(); } + void addCurrentUuid(const std::string & uuid) { current_uuids_.push_back(uuid); } + void removeCounterUnlessUpdated() + { + std::vector obsolete_uuids; + for (const auto & key_and_value : variable_) { + if ( + std::find(current_uuids_.begin(), current_uuids_.end(), key_and_value.first) == + current_uuids_.end()) { + obsolete_uuids.push_back(key_and_value.first); + } + } + + for (const auto & obsolete_uuid : obsolete_uuids) { + variable_.erase(obsolete_uuid); + } + } + + std::optional get(const std::string & uuid) const + { + if (variable_.count(uuid) != 0) { + return variable_.at(uuid); + } + return std::nullopt; + } + void update(const std::string & uuid, const double new_variable) + { + variable_.emplace(uuid, new_variable); + } + + std::unordered_map variable_; + std::vector current_uuids_; + }; + mutable ObjectsVariable prev_objects_min_bound_lat_offset_; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml index cd7311f3308bb..97453b0325cef 100644 --- a/planning/behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/package.xml @@ -62,6 +62,7 @@ route_handler rtc_interface sensor_msgs + signal_processing tf2 tf2_eigen tf2_geometry_msgs diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index 47e8c73c394ae..d8860c86ae112 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -16,6 +16,7 @@ #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" +#include "signal_processing/lowpass_filter_1d.hpp" #include #include @@ -128,6 +129,19 @@ void appendExtractedPolygonMarker( marker_array.markers.push_back(marker); } + +template +std::optional getObjectFromUuid(const std::vector & objects, const std::string & target_uuid) +{ + const auto itr = std::find_if(objects.begin(), objects.end(), [&](const auto & object) { + return object.uuid == target_uuid; + }); + + if (itr == objects.end()) { + return std::nullopt; + } + return *itr; +} } // namespace #ifdef USE_OLD_ARCHITECTURE @@ -211,6 +225,7 @@ BehaviorModuleOutput DynamicAvoidanceModule::plan() // 3. create obstacles to avoid (= extract from the drivable area) std::vector obstacles_for_drivable_area; + prev_objects_min_bound_lat_offset_.resetCurrentUuids(); for (const auto & object : target_objects_) { const auto obstacle_poly = calcDynamicObstaclePolygon(object); if (obstacle_poly) { @@ -218,8 +233,11 @@ BehaviorModuleOutput DynamicAvoidanceModule::plan() appendObjectMarker(info_marker_, object.pose); appendExtractedPolygonMarker(debug_marker_, obstacle_poly.value()); + + prev_objects_min_bound_lat_offset_.addCurrentUuid(object.uuid); } } + prev_objects_min_bound_lat_offset_.removeCounterUnlessUpdated(); BehaviorModuleOutput output; output.path = prev_module_path; @@ -389,6 +407,7 @@ std::pair DynamicAvoidanceModule return std::make_pair(right_lanes, left_lanes); } +// NOTE: object does not have const only to update min_bound_lat_offset. std::optional DynamicAvoidanceModule::calcDynamicObstaclePolygon( const DynamicAvoidanceObject & object) const { @@ -455,10 +474,8 @@ std::optional DynamicAvoidanceModule::calcDynam motion_utils::findNearestSegmentIndex(prev_module_path->points, object.pose.position); const double signed_lon_length = motion_utils::calcSignedArcLength( prev_module_path->points, getEgoPosition(), ego_seg_idx, object.pose.position, obj_seg_idx); - if (relative_velocity == 0.0) { - return std::numeric_limits::max(); - } - return signed_lon_length / relative_velocity; + const double positive_relative_velocity = std::max(relative_velocity, 1.0); + return signed_lon_length / positive_relative_velocity; }(); if (time_to_collision < -parameters_->duration_to_hold_avoidance_overtaking_object) { @@ -535,13 +552,21 @@ std::optional DynamicAvoidanceModule::calcDynam const double max_bound_lat_offset = max_obj_lat_offset + parameters_->lat_offset_from_obstacle * (object.is_left ? 1.0 : -1.0); + // filter min_bound_lat_offset + const auto prev_min_bound_lat_offset = prev_objects_min_bound_lat_offset_.get(object.uuid); + const double filtered_min_bound_lat_offset = + prev_min_bound_lat_offset + ? signal_processing::lowpassFilter(min_bound_lat_offset, *prev_min_bound_lat_offset, 0.3) + : min_bound_lat_offset; + prev_objects_min_bound_lat_offset_.update(object.uuid, filtered_min_bound_lat_offset); + // create inner/outer bound points std::vector obj_inner_bound_points; std::vector obj_outer_bound_points; for (size_t i = lon_bound_start_idx; i <= lon_bound_end_idx; ++i) { obj_inner_bound_points.push_back( tier4_autoware_utils::calcOffsetPose( - path_with_backward_margin.points.at(i).point.pose, 0.0, min_bound_lat_offset, 0.0) + path_with_backward_margin.points.at(i).point.pose, 0.0, filtered_min_bound_lat_offset, 0.0) .position); obj_outer_bound_points.push_back( tier4_autoware_utils::calcOffsetPose( From deffac2a874de02a7cbe1d02133a48cc8cd754bf Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 23 Jun 2023 15:28:30 +0900 Subject: [PATCH 002/118] refactor(crosswalk): minor refactoring (#4046) * refactor(crosswalk): minor refactoring Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../src/scene_crosswalk.cpp | 78 +++++++++---------- .../src/scene_crosswalk.hpp | 8 +- 2 files changed, 43 insertions(+), 43 deletions(-) diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 7047fc7b56f2e..ca39796c616ba 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -194,52 +194,52 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto logger_, planner_param_.show_processing_time, "- step2: %f ms", stop_watch_.toc("total_processing_time", false)); - StopFactor stop_factor{}; - StopFactor stop_factor_rtc{}; - - const auto nearest_stop_point = findNearestStopPoint(ego_path, stop_factor); - const auto rtc_stop_point = findRTCStopPoint(ego_path, stop_factor_rtc); + const auto nearest_stop_point_with_factor = findNearestStopPointWithFactor(ego_path); + const auto rtc_stop_point_with_factor = findRTCStopPointWithFactor(ego_path); RCLCPP_INFO_EXPRESSION( logger_, planner_param_.show_processing_time, "- step3: %f ms", stop_watch_.toc("total_processing_time", false)); - setSafe(!nearest_stop_point); + setSafe(!nearest_stop_point_with_factor); if (isActivated()) { - if (!nearest_stop_point) { - if (!rtc_stop_point) { + if (!nearest_stop_point_with_factor) { + if (!rtc_stop_point_with_factor) { setDistance(std::numeric_limits::lowest()); return true; } const auto crosswalk_distance = - calcSignedArcLength(ego_path.points, ego_pos, getPoint(rtc_stop_point.get())); + calcSignedArcLength(ego_path.points, ego_pos, getPoint(rtc_stop_point_with_factor->first)); setDistance(crosswalk_distance); return true; } - const auto target_velocity = calcTargetVelocity(nearest_stop_point.get(), ego_path); + const auto target_velocity = + calcTargetVelocity(nearest_stop_point_with_factor->first, ego_path); insertDecelPointWithDebugInfo( - nearest_stop_point.get(), std::max(planner_param_.min_slow_down_velocity, target_velocity), - *path); + nearest_stop_point_with_factor->first, + std::max(planner_param_.min_slow_down_velocity, target_velocity), *path); return true; } - 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_odometry->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_odometry->pose, stop_factor_rtc.stop_pose, - VelocityFactor::UNKNOWN); - } + const auto & stop_point_with_factor = + [&]() -> boost::optional> { + if (nearest_stop_point_with_factor) + return nearest_stop_point_with_factor.get(); + else if (rtc_stop_point_with_factor) + return rtc_stop_point_with_factor.get(); + return {}; + }(); + + const auto & stop_factor = stop_point_with_factor->second; + insertDecelPointWithDebugInfo(stop_point_with_factor->first, 0.0, *path); + planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_odometry->pose, stop_factor.stop_pose, + VelocityFactor::UNKNOWN); RCLCPP_INFO_EXPRESSION( logger_, planner_param_.show_processing_time, "- step4: %f ms", @@ -291,8 +291,8 @@ boost::optional> CrosswalkModule::g return {}; } -boost::optional CrosswalkModule::findRTCStopPoint( - const PathWithLaneId & ego_path, StopFactor & stop_factor) +boost::optional> +CrosswalkModule::findRTCStopPointWithFactor(const PathWithLaneId & ego_path) { const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; @@ -311,14 +311,17 @@ boost::optional CrosswalkModule::findRTCStopPoint( return {}; } + StopFactor stop_factor; stop_factor.stop_pose = stop_pose.get(); - return stop_pose.get().position; + return std::make_pair(stop_pose.get().position, stop_factor); } -boost::optional CrosswalkModule::findNearestStopPoint( - const PathWithLaneId & ego_path, StopFactor & stop_factor) +boost::optional> +CrosswalkModule::findNearestStopPointWithFactor(const PathWithLaneId & ego_path) { + StopFactor stop_factor; + bool found_pedestrians = false; bool found_stuck_vehicle = false; @@ -485,7 +488,7 @@ boost::optional CrosswalkModule::findNearestStopPoint stop_factor.stop_pose = stop_pose.get(); - return stop_pose.get().position; + return std::make_pair(stop_pose.get().position, stop_factor); } std::pair CrosswalkModule::getAttentionRange(const PathWithLaneId & ego_path) @@ -844,18 +847,15 @@ bool CrosswalkModule::isStuckVehicle( return false; } - const auto & ego_pos = planner_data_->current_odometry->pose.position; - - double near_attention_range = 0.0; - double far_attention_range = 0.0; if (path_intersects_.size() < 2) { return false; } - near_attention_range = calcSignedArcLength(ego_path.points, ego_pos, path_intersects_.front()); - far_attention_range = calcSignedArcLength(ego_path.points, ego_pos, path_intersects_.back()); - near_attention_range = far_attention_range; - far_attention_range += planner_param_.stuck_vehicle_attention_range; + const auto & ego_pos = planner_data_->current_odometry->pose.position; + const double near_attention_range = + calcSignedArcLength(ego_path.points, ego_pos, path_intersects_.back()); + const double far_attention_range = + near_attention_range + planner_param_.stuck_vehicle_attention_range; const auto dist_ego2obj = calcSignedArcLength(ego_path.points, ego_pos, obj_pos); diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index c382d09e9ec6e..d53bc30471426 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -107,11 +107,11 @@ class CrosswalkModule : public SceneModuleInterface private: int64_t module_id_; - boost::optional findRTCStopPoint( - const PathWithLaneId & ego_path, StopFactor & stop_factor); + boost::optional> findRTCStopPointWithFactor( + const PathWithLaneId & ego_path); - boost::optional findNearestStopPoint( - const PathWithLaneId & ego_path, StopFactor & stop_factor); + boost::optional> findNearestStopPointWithFactor( + const PathWithLaneId & ego_path); boost::optional> getStopLine( const PathWithLaneId & ego_path, bool & exist_stopline_in_map) const; From 385ef5bf7a22b932a06a713c19b6d0e1fcd3510a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 23 Jun 2023 15:28:55 +0900 Subject: [PATCH 003/118] feat(behavior_velocity_traffic_light_module): print not found traffic ids for warning (#4045) Signed-off-by: Takayuki Murooka --- .../src/scene.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp index 925dfb0470b98..679a2f0cb9320 100644 --- a/planning/behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_traffic_light_module/src/scene.cpp @@ -442,9 +442,15 @@ bool TrafficLightModule::getHighestConfidenceTrafficSignal( } } if (!found) { + std::string not_found_traffic_ids{""}; + for (size_t i = 0; i < traffic_lights.size(); ++i) { + const int id = static_cast(traffic_lights.at(i)).id(); + not_found_traffic_ids += (i != 0 ? "," : "") + std::to_string(id); + } + RCLCPP_WARN_THROTTLE( - logger_, *clock_, 5000 /* ms */, "cannot find traffic light lamp state (%s).", - reason.c_str()); + logger_, *clock_, 5000 /* ms */, "cannot find traffic light lamp state (%s) due to %s.", + not_found_traffic_ids.c_str(), reason.c_str()); return false; } return true; From 7c77bbdefc5f2aa2bbec05fe1a8d5ac4c8374b94 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 23 Jun 2023 16:37:15 +0900 Subject: [PATCH 004/118] =?UTF-8?q?fix(behavior=5Fpath=5Fplanner):=20print?= =?UTF-8?q?=20avoidance=20and=20lane=20change=20debug=20mes=E2=80=A6=20(#4?= =?UTF-8?q?058)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit fix(behavior_path_planner): print avoidance and lane change debug message Signed-off-by: Zulfaqar Azmi --- .../behavior_path_planner_node.hpp | 2 -- .../behavior_path_planner/planner_manager.hpp | 8 ++++++++ .../src/behavior_path_planner_node.cpp | 3 +-- .../behavior_path_planner/src/planner_manager.cpp | 13 +++++++++++++ 4 files changed, 22 insertions(+), 4 deletions(-) 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 60152bdf42bb1..ea0e990a8b259 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 @@ -234,10 +234,8 @@ class BehaviorPathPlannerNode : public rclcpp::Node /** * @brief publish debug messages */ -#ifdef USE_OLD_ARCHITECTURE void publishSceneModuleDebugMsg( const std::shared_ptr & debug_messages_data_ptr); -#endif /** * @brief publish path candidate diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp index c91065d4a0a5d..108ca29f161b1 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp @@ -17,6 +17,7 @@ #include "behavior_path_planner/scene_module/scene_module_interface.hpp" #include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp" +#include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/utils/lane_following/module_data.hpp" #include @@ -225,6 +226,11 @@ class PlannerManager */ void print() const; + /** + * @brief visit each module and get debug information. + */ + std::shared_ptr getDebugMsg(); + private: /** * @brief run the module and publish RTC status. @@ -461,6 +467,8 @@ class PlannerManager mutable std::vector debug_info_; + mutable std::shared_ptr debug_msg_ptr_; + bool verbose_{false}; }; } // namespace behavior_path_planner 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 a853661891e75..bc3711b72e648 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -1295,6 +1295,7 @@ void BehaviorPathPlannerNode::run() publishPathCandidate(bt_manager_->getSceneModules(), planner_data_); publishSceneModuleDebugMsg(bt_manager_->getAllSceneModuleDebugMsgData()); #else + publishSceneModuleDebugMsg(planner_manager_->getDebugMsg()); publishPathCandidate(planner_manager_->getSceneModuleManagers(), planner_data_); publishPathReference(planner_manager_->getSceneModuleManagers(), planner_data_); stop_reason_publisher_->publish(planner_manager_->getStopReasons()); @@ -1416,7 +1417,6 @@ void BehaviorPathPlannerNode::publish_bounds(const PathWithLaneId & path) bound_publisher_->publish(msg); } -#ifdef USE_OLD_ARCHITECTURE void BehaviorPathPlannerNode::publishSceneModuleDebugMsg( const std::shared_ptr & debug_messages_data_ptr) { @@ -1430,7 +1430,6 @@ void BehaviorPathPlannerNode::publishSceneModuleDebugMsg( debug_lane_change_msg_array_publisher_->publish(*lane_change_debug_message); } } -#endif #ifdef USE_OLD_ARCHITECTURE void BehaviorPathPlannerNode::publishPathCandidate( diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index a84f13fd5a9d0..c9d4d2c191a4c 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -718,4 +718,17 @@ void PlannerManager::print() const RCLCPP_INFO_STREAM(logger_, string_stream.str()); } +std::shared_ptr PlannerManager::getDebugMsg() +{ + debug_msg_ptr_ = std::make_shared(); + for (const auto & approved_module : approved_module_ptrs_) { + approved_module->acceptVisitor(debug_msg_ptr_); + } + + for (const auto & candidate_module : candidate_module_ptrs_) { + candidate_module->acceptVisitor(debug_msg_ptr_); + } + return debug_msg_ptr_; +} + } // namespace behavior_path_planner From a0a0b1a91200f0f12077a52917129efd3b1ea605 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 23 Jun 2023 16:48:43 +0900 Subject: [PATCH 005/118] feat(dynamic_avoidance): suppress flickering of dynamic avoidance launching (#4048) * feat(dynamic_avoidance): suppress flickering of dynamic avoidance launching Signed-off-by: Takayuki Murooka * update config Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance.param.yaml | 10 +++--- .../dynamic_avoidance_module.hpp | 23 +++++++++++- .../src/behavior_path_planner_node.cpp | 2 ++ .../dynamic_avoidance_module.cpp | 35 +++++++++++++++---- .../dynamic_avoidance/manager.cpp | 4 +++ 5 files changed, 63 insertions(+), 11 deletions(-) diff --git a/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml b/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml index a4ff684839321..0b8f35bac3131 100644 --- a/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -12,21 +12,23 @@ motorcycle: true pedestrian: false - min_obstacle_vel: 1.0 # [m/s] + min_obstacle_vel: 0.0 # [m/s] + + successive_num_to_entry_dynamic_avoidance_condition: 5 drivable_area_generation: - lat_offset_from_obstacle: 1.3 # [m] + lat_offset_from_obstacle: 0.8 # [m] max_lat_offset_to_avoid: 0.5 # [m] # for same directional object overtaking_object: max_time_to_collision: 3.0 # [s] start_duration_to_avoid: 4.0 # [s] - end_duration_to_avoid: 5.0 # [s] + end_duration_to_avoid: 8.0 # [s] duration_to_hold_avoidance: 3.0 # [s] # for opposite directional object oncoming_object: max_time_to_collision: 3.0 # [s] - start_duration_to_avoid: 9.0 # [s] + start_duration_to_avoid: 12.0 # [s] end_duration_to_avoid: 0.0 # [s] diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp index 217104eb7c938..799c0aad6e307 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp @@ -47,6 +47,7 @@ struct DynamicAvoidanceParameters bool avoid_motorcycle{false}; bool avoid_pedestrian{false}; double min_obstacle_vel{0.0}; + int successive_num_to_entry_dynamic_avoidance_condition{0}; // drivable area generation double lat_offset_from_obstacle{0.0}; @@ -87,6 +88,24 @@ class DynamicAvoidanceModule : public SceneModuleInterface bool is_left; }; + struct DynamicAvoidanceObjectCandidate + { + DynamicAvoidanceObject object; + int alive_counter; + + static std::optional getObjectFromUuid( + const std::vector & objects, const std::string & target_uuid) + { + const auto itr = std::find_if(objects.begin(), objects.end(), [&](const auto & object) { + return object.object.uuid == target_uuid; + }); + + if (itr == objects.end()) { + return std::nullopt; + } + return *itr; + } + }; #ifdef USE_OLD_ARCHITECTURE DynamicAvoidanceModule( @@ -119,12 +138,14 @@ class DynamicAvoidanceModule : public SceneModuleInterface private: bool isLabelTargetObstacle(const uint8_t label) const; - std::vector calcTargetObjects() const; + std::vector calcTargetObjectsCandidate() const; std::pair getAdjacentLanes( const double forward_distance, const double backward_distance) const; std::optional calcDynamicObstaclePolygon( const DynamicAvoidanceObject & object) const; + std::vector + prev_target_objects_candidate_; std::vector target_objects_; // std::vector prev_target_objects_; std::shared_ptr parameters_; 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 bc3711b72e648..1359b1afc86fc 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -743,6 +743,8 @@ DynamicAvoidanceParameters BehaviorPathPlannerNode::getDynamicAvoidanceParam() p.avoid_motorcycle = declare_parameter(ns + "motorcycle"); p.avoid_pedestrian = declare_parameter(ns + "pedestrian"); p.min_obstacle_vel = declare_parameter(ns + "min_obstacle_vel"); + p.successive_num_to_entry_dynamic_avoidance_condition = + declare_parameter(ns + "successive_num_to_entry_dynamic_avoidance_condition"); } { // drivable_area_generation diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index d8860c86ae112..c75ed08b7a5ce 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -192,7 +192,19 @@ bool DynamicAvoidanceModule::isExecutionReady() const void DynamicAvoidanceModule::updateData() { - target_objects_ = calcTargetObjects(); + // calculate target objects candidate + const auto target_objects_candidate = calcTargetObjectsCandidate(); + prev_target_objects_candidate_ = target_objects_candidate; + + // calculate target objects considering flickering suppress + target_objects_.clear(); + for (const auto & target_object_candidate : target_objects_candidate) { + if ( + parameters_->successive_num_to_entry_dynamic_avoidance_condition <= + target_object_candidate.alive_counter) { + target_objects_.push_back(target_object_candidate.object); + } + } } ModuleStatus DynamicAvoidanceModule::updateState() @@ -293,8 +305,8 @@ bool DynamicAvoidanceModule::isLabelTargetObstacle(const uint8_t label) const return false; } -std::vector -DynamicAvoidanceModule::calcTargetObjects() const +std::vector +DynamicAvoidanceModule::calcTargetObjectsCandidate() const { const auto prev_module_path = getPreviousModuleOutput().path; const auto & predicted_objects = planner_data_->dynamic_object->objects; @@ -329,7 +341,7 @@ DynamicAvoidanceModule::calcTargetObjects() const // 4. check if object will cut into the ego lane. // NOTE: The oncoming object will be ignored. constexpr double epsilon_path_lat_diff = 0.3; - std::vector output_objects; + std::vector output_objects_candidate; for (const bool is_left : {true, false}) { for (const auto & object : (is_left ? objects_in_left_lanes : objects_in_right_lanes)) { const auto reliable_predicted_path = std::max_element( @@ -358,13 +370,24 @@ DynamicAvoidanceModule::calcTargetObjects() const continue; } + // get previous object if it exists + const auto prev_target_object_candidate = DynamicAvoidanceObjectCandidate::getObjectFromUuid( + prev_target_objects_candidate_, object.uuid); + const int alive_counter = + prev_target_object_candidate + ? std::min( + parameters_->successive_num_to_entry_dynamic_avoidance_condition, + prev_target_object_candidate->alive_counter + 1) + : 0; + auto target_object = object; target_object.is_left = is_left; - output_objects.push_back(target_object); + output_objects_candidate.push_back( + DynamicAvoidanceObjectCandidate{target_object, alive_counter}); } } - return output_objects; + return output_objects_candidate; } std::pair DynamicAvoidanceModule::getAdjacentLanes( diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp index d3212a7c0b1d4..b9ca4ffa964f7 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp @@ -49,6 +49,10 @@ void DynamicAvoidanceModuleManager::updateModuleParams( updateParam(parameters, ns + "pedestrian", p->avoid_pedestrian); updateParam(parameters, ns + "min_obstacle_vel", p->min_obstacle_vel); + + updateParam( + parameters, ns + "successive_num_to_entry_dynamic_avoidance_condition", + p->successive_num_to_entry_dynamic_avoidance_condition); } { // drivable_area_generation From 702947346bb48f89a93aab1a88cc7d60a2a9ea4d Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 23 Jun 2023 17:33:38 +0900 Subject: [PATCH 006/118] fix(avoidance): update logic to keep waiting approval (#4059) * revert "fix(avoidance): don't clear waiting approval if raw shift line exists (#4012)" This reverts commit 8577563ca1dca2994f099c7c47307ad57cbce875. * fix(avoidance): update logic to keep waiting approval Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) 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 51312dbf6d333..1d5142c81c0f9 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 @@ -2695,9 +2695,11 @@ BehaviorModuleOutput AvoidanceModule::planWaitingApproval() [](const auto & o) { return !o.is_avoidable; }); const auto candidate = planCandidate(); - if (!avoidance_data_.unapproved_raw_sl.empty()) { + if (!data.safe_new_sl.empty()) { updateCandidateRTCStatus(candidate); waitApproval(); + } else if (path_shifter_.getShiftLines().empty()) { + waitApproval(); } else if (all_unavoidable) { waitApproval(); } else { From 25f9d6a03adf91ed2312741b9acdf937560245a9 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 23 Jun 2023 17:41:10 +0900 Subject: [PATCH 007/118] fix(lane_change): fix debug visualization now showing (#4061) * fix(lane_change): fix debug visualization now showing Signed-off-by: Zulfaqar Azmi * renaming the markers Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../src/scene_module/lane_change/interface.cpp | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index c23bf807f121c..81df39cb8f789 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -116,6 +116,7 @@ ModuleStatus LaneChangeInterface::updateState() const auto [is_safe, is_object_coming_from_rear] = module_type_->isApprovedPathSafe(); + setObjectDebugVisualization(); if (is_safe) { module_type_->toNormalState(); return ModuleStatus::RUNNING; @@ -270,6 +271,8 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change); is_abort_path_approved_ = false; + setObjectDebugVisualization(); + return out; } @@ -300,6 +303,10 @@ void LaneChangeInterface::setData(const std::shared_ptr & dat void LaneChangeInterface::setObjectDebugVisualization() const { + debug_marker_.markers.clear(); + if (!parameters_->publish_debug_marker) { + return; + } using marker_utils::lane_change_markers::showAllValidLaneChangePath; using marker_utils::lane_change_markers::showLerpedPose; using marker_utils::lane_change_markers::showObjectInfo; @@ -315,9 +322,8 @@ void LaneChangeInterface::setObjectDebugVisualization() const }; add(showObjectInfo(debug_data, "object_debug_info")); - add(showLerpedPose(debug_data, "lerp_pose_before_true")); - add(showPolygonPose(debug_data, "expected_pose")); - add(showPolygon(debug_data, "lerped_polygon")); + add(showLerpedPose(debug_data, "ego_predicted_path")); + add(showPolygon(debug_data, "ego_and_target_polygon_relation")); add(showAllValidLaneChangePath(debug_valid_path, "lane_change_valid_paths")); } From e70df1239c67d8ae86a7a8bf8d6c83bc20e7ece7 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 23 Jun 2023 18:02:39 +0900 Subject: [PATCH 008/118] feat(dynamic_avoidance): ignore cut-out vehicle (#4049) * feat(dynamic_avoidance): ignore cut-out vehicle Signed-off-by: Takayuki Murooka * update cut out decision policy Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance_module.hpp | 8 +- .../dynamic_avoidance_module.cpp | 89 ++++++++++++------- 2 files changed, 61 insertions(+), 36 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp index 799c0aad6e307..4898188c71319 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp @@ -69,10 +69,11 @@ class DynamicAvoidanceModule : public SceneModuleInterface struct DynamicAvoidanceObject { DynamicAvoidanceObject( - const PredictedObject & predicted_object, const double arg_path_projected_vel) + const PredictedObject & predicted_object, const double arg_vel, const double arg_lat_vel) : uuid(tier4_autoware_utils::toHexString(predicted_object.object_id)), pose(predicted_object.kinematics.initial_pose_with_covariance.pose), - path_projected_vel(arg_path_projected_vel), + vel(arg_vel), + lat_vel(arg_lat_vel), shape(predicted_object.shape) { for (const auto & path : predicted_object.kinematics.predicted_paths) { @@ -82,7 +83,8 @@ class DynamicAvoidanceModule : public SceneModuleInterface std::string uuid; geometry_msgs::msg::Pose pose; - double path_projected_vel; + double vel; + double lat_vel; autoware_auto_perception_msgs::msg::Shape shape; std::vector predicted_paths{}; diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index c75ed08b7a5ce..a8a7f89c54021 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -73,20 +73,6 @@ geometry_msgs::msg::Point toGeometryPoint(const tier4_autoware_utils::Point2d & return geom_obj_point; } -double calcObstacleProjectedVelocity( - const std::vector & path_points, const PredictedObject & object) -{ - const auto & obj_pose = object.kinematics.initial_pose_with_covariance.pose; - const double obj_vel = object.kinematics.initial_twist_with_covariance.twist.linear.x; - - const size_t obj_idx = motion_utils::findNearestIndex(path_points, obj_pose.position); - - const double obj_yaw = tf2::getYaw(obj_pose.orientation); - const double path_yaw = tf2::getYaw(path_points.at(obj_idx).point.pose.orientation); - - return obj_vel * std::cos(obj_yaw - path_yaw); -} - std::pair getMinMaxValues(const std::vector & vec) { const size_t min_idx = std::distance(vec.begin(), std::min_element(vec.begin(), vec.end())); @@ -142,6 +128,21 @@ std::optional getObjectFromUuid(const std::vector & objects, const std::st } return *itr; } + +std::pair projectObstacleVelocityToTrajectory( + const std::vector & path_points, const PredictedObject & object) +{ + const auto & obj_pose = object.kinematics.initial_pose_with_covariance.pose; + const double obj_vel = object.kinematics.initial_twist_with_covariance.twist.linear.x; + + const size_t obj_idx = motion_utils::findNearestIndex(path_points, obj_pose.position); + + const double obj_yaw = tf2::getYaw(obj_pose.orientation); + const double path_yaw = tf2::getYaw(path_points.at(obj_idx).point.pose.orientation); + + return std::make_pair( + obj_vel * std::cos(obj_yaw - path_yaw), obj_vel * std::sin(obj_yaw - path_yaw)); +} } // namespace #ifdef USE_OLD_ARCHITECTURE @@ -321,14 +322,14 @@ DynamicAvoidanceModule::calcTargetObjectsCandidate() const continue; } - const double path_projected_vel = - calcObstacleProjectedVelocity(prev_module_path->points, predicted_object); + const auto [tangent_vel, normal_vel] = + projectObstacleVelocityToTrajectory(prev_module_path->points, predicted_object); // check if velocity is high enough - if (std::abs(path_projected_vel) < parameters_->min_obstacle_vel) { + if (std::abs(tangent_vel) < parameters_->min_obstacle_vel) { continue; } - input_objects.push_back(DynamicAvoidanceObject(predicted_object, path_projected_vel)); + input_objects.push_back(DynamicAvoidanceObject(predicted_object, tangent_vel, normal_vel)); } // 2. calculate target lanes to filter obstacles @@ -338,7 +339,7 @@ DynamicAvoidanceModule::calcTargetObjectsCandidate() const const auto objects_in_right_lanes = getObjectsInLanes(input_objects, right_lanes); const auto objects_in_left_lanes = getObjectsInLanes(input_objects, left_lanes); - // 4. check if object will cut into the ego lane. + // 4. check if object will cut into the ego lane or cut out to the next lane. // NOTE: The oncoming object will be ignored. constexpr double epsilon_path_lat_diff = 0.3; std::vector output_objects_candidate; @@ -352,7 +353,7 @@ DynamicAvoidanceModule::calcTargetObjectsCandidate() const // Ignore object that will cut into the ego lane const bool will_object_cut_in = [&]() { - if (object.path_projected_vel < 0) { + if (object.vel < 0) { // Ignore oncoming object return false; } @@ -370,6 +371,29 @@ DynamicAvoidanceModule::calcTargetObjectsCandidate() const continue; } + // Ignore object that will cut out to the next lane + const bool will_object_cut_out = [&]() { + if (object.vel < 0) { + // Ignore oncoming object + return false; + } + + constexpr double object_lat_vel_thresh = 0.3; + if (is_left) { + if (object_lat_vel_thresh < object.lat_vel) { + return true; + } + } else { + if (object.lat_vel < -object_lat_vel_thresh) { + return true; + } + } + return false; + }(); + if (will_object_cut_out) { + continue; + } + // get previous object if it exists const auto prev_target_object_candidate = DynamicAvoidanceObjectCandidate::getObjectFromUuid( prev_target_objects_candidate_, object.uuid); @@ -489,7 +513,7 @@ std::optional DynamicAvoidanceModule::calcDynam getMinMaxValues(obj_lon_offset_vec); // calculate time to collision and apply it to drivable area extraction - const double relative_velocity = getEgoSpeed() - object.path_projected_vel; + const double relative_velocity = getEgoSpeed() - object.vel; const double time_to_collision = [&]() { const auto prev_module_path = getPreviousModuleOutput().path; const size_t ego_seg_idx = planner_data_->findEgoSegmentIndex(prev_module_path->points); @@ -505,19 +529,18 @@ std::optional DynamicAvoidanceModule::calcDynam return std::nullopt; } - if (0 <= object.path_projected_vel) { + if (0 <= object.vel) { const double limited_time_to_collision = std::min(parameters_->max_time_to_collision_overtaking_object, time_to_collision); return std::make_pair( - raw_min_obj_lon_offset + object.path_projected_vel * limited_time_to_collision, - raw_max_obj_lon_offset + object.path_projected_vel * limited_time_to_collision); + raw_min_obj_lon_offset + object.vel * limited_time_to_collision, + raw_max_obj_lon_offset + object.vel * limited_time_to_collision); } const double limited_time_to_collision = std::min(parameters_->max_time_to_collision_oncoming_object, time_to_collision); return std::make_pair( - raw_min_obj_lon_offset + object.path_projected_vel * limited_time_to_collision, - raw_max_obj_lon_offset); + raw_min_obj_lon_offset + object.vel * limited_time_to_collision, raw_max_obj_lon_offset); }(); if (!obj_lon_offset) { @@ -527,15 +550,15 @@ std::optional DynamicAvoidanceModule::calcDynam const double max_obj_lon_offset = obj_lon_offset->second; // calculate bound start and end index - const bool is_object_overtaking = (0.0 <= object.path_projected_vel); + const bool is_object_overtaking = (0.0 <= object.vel); const double start_length_to_avoid = - std::abs(object.path_projected_vel) * - (is_object_overtaking ? parameters_->start_duration_to_avoid_overtaking_object - : parameters_->start_duration_to_avoid_oncoming_object); + std::abs(object.vel) * (is_object_overtaking + ? parameters_->start_duration_to_avoid_overtaking_object + : parameters_->start_duration_to_avoid_oncoming_object); const double end_length_to_avoid = - std::abs(object.path_projected_vel) * (is_object_overtaking - ? parameters_->end_duration_to_avoid_overtaking_object - : parameters_->end_duration_to_avoid_oncoming_object); + std::abs(object.vel) * (is_object_overtaking + ? parameters_->end_duration_to_avoid_overtaking_object + : parameters_->end_duration_to_avoid_oncoming_object); const auto lon_bound_start_idx_opt = motion_utils::insertTargetPoint( obj_seg_idx, min_obj_lon_offset - start_length_to_avoid, path_with_backward_margin.points); const size_t updated_obj_seg_idx = From 4ee69759ecfc00efc31aa710b4a62953f48cd518 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri, 23 Jun 2023 18:51:28 +0900 Subject: [PATCH 009/118] feat(mission_planner): add mrm route planner (#4027) * feat(mission_planner): add mrm route planner Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka --------- Signed-off-by: yutaka --- .../src/mission_planner/mission_planner.cpp | 165 +++++++++++++++++- .../src/mission_planner/mission_planner.hpp | 3 + 2 files changed, 160 insertions(+), 8 deletions(-) diff --git a/planning/mission_planner/src/mission_planner/mission_planner.cpp b/planning/mission_planner/src/mission_planner/mission_planner.cpp index 098f5e07ac071..7de19df1b3b4e 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.cpp @@ -75,7 +75,8 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options) plugin_loader_("mission_planner", "mission_planner::PlannerPlugin"), tf_buffer_(get_clock()), tf_listener_(tf_buffer_), - normal_route_(nullptr) + normal_route_(nullptr), + mrm_route_(nullptr) { map_frame_ = declare_parameter("map_frame"); reroute_time_threshold_ = declare_parameter("reroute_time_threshold"); @@ -155,6 +156,11 @@ void MissionPlanner::clear_route() // TODO(Takagi, Isamu): publish an empty route here } +void MissionPlanner::clear_mrm_route() +{ + mrm_route_ = nullptr; +} + void MissionPlanner::change_route(const LaneletRoute & route) { PoseWithUuidStamped goal; @@ -172,6 +178,23 @@ void MissionPlanner::change_route(const LaneletRoute & route) normal_route_ = std::make_shared(route); } +void MissionPlanner::change_mrm_route(const LaneletRoute & route) +{ + PoseWithUuidStamped goal; + goal.header = route.header; + goal.pose = route.goal_pose; + goal.uuid = route.uuid; + + arrival_checker_.set_goal(goal); + pub_route_->publish(route); + pub_mrm_route_->publish(route); + pub_marker_->publish(planner_->visualize(route)); + planner_->updateRoute(route); + + // update emergency route + mrm_route_ = std::make_shared(route); +} + LaneletRoute MissionPlanner::create_route( const std_msgs::msg::Header & header, const std::vector & route_segments, @@ -278,6 +301,10 @@ void MissionPlanner::on_set_route( throw component_interface_utils::ServiceException( ResponseCode::ERROR_PLANNER_UNREADY, "The vehicle pose is not received."); } + if (mrm_route_) { + throw component_interface_utils::ServiceException( + ResponseCode::ERROR_INVALID_STATE, "Cannot reroute in the emergency state."); + } // Convert request to a new route. const auto route = create_route(req); @@ -313,6 +340,10 @@ void MissionPlanner::on_set_route_points( throw component_interface_utils::ServiceException( ResponseCode::ERROR_PLANNER_UNREADY, "The vehicle pose is not received."); } + if (mrm_route_) { + throw component_interface_utils::ServiceException( + ResponseCode::ERROR_INVALID_STATE, "Cannot reroute in the emergency state."); + } // Plan route. const auto route = create_route(req); @@ -334,19 +365,124 @@ void MissionPlanner::on_set_mrm_route( const SetMrmRoute::Service::Request::SharedPtr req, const SetMrmRoute::Service::Response::SharedPtr res) { - // TODO(Yutaka Shimizu): reroute for MRM - (void)req; - (void)res; + using ResponseCode = autoware_adapi_v1_msgs::srv::SetRoutePoints::Response; + + if (!planner_->ready()) { + throw component_interface_utils::ServiceException( + ResponseCode::ERROR_PLANNER_UNREADY, "The planner is not ready."); + } + if (!odometry_) { + throw component_interface_utils::ServiceException( + ResponseCode::ERROR_PLANNER_UNREADY, "The vehicle pose is not received."); + } + + const auto prev_state = state_.state; + change_state(RouteState::Message::CHANGING); + + // Plan route. + const auto new_route = create_route(req); + + if (new_route.segments.empty()) { + change_state(prev_state); + throw component_interface_utils::ServiceException( + ResponseCode::ERROR_PLANNER_FAILED, "Failed to plan a new route."); + } + + // check route safety + // step1. if in mrm state, check with mrm route + if (mrm_route_) { + if (checkRerouteSafety(*mrm_route_, new_route)) { + // success to reroute + change_mrm_route(new_route); + res->status.success = true; + } else { + // failed to reroute + change_mrm_route(*mrm_route_); + res->status.success = false; + } + change_state(RouteState::Message::SET); + return; + } + + if (!normal_route_) { + // if it does not set normal route, just use the new planned route + change_mrm_route(new_route); + change_state(RouteState::Message::SET); + res->status.success = true; + return; + } + + // step2. if not in mrm state, check with normal route + if (checkRerouteSafety(*normal_route_, new_route)) { + // success to reroute + change_mrm_route(new_route); + res->status.success = true; + } else { + // Failed to reroute + change_route(*normal_route_); + res->status.success = false; + } + change_state(RouteState::Message::SET); } // NOTE: The route interface should be mutually exclusive by callback group. void MissionPlanner::on_clear_mrm_route( - const ClearMrmRoute::Service::Request::SharedPtr req, + const ClearMrmRoute::Service::Request::SharedPtr, const ClearMrmRoute::Service::Response::SharedPtr res) { - // TODO(Yutaka Shimizu): reroute for MRM - (void)req; - (void)res; + using ResponseCode = autoware_adapi_v1_msgs::srv::SetRoutePoints::Response; + + if (!planner_->ready()) { + change_state(RouteState::Message::SET); + throw component_interface_utils::ServiceException( + ResponseCode::ERROR_PLANNER_UNREADY, "The planner is not ready."); + } + if (!odometry_) { + throw component_interface_utils::ServiceException( + ResponseCode::ERROR_PLANNER_UNREADY, "The vehicle pose is not received."); + } + if (!mrm_route_) { + throw component_interface_utils::NoEffectWarning("MRM route is not set"); + } + + change_state(RouteState::Message::CHANGING); + + if (!normal_route_) { + clear_mrm_route(); + change_state(RouteState::Message::UNSET); + res->success = true; + return; + } + + // check route safety + if (checkRerouteSafety(*mrm_route_, *normal_route_)) { + clear_mrm_route(); + change_route(*normal_route_); + change_state(RouteState::Message::SET); + res->success = true; + return; + } + + // reroute with normal goal + const std::vector empty_waypoints; + const auto new_route = create_route( + odometry_->header, empty_waypoints, normal_route_->goal_pose, + normal_route_->allow_modification); + + // check new route safety + if (new_route.segments.empty() || !checkRerouteSafety(*mrm_route_, new_route)) { + // failed to create a new route + RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 5000, "Reroute with normal goal failed."); + change_mrm_route(*mrm_route_); + change_route(*normal_route_); + change_state(RouteState::Message::SET); + res->success = false; + } else { + clear_mrm_route(); + change_route(new_route); + change_state(RouteState::Message::SET); + res->success = true; + } } void MissionPlanner::on_modified_goal(const ModifiedGoal::Message::ConstSharedPtr msg) @@ -367,6 +503,11 @@ void MissionPlanner::on_modified_goal(const ModifiedGoal::Message::ConstSharedPt RCLCPP_ERROR(get_logger(), "Normal route has not set yet."); return; } + if (mrm_route_) { + RCLCPP_ERROR_THROTTLE( + get_logger(), *get_clock(), 5000, "Cannot modify goal in the emergency state"); + return; + } if (normal_route_->uuid == msg->uuid) { // set to changing state @@ -413,6 +554,10 @@ void MissionPlanner::on_change_route( throw component_interface_utils::ServiceException( ResponseCode::ERROR_PLANNER_UNREADY, "Normal route is not set."); } + if (mrm_route_) { + throw component_interface_utils::ServiceException( + ResponseCode::ERROR_INVALID_STATE, "Cannot reroute in the emergency state."); + } // set to changing state change_state(RouteState::Message::CHANGING); @@ -468,6 +613,10 @@ void MissionPlanner::on_change_route_points( throw component_interface_utils::ServiceException( ResponseCode::ERROR_PLANNER_UNREADY, "Normal route is not set."); } + if (mrm_route_) { + throw component_interface_utils::ServiceException( + ResponseCode::ERROR_INVALID_STATE, "Cannot reroute in the emergency state."); + } change_state(RouteState::Message::CHANGING); diff --git a/planning/mission_planner/src/mission_planner/mission_planner.hpp b/planning/mission_planner/src/mission_planner/mission_planner.hpp index bd3655bc55b0d..d3ca6be7eb63f 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.hpp @@ -77,7 +77,9 @@ class MissionPlanner : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_marker_; void clear_route(); + void clear_mrm_route(); void change_route(const LaneletRoute & route); + void change_mrm_route(const LaneletRoute & route); LaneletRoute create_route(const SetRoute::Service::Request::SharedPtr req); LaneletRoute create_route(const SetRoutePoints::Service::Request::SharedPtr req); LaneletRoute create_route( @@ -136,6 +138,7 @@ class MissionPlanner : public rclcpp::Node bool checkRerouteSafety(const LaneletRoute & original_route, const LaneletRoute & target_route); std::shared_ptr normal_route_{nullptr}; + std::shared_ptr mrm_route_{nullptr}; }; } // namespace mission_planner From 4bc5ccce99efb3742421fb8b939737e8bbeda69d Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Fri, 23 Jun 2023 18:58:31 +0900 Subject: [PATCH 010/118] revert: "feat(behavior_path_planner): relax longitudinal_velocity_delta_time" (#4064) Revert "feat(behavior_path_planner): relax longitudinal_velocity_delta_time (#4039)" This reverts commit f6f3babcf2bcc0f9638dee055cb05c3590131feb. --- .../config/behavior_path_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 bfadf9497c0fd..a35f920dfb482 100644 --- a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml +++ b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml @@ -31,7 +31,7 @@ lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 - longitudinal_velocity_delta_time: 0.3 # [s] + longitudinal_velocity_delta_time: 0.8 # [s] expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 From 87f9b86fa1023468fe09e2a0e67ed4dce6db52db Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 23 Jun 2023 19:01:14 +0900 Subject: [PATCH 011/118] fix(start_planner): not run other modules when back pull out (#4043) * fix(start_planner): not run other modules when back pull out Signed-off-by: kosuke55 * fix reorder and value name Signed-off-by: kosuke55 * Update planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --------- Signed-off-by: kosuke55 Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --- .../scene_module_manager_interface.hpp | 16 ++++++++-------- .../start_planner/start_planner_module.hpp | 13 +++++++++++++ .../scene_module/avoidance/avoidance_module.cpp | 8 -------- .../src/scene_module/start_planner/manager.cpp | 6 +++++- .../start_planner/start_planner_module.cpp | 12 ++++++++++++ 5 files changed, 38 insertions(+), 17 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp index 46a8d09c77ef2..596be548508fc 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp @@ -49,13 +49,13 @@ class SceneModuleManagerInterface clock_(*node->get_clock()), logger_(node->get_logger().get_child(name)), name_(name), - enable_rtc_(config.enable_rtc), - max_module_num_(config.max_module_size), - priority_(config.priority), enable_simultaneous_execution_as_approved_module_( config.enable_simultaneous_execution_as_approved_module), enable_simultaneous_execution_as_candidate_module_( - config.enable_simultaneous_execution_as_candidate_module) + config.enable_simultaneous_execution_as_candidate_module), + enable_rtc_(config.enable_rtc), + max_module_num_(config.max_module_size), + priority_(config.priority) { for (const auto & rtc_type : rtc_types) { const auto snake_case_name = utils::convertToSnakeCase(name); @@ -281,16 +281,16 @@ class SceneModuleManagerInterface std::unordered_map> rtc_interface_ptr_map_; + bool enable_simultaneous_execution_as_approved_module_{false}; + + bool enable_simultaneous_execution_as_candidate_module_{false}; + private: bool enable_rtc_; size_t max_module_num_; size_t priority_; - - bool enable_simultaneous_execution_as_approved_module_{false}; - - bool enable_simultaneous_execution_as_candidate_module_{false}; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 3f6ea8f5b3799..a48c24b183111 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -104,6 +104,19 @@ class StartPlannerModule : public SceneModuleInterface { } + // set is_simultaneously_executable_ as false when backward driving. + // keep initial value to return it after finishing backward driving. + bool initial_value_simultaneously_executable_as_approved_module_; + bool initial_value_simultaneously_executable_as_candidate_module_; + void setInitialIsSimultaneousExecutableAsApprovedModule(const bool is_simultaneously_executable) + { + initial_value_simultaneously_executable_as_approved_module_ = is_simultaneously_executable; + }; + void setInitialIsSimultaneousExecutableAsCandidateModule(const bool is_simultaneously_executable) + { + initial_value_simultaneously_executable_as_candidate_module_ = is_simultaneously_executable; + }; + private: std::shared_ptr parameters_; vehicle_info_util::VehicleInfo vehicle_info_; 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 1d5142c81c0f9..ac98eb5a2b59b 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 @@ -117,14 +117,6 @@ bool AvoidanceModule::isExecutionRequested() const { DEBUG_PRINT("AVOIDANCE isExecutionRequested"); -#ifndef USE_OLD_ARCHITECTURE - const auto is_driving_forward = - motion_utils::isDrivingForward(getPreviousModuleOutput().path->points); - if (!is_driving_forward || !(*is_driving_forward)) { - return false; - } -#endif - if (current_state_ == ModuleStatus::RUNNING) { return true; } diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp index ab33c78c945ab..3b2917c94c8e1 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp @@ -39,8 +39,12 @@ void StartPlannerModuleManager::updateModuleParams( [[maybe_unused]] std::string ns = name_ + "."; - std::for_each(registered_modules_.begin(), registered_modules_.end(), [&p](const auto & m) { + std::for_each(registered_modules_.begin(), registered_modules_.end(), [&](const auto & m) { m->updateModuleParams(p); + m->setInitialIsSimultaneousExecutableAsApprovedModule( + enable_simultaneous_execution_as_approved_module_); + m->setInitialIsSimultaneousExecutableAsCandidateModule( + enable_simultaneous_execution_as_candidate_module_); }); } } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 263c8b2ea197a..67ad82a489ade 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -270,6 +270,10 @@ BehaviorModuleOutput StartPlannerModule::plan() }); if (status_.back_finished) { + setIsSimultaneousExecutableAsApprovedModule( + initial_value_simultaneously_executable_as_approved_module_); + setIsSimultaneousExecutableAsCandidateModule( + initial_value_simultaneously_executable_as_candidate_module_); const double start_distance = motion_utils::calcSignedArcLength( path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.start_pose.position); @@ -283,6 +287,8 @@ BehaviorModuleOutput StartPlannerModule::plan() {start_distance, finish_distance}, SteeringFactor::START_PLANNER, steering_factor_direction, SteeringFactor::TURNING, ""); } else { + setIsSimultaneousExecutableAsApprovedModule(false); + setIsSimultaneousExecutableAsCandidateModule(false); const double distance = motion_utils::calcSignedArcLength( path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.start_pose.position); @@ -394,6 +400,10 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() }); if (status_.back_finished) { + setIsSimultaneousExecutableAsApprovedModule( + initial_value_simultaneously_executable_as_approved_module_); + setIsSimultaneousExecutableAsCandidateModule( + initial_value_simultaneously_executable_as_candidate_module_); const double start_distance = motion_utils::calcSignedArcLength( stop_path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.start_pose.position); @@ -406,6 +416,8 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() {start_distance, finish_distance}, SteeringFactor::START_PLANNER, steering_factor_direction, SteeringFactor::APPROACHING, ""); } else { + setIsSimultaneousExecutableAsApprovedModule(false); + setIsSimultaneousExecutableAsCandidateModule(false); const double distance = motion_utils::calcSignedArcLength( stop_path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.start_pose.position); From 79024d349cc3430695097360f0c68863d95345b5 Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Fri, 23 Jun 2023 21:27:21 +0900 Subject: [PATCH 012/118] docs(default_ad_api): fix link in default_ad_api (#4067) Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> --- system/default_ad_api/document/fail-safe.md | 2 +- system/default_ad_api/document/interface.md | 2 +- system/default_ad_api/document/localization.md | 2 +- system/default_ad_api/document/motion.md | 2 +- system/default_ad_api/document/operation-mode.md | 2 +- system/default_ad_api/document/routing.md | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/system/default_ad_api/document/fail-safe.md b/system/default_ad_api/document/fail-safe.md index b9967089c5e3a..a5a8ecad3542e 100644 --- a/system/default_ad_api/document/fail-safe.md +++ b/system/default_ad_api/document/fail-safe.md @@ -2,4 +2,4 @@ ## 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. +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/features/fail-safe/) for AD API specifications. diff --git a/system/default_ad_api/document/interface.md b/system/default_ad_api/document/interface.md index f3fc6a389c294..ed5a69219471d 100644 --- a/system/default_ad_api/document/interface.md +++ b/system/default_ad_api/document/interface.md @@ -2,4 +2,4 @@ ## 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. +The interface API simply returns a version number. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/interface/) for AD API specifications. diff --git a/system/default_ad_api/document/localization.md b/system/default_ad_api/document/localization.md index 866322ed807cf..6f27ae3079f0d 100644 --- a/system/default_ad_api/document/localization.md +++ b/system/default_ad_api/document/localization.md @@ -2,6 +2,6 @@ ## 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. +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/features/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 index fd01a8f56ed7f..f13ee2a687808 100644 --- a/system/default_ad_api/document/motion.md +++ b/system/default_ad_api/document/motion.md @@ -2,7 +2,7 @@ ## 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. +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/features/motion/) for AD API specifications. ![motion-architecture](images/motion-architecture.drawio.svg) diff --git a/system/default_ad_api/document/operation-mode.md b/system/default_ad_api/document/operation-mode.md index 703f6aa47b50d..69b79ed9b1fd7 100644 --- a/system/default_ad_api/document/operation-mode.md +++ b/system/default_ad_api/document/operation-mode.md @@ -2,7 +2,7 @@ ## 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. +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/features/operation_mode/) for AD API specifications. ![operation-mode-architecture](images/operation-mode-architecture.drawio.svg) diff --git a/system/default_ad_api/document/routing.md b/system/default_ad_api/document/routing.md index 899136f2d9e50..88969277e9263 100644 --- a/system/default_ad_api/document/routing.md +++ b/system/default_ad_api/document/routing.md @@ -2,6 +2,6 @@ ## 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. +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/features/routing/) for AD API specifications. ![routing-architecture](images/routing.drawio.svg) From 1b9232f5a9aedeae3946a13d5ceaae16b8c88508 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri, 23 Jun 2023 23:50:29 +0900 Subject: [PATCH 013/118] feat(behavior_path_planner): add turn signal debug marker (#4066) --- .../behavior_path_planner_node.hpp | 6 ++ .../behavior_path_planner/data_manager.hpp | 5 +- .../turn_signal_decider.hpp | 8 +- .../src/behavior_path_planner_node.cpp | 77 ++++++++++++++++++- .../src/turn_signal_decider.cpp | 8 +- 5 files changed, 99 insertions(+), 5 deletions(-) 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 ea0e990a8b259..d06a3aae68e4f 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 @@ -219,6 +219,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_maximum_drivable_area_publisher_; rclcpp::Publisher::SharedPtr debug_avoidance_msg_array_publisher_; rclcpp::Publisher::SharedPtr debug_lane_change_msg_array_publisher_; + rclcpp::Publisher::SharedPtr debug_turn_signal_info_publisher_; /** * @brief publish steering factor from intersection @@ -226,6 +227,11 @@ class BehaviorPathPlannerNode : public rclcpp::Node void publish_steering_factor( const std::shared_ptr & planner_data, const TurnIndicatorsCommand & turn_signal); + /** + * @brief publish turn signal debug info + */ + void publish_turn_signal_debug_data(const TurnSignalDebugData & debug_data); + /** * @brief publish left and right bound */ 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 b682d28efeaa5..639f495a74598 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 @@ -150,12 +150,13 @@ struct PlannerData mutable TurnSignalDecider turn_signal_decider; TurnIndicatorsCommand getTurnSignal( - const PathWithLaneId & path, const TurnSignalInfo & turn_signal_info) + const PathWithLaneId & path, const TurnSignalInfo & turn_signal_info, + TurnSignalDebugData & debug_data) { const auto & current_pose = self_odometry->pose.pose; const auto & current_vel = self_odometry->twist.twist.linear.x; return turn_signal_decider.getTurnSignal( - route_handler, path, turn_signal_info, current_pose, current_vel, parameters); + route_handler, path, turn_signal_info, current_pose, current_vel, parameters, debug_data); } template diff --git a/planning/behavior_path_planner/include/behavior_path_planner/turn_signal_decider.hpp b/planning/behavior_path_planner/include/behavior_path_planner/turn_signal_decider.hpp index 5691c03d31f6c..b550f132c27da 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/turn_signal_decider.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/turn_signal_decider.hpp @@ -63,13 +63,19 @@ struct TurnSignalInfo geometry_msgs::msg::Pose required_end_point; }; +struct TurnSignalDebugData +{ + TurnSignalInfo intersection_turn_signal_info; + TurnSignalInfo behavior_turn_signal_info; +}; + class TurnSignalDecider { public: TurnIndicatorsCommand getTurnSignal( const std::shared_ptr & route_handler, const PathWithLaneId & path, const TurnSignalInfo & turn_signal_info, const Pose & current_pose, const double current_vel, - const BehaviorPathPlannerParameters & parameters); + const BehaviorPathPlannerParameters & parameters, TurnSignalDebugData & debug_data); TurnIndicatorsCommand resolve_turn_signal( const PathWithLaneId & path, const Pose & current_pose, const size_t current_seg_idx, 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 1359b1afc86fc..229ae0eb679ea 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -78,6 +78,8 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod create_publisher("~/maximum_drivable_area", 1); } + debug_turn_signal_info_publisher_ = create_publisher("~/debug/turn_signal_info", 1); + bound_publisher_ = create_publisher("~/debug/bound", 1); // subscriber @@ -1339,12 +1341,13 @@ void BehaviorPathPlannerNode::computeTurnSignal( const BehaviorModuleOutput & output) { TurnIndicatorsCommand turn_signal; + TurnSignalDebugData debug_data; HazardLightsCommand hazard_signal; if (output.turn_signal_info.hazard_signal.command == HazardLightsCommand::ENABLE) { turn_signal.command = TurnIndicatorsCommand::DISABLE; hazard_signal.command = output.turn_signal_info.hazard_signal.command; } else { - turn_signal = planner_data->getTurnSignal(path, output.turn_signal_info); + turn_signal = planner_data->getTurnSignal(path, output.turn_signal_info, debug_data); hazard_signal.command = HazardLightsCommand::DISABLE; } turn_signal.stamp = get_clock()->now(); @@ -1352,6 +1355,7 @@ void BehaviorPathPlannerNode::computeTurnSignal( turn_signal_publisher_->publish(turn_signal); hazard_signal_publisher_->publish(hazard_signal); + publish_turn_signal_debug_data(debug_data); publish_steering_factor(planner_data, turn_signal); } @@ -1386,6 +1390,77 @@ void BehaviorPathPlannerNode::publish_steering_factor( steering_factor_interface_ptr_->publishSteeringFactor(get_clock()->now()); } +void BehaviorPathPlannerNode::publish_turn_signal_debug_data(const TurnSignalDebugData & debug_data) +{ + MarkerArray marker_array; + + const auto current_time = rclcpp::Time(); + constexpr double scale_x = 1.0; + constexpr double scale_y = 1.0; + constexpr double scale_z = 1.0; + const auto scale = tier4_autoware_utils::createMarkerScale(scale_x, scale_y, scale_z); + const auto desired_section_color = tier4_autoware_utils::createMarkerColor(0.0, 1.0, 0.0, 0.999); + const auto required_section_color = tier4_autoware_utils::createMarkerColor(1.0, 0.0, 1.0, 0.999); + + // intersection turn signal info + { + const auto & turn_signal_info = debug_data.intersection_turn_signal_info; + + auto desired_start_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "intersection_turn_signal_desired_start", 0L, Marker::SPHERE, scale, + desired_section_color); + auto desired_end_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "intersection_turn_signal_desired_end", 0L, Marker::SPHERE, scale, + desired_section_color); + desired_start_marker.pose = turn_signal_info.desired_start_point; + desired_end_marker.pose = turn_signal_info.desired_end_point; + + auto required_start_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "intersection_turn_signal_required_start", 0L, Marker::SPHERE, scale, + required_section_color); + auto required_end_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "intersection_turn_signal_required_end", 0L, Marker::SPHERE, scale, + required_section_color); + required_start_marker.pose = turn_signal_info.required_start_point; + required_end_marker.pose = turn_signal_info.required_end_point; + + marker_array.markers.push_back(desired_start_marker); + marker_array.markers.push_back(desired_end_marker); + marker_array.markers.push_back(required_start_marker); + marker_array.markers.push_back(required_end_marker); + } + + // behavior turn signal info + { + const auto & turn_signal_info = debug_data.behavior_turn_signal_info; + + auto desired_start_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "behavior_turn_signal_desired_start", 0L, Marker::CUBE, scale, + desired_section_color); + auto desired_end_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "behavior_turn_signal_desired_end", 0L, Marker::CUBE, scale, + desired_section_color); + desired_start_marker.pose = turn_signal_info.desired_start_point; + desired_end_marker.pose = turn_signal_info.desired_end_point; + + auto required_start_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "behavior_turn_signal_required_start", 0L, Marker::CUBE, scale, + required_section_color); + auto required_end_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "behavior_turn_signal_required_end", 0L, Marker::CUBE, scale, + required_section_color); + required_start_marker.pose = turn_signal_info.required_start_point; + required_end_marker.pose = turn_signal_info.required_end_point; + + marker_array.markers.push_back(desired_start_marker); + marker_array.markers.push_back(desired_end_marker); + marker_array.markers.push_back(required_start_marker); + marker_array.markers.push_back(required_end_marker); + } + + debug_turn_signal_info_publisher_->publish(marker_array); +} + void BehaviorPathPlannerNode::publish_bounds(const PathWithLaneId & path) { constexpr double scale_x = 0.2; diff --git a/planning/behavior_path_planner/src/turn_signal_decider.cpp b/planning/behavior_path_planner/src/turn_signal_decider.cpp index 57c5f149969ae..ac11941ec1eb6 100644 --- a/planning/behavior_path_planner/src/turn_signal_decider.cpp +++ b/planning/behavior_path_planner/src/turn_signal_decider.cpp @@ -41,8 +41,10 @@ double calc_distance( TurnIndicatorsCommand TurnSignalDecider::getTurnSignal( const std::shared_ptr & route_handler, const PathWithLaneId & path, const TurnSignalInfo & turn_signal_info, const Pose & current_pose, const double current_vel, - const BehaviorPathPlannerParameters & parameters) + const BehaviorPathPlannerParameters & parameters, TurnSignalDebugData & debug_data) { + debug_data.behavior_turn_signal_info = turn_signal_info; + // Guard if (path.points.empty()) { return turn_signal_info.turn_signal; @@ -76,6 +78,10 @@ TurnIndicatorsCommand TurnSignalDecider::getTurnSignal( extended_path, current_pose, current_vel, ego_seg_idx, *route_handler, nearest_dist_threshold, nearest_yaw_threshold); + if (intersection_turn_signal_info) { + debug_data.intersection_turn_signal_info = *intersection_turn_signal_info; + } + if (!intersection_turn_signal_info) { initialize_intersection_info(); const auto & desired_end_point = turn_signal_info.desired_end_point; From 6c6973b79de2682b7a01c580cbdf9888b502b64d Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Fri, 23 Jun 2023 20:25:23 +0200 Subject: [PATCH 014/118] build: fix opencv dependency (#3987) Signed-off-by: Esteve Fernandez --- planning/behavior_path_planner/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml index 97453b0325cef..48c0762461d16 100644 --- a/planning/behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/package.xml @@ -53,6 +53,7 @@ lane_departure_checker lanelet2_extension libboost-dev + libopencv-dev magic_enum motion_utils perception_utils From edcad42338a56cd2c7eaf0803f0861c56493608c Mon Sep 17 00:00:00 2001 From: atsushi yano <55824710+atsushi421@users.noreply.github.com> Date: Sat, 24 Jun 2023 08:24:56 +0900 Subject: [PATCH 015/118] perf(voxel_grid_downsample_filter): performance tuning (#3679) * perf(voxel_grid_downsample_filter): change to use faster_filter Signed-off-by: atsushi421 * perf(voxel_grid_downsample_filter): changed to not use pcl library Signed-off-by: atsushi421 * refactor: split faster_filter() into a separate class Signed-off-by: atsushi421 * style(pre-commit): autofix * chore: restore old filter function Signed-off-by: atsushi421 * chore: rename Signed-off-by: atsushi421 * refactor: split filter into multiple functions Signed-off-by: atsushi421 * refactor: improve readability Signed-off-by: atsushi421 * style(pre-commit): autofix * fix: pre-commit error Signed-off-by: atsushi421 * fix: copyright Signed-off-by: atsushi421 * fix: add const to calc_centroid() Signed-off-by: atsushi421 * refactor: define TransformInfo in separate file Signed-off-by: atsushi421 * style(pre-commit): autofix * refactor: improve readability Signed-off-by: atsushi421 * chore: fix copyright Signed-off-by: atsushi421 * chore: fix copyright Signed-off-by: atsushi421 * fix: typo Signed-off-by: atsushi421 --------- Signed-off-by: atsushi421 Co-authored-by: atsushi421 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../pointcloud_preprocessor/CMakeLists.txt | 23 +++ .../crop_box_filter_nodelet.hpp | 1 + .../faster_voxel_grid_downsample_filter.hpp | 93 +++++++++ .../voxel_grid_downsample_filter_nodelet.hpp | 15 +- .../pointcloud_preprocessor/filter.hpp | 14 +- .../ring_outlier_filter_nodelet.hpp | 1 + .../transform_info.hpp | 43 +++++ .../faster_voxel_grid_downsample_filter.cpp | 178 ++++++++++++++++++ .../voxel_grid_downsample_filter_nodelet.cpp | 25 ++- .../pointcloud_preprocessor/src/filter.cpp | 3 +- 10 files changed, 375 insertions(+), 21 deletions(-) create mode 100644 sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp create mode 100644 sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp create mode 100644 sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt index d8d561a9c5098..47d05b8c6ce47 100644 --- a/sensing/pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/pointcloud_preprocessor/CMakeLists.txt @@ -41,6 +41,21 @@ ament_target_dependencies(pointcloud_preprocessor_filter_base pcl_ros ) +add_library(faster_voxel_grid_downsample_filter SHARED + src/downsample_filter/faster_voxel_grid_downsample_filter.cpp +) + +target_include_directories(faster_voxel_grid_downsample_filter PUBLIC + "$" + "$" +) + +ament_target_dependencies(faster_voxel_grid_downsample_filter + pcl_conversions + rclcpp + sensor_msgs +) + ament_auto_add_library(pointcloud_preprocessor_filter SHARED src/utility/utilities.cpp src/concatenate_data/concatenate_data_nodelet.cpp @@ -65,6 +80,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED target_link_libraries(pointcloud_preprocessor_filter pointcloud_preprocessor_filter_base + faster_voxel_grid_downsample_filter ${Boost_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} @@ -167,6 +183,13 @@ install( RUNTIME DESTINATION bin ) +install( + TARGETS faster_voxel_grid_downsample_filter EXPORT export_${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + install( DIRECTORY include/ DESTINATION include/${PROJECT_NAME} diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp index 3b392401de49b..1406679ce0dba 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp @@ -54,6 +54,7 @@ #define POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ #include "pointcloud_preprocessor/filter.hpp" +#include "pointcloud_preprocessor/transform_info.hpp" #include diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp new file mode 100644 index 0000000000000..d92b511d40c69 --- /dev/null +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp @@ -0,0 +1,93 @@ +// Copyright 2023 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. + +#pragma once + +#include "pointcloud_preprocessor/transform_info.hpp" + +#include +#include +#include + +#include +#include + +namespace pointcloud_preprocessor +{ + +class FasterVoxelGridDownsampleFilter +{ + using PointCloud2 = sensor_msgs::msg::PointCloud2; + using PointCloud2ConstPtr = sensor_msgs::msg::PointCloud2::ConstSharedPtr; + +public: + FasterVoxelGridDownsampleFilter(); + void set_voxel_size(float voxel_size_x, float voxel_size_y, float voxel_size_z); + void set_field_offsets(const PointCloud2ConstPtr & input); + void filter( + const PointCloud2ConstPtr & input, PointCloud2 & output, const TransformInfo & transform_info, + const rclcpp::Logger & logger); + +private: + struct Centroid + { + float x; + float y; + float z; + uint32_t point_count_; + + Centroid() : x(0), y(0), z(0) {} + Centroid(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { this->point_count_ = 1; } + + void add_point(float _x, float _y, float _z) + { + this->x += _x; + this->y += _y; + this->z += _z; + this->point_count_++; + } + + Eigen::Vector4f calc_centroid() const + { + Eigen::Vector4f centroid( + (this->x / this->point_count_), (this->y / this->point_count_), + (this->z / this->point_count_), 1.0f); + return centroid; + } + }; + + Eigen::Vector3f inverse_voxel_size_; + std::vector xyz_fields_; + int x_offset_; + int y_offset_; + int z_offset_; + int intensity_offset_; + bool offset_initialized_; + + Eigen::Vector3f get_point_from_global_offset( + const PointCloud2ConstPtr & input, size_t global_offset); + + bool get_min_max_voxel( + const PointCloud2ConstPtr & input, Eigen::Vector3i & min_voxel, Eigen::Vector3i & max_voxel); + + std::unordered_map calc_centroids_each_voxel( + const PointCloud2ConstPtr & input, const Eigen::Vector3i & max_voxel, + const Eigen::Vector3i & min_voxel); + + void copy_centroids_to_output( + std::unordered_map & voxel_centroid_map, PointCloud2 & output, + const TransformInfo & transform_info); +}; + +} // namespace pointcloud_preprocessor diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp index 7ebf80c2da958..ae285b4fa9239 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2023 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. @@ -52,6 +52,7 @@ #define POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__VOXEL_GRID_DOWNSAMPLE_FILTER_NODELET_HPP_ #include "pointcloud_preprocessor/filter.hpp" +#include "pointcloud_preprocessor/transform_info.hpp" #include #include @@ -66,10 +67,16 @@ class VoxelGridDownsampleFilterComponent : public pointcloud_preprocessor::Filte void filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; + // TODO(atsushi421): Temporary Implementation: Remove this interface when all the filter nodes + // conform to new API + virtual void faster_filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, + const TransformInfo & transform_info); + private: - double voxel_size_x_; - double voxel_size_y_; - double voxel_size_z_; + float voxel_size_x_; + float voxel_size_y_; + float voxel_size_z_; /** \brief Parameter service callback result : needed to be hold */ OnSetParametersCallbackHandle::SharedPtr set_param_res_; diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp index f995be741272c..47c0f2b403faa 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp @@ -52,6 +52,8 @@ #ifndef POINTCLOUD_PREPROCESSOR__FILTER_HPP_ #define POINTCLOUD_PREPROCESSOR__FILTER_HPP_ +#include "pointcloud_preprocessor/transform_info.hpp" + #include #include #include @@ -134,18 +136,6 @@ class Filter : public rclcpp::Node const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); protected: - struct TransformInfo - { - TransformInfo() - { - eigen_transform = Eigen::Matrix4f::Identity(4, 4); - need_transform = false; - } - - Eigen::Matrix4f eigen_transform; - bool need_transform; - }; - /** \brief The input PointCloud2 subscriber. */ rclcpp::Subscription::SharedPtr sub_input_; diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp index a906eb913d863..ab7d4e0012304 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp @@ -17,6 +17,7 @@ #include "autoware_point_types/types.hpp" #include "pointcloud_preprocessor/filter.hpp" +#include "pointcloud_preprocessor/transform_info.hpp" #include diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp new file mode 100644 index 0000000000000..a4806555695b5 --- /dev/null +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/transform_info.hpp @@ -0,0 +1,43 @@ +// Copyright 2023 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. + +#pragma once + +#include + +namespace pointcloud_preprocessor +{ + +/** + * This holds the coordinate transformation information of the point cloud. + * Usage example: + * \code + * if (transform_info.need_transform) { + * point = transform_info.eigen_transform * point; + * } + * \endcode + */ +struct TransformInfo +{ + TransformInfo() + { + eigen_transform = Eigen::Matrix4f::Identity(4, 4); + need_transform = false; + } + + Eigen::Matrix4f eigen_transform; + bool need_transform; +}; + +} // namespace pointcloud_preprocessor diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp new file mode 100644 index 0000000000000..7c302eec20431 --- /dev/null +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp @@ -0,0 +1,178 @@ +// Copyright 2023 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 "pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp" + +namespace pointcloud_preprocessor +{ + +FasterVoxelGridDownsampleFilter::FasterVoxelGridDownsampleFilter() +{ + pcl::for_each_type::type>( + pcl::detail::FieldAdder(xyz_fields_)); + offset_initialized_ = false; +} + +void FasterVoxelGridDownsampleFilter::set_voxel_size( + float voxel_size_x, float voxel_size_y, float voxel_size_z) +{ + inverse_voxel_size_ = + Eigen::Array3f::Ones() / Eigen::Array3f(voxel_size_x, voxel_size_y, voxel_size_z); +} + +void FasterVoxelGridDownsampleFilter::set_field_offsets(const PointCloud2ConstPtr & input) +{ + x_offset_ = input->fields[pcl::getFieldIndex(*input, "x")].offset; + y_offset_ = input->fields[pcl::getFieldIndex(*input, "y")].offset; + z_offset_ = input->fields[pcl::getFieldIndex(*input, "z")].offset; + intensity_offset_ = input->fields[pcl::getFieldIndex(*input, "intensity")].offset; + offset_initialized_ = true; +} + +void FasterVoxelGridDownsampleFilter::filter( + const PointCloud2ConstPtr & input, PointCloud2 & output, const TransformInfo & transform_info, + const rclcpp::Logger & logger) +{ + // Check if the field offset has been set + if (!offset_initialized_) { + set_field_offsets(input); + } + + // Compute the minimum and maximum voxel coordinates + Eigen::Vector3i min_voxel, max_voxel; + if (!get_min_max_voxel(input, min_voxel, max_voxel)) { + RCLCPP_ERROR( + logger, + "Voxel size is too small for the input dataset. " + "Integer indices would overflow."); + output = *input; + return; + } + + // Storage for mapping voxel coordinates to centroids + auto voxel_centroid_map = calc_centroids_each_voxel(input, max_voxel, min_voxel); + + // Initialize the output + output.row_step = voxel_centroid_map.size() * input->point_step; + output.data.resize(output.row_step); + output.width = voxel_centroid_map.size(); + pcl_conversions::fromPCL(xyz_fields_, output.fields); + output.is_dense = true; // we filter out invalid points + output.height = input->height; + output.is_bigendian = input->is_bigendian; + output.point_step = input->point_step; + output.header = input->header; + + // Copy the centroids to the output + copy_centroids_to_output(voxel_centroid_map, output, transform_info); +} + +Eigen::Vector3f FasterVoxelGridDownsampleFilter::get_point_from_global_offset( + const PointCloud2ConstPtr & input, size_t global_offset) +{ + Eigen::Vector3f point( + *reinterpret_cast(&input->data[global_offset + x_offset_]), + *reinterpret_cast(&input->data[global_offset + y_offset_]), + *reinterpret_cast(&input->data[global_offset + z_offset_])); + return point; +} + +bool FasterVoxelGridDownsampleFilter::get_min_max_voxel( + const PointCloud2ConstPtr & input, Eigen::Vector3i & min_voxel, Eigen::Vector3i & max_voxel) +{ + // Compute the minimum and maximum point coordinates + Eigen::Vector3f min_point, max_point; + min_point.setConstant(FLT_MAX); + max_point.setConstant(-FLT_MAX); + for (size_t global_offset = 0; global_offset + input->point_step <= input->data.size(); + global_offset += input->point_step) { + Eigen::Vector3f point = get_point_from_global_offset(input, global_offset); + if (std::isfinite(point[0]) && std::isfinite(point[1]), std::isfinite(point[2])) { + min_point = min_point.cwiseMin(point); + max_point = max_point.cwiseMax(point); + } + } + + // Check that the voxel size is not too small, given the size of the data + if ( + ((static_cast((max_point[0] - min_point[0]) * inverse_voxel_size_[0]) + 1) * + (static_cast((max_point[1] - min_point[1]) * inverse_voxel_size_[1]) + 1) * + (static_cast((max_point[2] - min_point[2]) * inverse_voxel_size_[2]) + 1)) > + static_cast(std::numeric_limits::max())) { + return false; + } + + // Compute the minimum and maximum voxel coordinates + min_voxel[0] = static_cast(std::floor(min_point[0] * inverse_voxel_size_[0])); + min_voxel[1] = static_cast(std::floor(min_point[1] * inverse_voxel_size_[1])); + min_voxel[2] = static_cast(std::floor(min_point[2] * inverse_voxel_size_[2])); + max_voxel[0] = static_cast(std::floor(max_point[0] * inverse_voxel_size_[0])); + max_voxel[1] = static_cast(std::floor(max_point[1] * inverse_voxel_size_[1])); + max_voxel[2] = static_cast(std::floor(max_point[2] * inverse_voxel_size_[2])); + + return true; +} + +std::unordered_map +FasterVoxelGridDownsampleFilter::calc_centroids_each_voxel( + const PointCloud2ConstPtr & input, const Eigen::Vector3i & max_voxel, + const Eigen::Vector3i & min_voxel) +{ + std::unordered_map voxel_centroid_map; + // Compute the number of divisions needed along all axis + Eigen::Vector3i div_b = max_voxel - min_voxel + Eigen::Vector3i::Ones(); + // Set up the division multiplier + Eigen::Vector3i div_b_mul(1, div_b[0], div_b[0] * div_b[1]); + + for (size_t global_offset = 0; global_offset + input->point_step <= input->data.size(); + global_offset += input->point_step) { + Eigen::Vector3f point = get_point_from_global_offset(input, global_offset); + if (std::isfinite(point[0]) && std::isfinite(point[1]), std::isfinite(point[2])) { + // Calculate the voxel index to which the point belongs + int ijk0 = static_cast(std::floor(point[0] * inverse_voxel_size_[0]) - min_voxel[0]); + int ijk1 = static_cast(std::floor(point[1] * inverse_voxel_size_[1]) - min_voxel[1]); + int ijk2 = static_cast(std::floor(point[2] * inverse_voxel_size_[2]) - min_voxel[2]); + uint32_t voxel_id = ijk0 * div_b_mul[0] + ijk1 * div_b_mul[1] + ijk2 * div_b_mul[2]; + + // Add the point to the corresponding centroid + if (voxel_centroid_map.find(voxel_id) == voxel_centroid_map.end()) { + voxel_centroid_map[voxel_id] = Centroid(point[0], point[1], point[2]); + } else { + voxel_centroid_map[voxel_id].add_point(point[0], point[1], point[2]); + } + } + } + + return voxel_centroid_map; +} + +void FasterVoxelGridDownsampleFilter::copy_centroids_to_output( + std::unordered_map & voxel_centroid_map, PointCloud2 & output, + const TransformInfo & transform_info) +{ + size_t output_data_size = 0; + for (const auto & pair : voxel_centroid_map) { + Eigen::Vector4f centroid = pair.second.calc_centroid(); + if (transform_info.need_transform) { + centroid = transform_info.eigen_transform * centroid; + } + *reinterpret_cast(&output.data[output_data_size + x_offset_]) = centroid[0]; + *reinterpret_cast(&output.data[output_data_size + y_offset_]) = centroid[1]; + *reinterpret_cast(&output.data[output_data_size + z_offset_]) = centroid[2]; + *reinterpret_cast(&output.data[output_data_size + intensity_offset_]) = centroid[3]; + output_data_size += output.point_step; + } +} + +} // namespace pointcloud_preprocessor diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp index 5b22986a1b6b8..f11f37397a142 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2023 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. @@ -50,6 +50,8 @@ #include "pointcloud_preprocessor/downsample_filter/voxel_grid_downsample_filter_nodelet.hpp" +#include "pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp" + #include #include #include @@ -64,9 +66,9 @@ VoxelGridDownsampleFilterComponent::VoxelGridDownsampleFilterComponent( { // set initial parameters { - voxel_size_x_ = static_cast(declare_parameter("voxel_size_x", 0.3)); - voxel_size_y_ = static_cast(declare_parameter("voxel_size_y", 0.3)); - voxel_size_z_ = static_cast(declare_parameter("voxel_size_z", 0.1)); + voxel_size_x_ = static_cast(declare_parameter("voxel_size_x", 0.3)); + voxel_size_y_ = static_cast(declare_parameter("voxel_size_y", 0.3)); + voxel_size_z_ = static_cast(declare_parameter("voxel_size_z", 0.1)); } using std::placeholders::_1; @@ -74,6 +76,8 @@ VoxelGridDownsampleFilterComponent::VoxelGridDownsampleFilterComponent( std::bind(&VoxelGridDownsampleFilterComponent::paramCallback, this, _1)); } +// TODO(atsushi421): Temporary Implementation: Delete this function definition when all the filter +// nodes conform to new API. void VoxelGridDownsampleFilterComponent::filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) { @@ -95,6 +99,19 @@ void VoxelGridDownsampleFilterComponent::filter( output.header = input->header; } +// TODO(atsushi421): Temporary Implementation: Rename this function to `filter()` when all the +// filter nodes conform to new API. Then delete the old `filter()` defined above. +void VoxelGridDownsampleFilterComponent::faster_filter( + const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices, + PointCloud2 & output, const TransformInfo & transform_info) +{ + std::scoped_lock lock(mutex_); + FasterVoxelGridDownsampleFilter faster_voxel_filter; + faster_voxel_filter.set_voxel_size(voxel_size_x_, voxel_size_y_, voxel_size_z_); + faster_voxel_filter.set_field_offsets(input); + faster_voxel_filter.filter(input, output, transform_info, this->get_logger()); +} + rcl_interfaces::msg::SetParametersResult VoxelGridDownsampleFilterComponent::paramCallback( const std::vector & p) { diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp index f0b716c73b5f1..d5843be395adf 100644 --- a/sensing/pointcloud_preprocessor/src/filter.cpp +++ b/sensing/pointcloud_preprocessor/src/filter.cpp @@ -124,7 +124,8 @@ void pointcloud_preprocessor::Filter::subscribe(const std::string & filter_name) // TODO(sykwer): Change the corresponding node to subscribe to `faster_input_indices_callback` // each time a child class supports the faster version. // When all the child classes support the faster version, this workaround is deleted. - std::set supported_nodes = {"CropBoxFilter", "RingOutlierFilter"}; + std::set supported_nodes = { + "CropBoxFilter", "RingOutlierFilter", "VoxelGridDownsampleFilter"}; auto callback = supported_nodes.find(filter_name) != supported_nodes.end() ? &Filter::faster_input_indices_callback : &Filter::input_indices_callback; From 7b6bff236710cf7bb0c1b097362fcac523b54846 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Sat, 24 Jun 2023 16:34:19 +0900 Subject: [PATCH 016/118] feat(obstacle_cruise_planner): change cruise color to orange (#4065) Signed-off-by: Shumpei Wakabayashi --- planning/obstacle_cruise_planner/src/node.cpp | 2 +- .../src/pid_based_planner/pid_based_planner.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp index bf705759e0422..0020ef1c8e960 100644 --- a/planning/obstacle_cruise_planner/src/node.cpp +++ b/planning/obstacle_cruise_planner/src/node.cpp @@ -1251,7 +1251,7 @@ void ObstacleCruisePlannerNode::publishDebugMarker() const for (size_t i = 0; i < debug_data_ptr_->obstacles_to_cruise.size(); ++i) { // obstacle const auto obstacle_marker = obstacle_cruise_utils::getObjectMarker( - debug_data_ptr_->obstacles_to_cruise.at(i).pose, i, "obstacles_to_cruise", 1.0, 0.5, 0.5); + debug_data_ptr_->obstacles_to_cruise.at(i).pose, i, "obstacles_to_cruise", 1.0, 0.6, 0.1); debug_marker.markers.push_back(obstacle_marker); // collision points diff --git a/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index bca5ad3f3cf41..ffd2f97b1eb89 100644 --- a/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -314,7 +314,7 @@ std::vector PIDBasedPlanner::planCruise( stop_traj_points.at(wall_idx).pose, "obstacle cruise", planner_data.current_time, 0); // NOTE: use a different color from slow down one to visualize cruise and slow down // separately. - markers.markers.front().color = tier4_autoware_utils::createMarkerColor(1.0, 0.5, 0.5, 0.5); + markers.markers.front().color = tier4_autoware_utils::createMarkerColor(1.0, 0.6, 0.1, 0.5); tier4_autoware_utils::appendMarkerArray(markers, &debug_data_ptr_->cruise_wall_marker); // cruise obstacle From 40f931129ebbcbb9c63788ea53816c12e18ad2fd Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 26 Jun 2023 07:23:24 +0900 Subject: [PATCH 017/118] refactor(lane_change): use common logger (#4072) Signed-off-by: Takamasa Horibe --- .../scene_module/lane_change/normal.hpp | 2 + .../src/scene_module/lane_change/normal.cpp | 55 +++++-------------- 2 files changed, 16 insertions(+), 41 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp index e79400231cfb0..6572d4f8221b0 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp @@ -107,6 +107,8 @@ class NormalLaneChange : public LaneChangeBase TurnSignalInfo calcTurnSignalInfo() override; bool isValidPath(const PathWithLaneId & path) const override; + + rclcpp::Logger logger_ = rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()); }; class NormalLaneChangeBT : public NormalLaneChange diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 96238ecfb203d..548d23642581e 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -561,9 +561,7 @@ bool NormalLaneChange::getLaneChangePaths( minimum_prepare_length); if (prepare_length < target_length) { - RCLCPP_DEBUG( - rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()), - "prepare length is shorter than distance to target lane!!"); + RCLCPP_DEBUG(logger_, "prepare length is shorter than distance to target lane!!"); break; } @@ -571,9 +569,7 @@ bool NormalLaneChange::getLaneChangePaths( original_lanelets, arc_position_from_current.length, backward_path_length, prepare_length); if (prepare_segment.points.empty()) { - RCLCPP_DEBUG( - rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()), - "prepare segment is empty!!"); + RCLCPP_DEBUG(logger_, "prepare segment is empty!!"); continue; } @@ -587,8 +583,7 @@ bool NormalLaneChange::getLaneChangePaths( // that case, the lane change shouldn't be executed. if (target_length_from_lane_change_start_pose > 0.0) { RCLCPP_DEBUG( - rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()), - "[only new arch] lane change start getEgoPose() is behind target lanelet!!"); + logger_, "[only new arch] lane change start getEgoPose() is behind target lanelet!!"); break; } @@ -621,9 +616,7 @@ bool NormalLaneChange::getLaneChangePaths( prepare_segment, current_velocity, terminal_lane_changing_velocity); if (lane_changing_length + prepare_length > dist_to_end_of_current_lanes) { - RCLCPP_DEBUG( - rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()), - "length of lane changing path is longer than length to goal!!"); + RCLCPP_DEBUG(logger_, "length of lane changing path is longer than length to goal!!"); continue; } @@ -636,9 +629,7 @@ bool NormalLaneChange::getLaneChangePaths( s_start + lane_changing_length + common_parameter.lane_change_finish_judge_buffer + next_lane_change_buffer > s_goal) { - RCLCPP_DEBUG( - rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"), - "length of lane changing path is longer than length to goal!!"); + RCLCPP_DEBUG(logger_, "length of lane changing path is longer than length to goal!!"); continue; } } @@ -649,9 +640,7 @@ bool NormalLaneChange::getLaneChangePaths( next_lane_change_buffer); if (target_segment.points.empty()) { - RCLCPP_DEBUG( - rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"), - "target segment is empty!! something wrong..."); + RCLCPP_DEBUG(logger_, "target segment is empty!! something wrong..."); continue; } @@ -673,9 +662,7 @@ bool NormalLaneChange::getLaneChangePaths( next_lane_change_buffer); if (target_lane_reference_path.points.empty()) { - RCLCPP_DEBUG( - rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"), - "target_lane_reference_path is empty!!"); + RCLCPP_DEBUG(logger_, "target_lane_reference_path is empty!!"); continue; } @@ -693,9 +680,7 @@ bool NormalLaneChange::getLaneChangePaths( lc_velocity, terminal_lane_changing_velocity, lc_time); if (!candidate_path) { - RCLCPP_DEBUG( - rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"), - "no candidate path!!"); + RCLCPP_DEBUG(logger_, "no candidate path!!"); continue; } @@ -704,9 +689,7 @@ bool NormalLaneChange::getLaneChangePaths( minimum_lane_changing_velocity, common_parameter, direction); if (!is_valid) { - RCLCPP_DEBUG( - rclcpp::get_logger("behavior_path_planner").get_child("util").get_child("lane_change"), - "invalid candidate path!!"); + RCLCPP_DEBUG(logger_, "invalid candidate path!!"); continue; } @@ -927,18 +910,14 @@ bool NormalLaneChange::getAbortPath() lane_change_parameters_->abort_delta_time + lane_change_parameters_->aborting_time); if (abort_start_idx >= abort_return_idx) { - RCLCPP_ERROR_STREAM( - rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()), - "abort start idx and return idx is equal. can't compute abort path."); + RCLCPP_ERROR(logger_, "abort start idx and return idx is equal. can't compute abort path."); return false; } if (!utils::lane_change::hasEnoughLengthToLaneChangeAfterAbort( *route_handler, reference_lanelets, current_pose, abort_return_dist, common_param, direction)) { - RCLCPP_ERROR_STREAM( - rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()), - "insufficient distance to abort."); + RCLCPP_ERROR(logger_, "insufficient distance to abort."); return false; } @@ -965,9 +944,7 @@ bool NormalLaneChange::getAbortPath() path_shifter.setLateralAccelerationLimit(max_lateral_acc); if (lateral_jerk > lane_change_parameters_->abort_max_lateral_jerk) { - RCLCPP_ERROR_STREAM( - rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()), - "Aborting jerk is too strong. lateral_jerk = " << lateral_jerk); + RCLCPP_ERROR(logger_, "Aborting jerk is too strong. lateral_jerk = %f", lateral_jerk); return false; } @@ -975,9 +952,7 @@ bool NormalLaneChange::getAbortPath() // offset front side // bool offset_back = false; if (!path_shifter.generate(&shifted_path)) { - RCLCPP_ERROR_STREAM( - rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()), - "failed to generate abort shifted path."); + RCLCPP_ERROR(logger_, "failed to generate abort shifted path."); } const auto arc_position = lanelet::utils::getArcCoordinates( @@ -1094,9 +1069,7 @@ PathWithLaneId NormalLaneChangeBT::getPrepareSegment( const double s_start = arc_length_from_current - backward_path_length; const double s_end = arc_length_from_current + prepare_length; - RCLCPP_DEBUG( - rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()).get_child("getPrepareSegment"), - "start: %f, end: %f", s_start, s_end); + RCLCPP_DEBUG(logger_, "start: %f, end: %f", s_start, s_end); PathWithLaneId prepare_segment = getRouteHandler()->getCenterLinePath(current_lanes, s_start, s_end); From e9d4e9fa7dd03935a7752556ab63eefa48aaf2be Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 26 Jun 2023 09:08:29 +0900 Subject: [PATCH 018/118] fix(crosswalk): return if the stop point with factor is boost::none (#4071) Signed-off-by: satoshi-ota --- .../src/scene_crosswalk.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index ca39796c616ba..2ac4521c4c79e 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -234,6 +234,10 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto return {}; }(); + if (!stop_point_with_factor) { + return false; + } + const auto & stop_factor = stop_point_with_factor->second; insertDecelPointWithDebugInfo(stop_point_with_factor->first, 0.0, *path); planning_utils::appendStopReason(stop_factor, stop_reason); From a3c6ea22d3f4cdcaa810ae9a85fe44652014f2f0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 26 Jun 2023 10:18:43 +0900 Subject: [PATCH 019/118] feat(avoidance): set additional buffer margin independently (#4041) Signed-off-by: satoshi-ota --- .../config/avoidance/avoidance.param.yaml | 9 ++++++++- .../utils/avoidance/avoidance_module_data.hpp | 5 ++--- .../src/behavior_path_planner_node.cpp | 2 +- .../src/scene_module/avoidance/avoidance_module.cpp | 4 ++-- .../src/scene_module/avoidance/manager.cpp | 2 +- .../behavior_path_planner/src/utils/avoidance/utils.cpp | 2 +- 6 files changed, 15 insertions(+), 9 deletions(-) diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml index f7867ea647e13..79aca0867cce9 100644 --- a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml +++ b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml @@ -33,6 +33,7 @@ moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] + avoid_margin_lateral: 1.0 # [m] safety_buffer_lateral: 0.7 # [m] safety_buffer_longitudinal: 0.0 # [m] truck: @@ -41,6 +42,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 + avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 bus: @@ -49,6 +51,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 + avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 trailer: @@ -57,6 +60,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 + avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 unknown: @@ -65,6 +69,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 + avoid_margin_lateral: 1.0 safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 bicycle: @@ -73,6 +78,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 + avoid_margin_lateral: 1.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 motorcycle: @@ -81,6 +87,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 + avoid_margin_lateral: 1.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 pedestrian: @@ -89,6 +96,7 @@ moving_time_threshold: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 + avoid_margin_lateral: 1.0 safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 lower_distance_for_polygon_expansion: 30.0 # [m] @@ -124,7 +132,6 @@ avoidance: # avoidance lateral parameters lateral: - lateral_collision_margin: 1.0 # [m] lateral_execution_threshold: 0.499 # [m] lateral_small_shift_threshold: 0.101 # [m] road_shoulder_safety_margin: 0.3 # [m] diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp index 3dd5668f43ddf..187dca71ae6c8 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp @@ -58,6 +58,8 @@ struct ObjectParameter double envelope_buffer_margin{0.0}; + double avoid_margin_lateral{1.0}; + double safety_buffer_lateral{1.0}; double safety_buffer_longitudinal{0.0}; @@ -159,9 +161,6 @@ struct AvoidanceParameters // force avoidance double threshold_time_force_avoidance_for_stopped_vehicle; - // we want to keep this lateral margin when avoiding - double lateral_collision_margin; - // when complete avoidance motion, there is a distance margin with the object // for longitudinal direction double longitudinal_collision_margin_min_distance; 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 229ae0eb679ea..f7336dad3f895 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -586,6 +586,7 @@ AvoidanceParameters BehaviorPathPlannerNode::getAvoidanceParam() param.moving_time_threshold = declare_parameter(ns + "moving_time_threshold"); param.max_expand_ratio = declare_parameter(ns + "max_expand_ratio"); param.envelope_buffer_margin = declare_parameter(ns + "envelope_buffer_margin"); + param.avoid_margin_lateral = declare_parameter(ns + "avoid_margin_lateral"); param.safety_buffer_lateral = declare_parameter(ns + "safety_buffer_lateral"); param.safety_buffer_longitudinal = declare_parameter(ns + "safety_buffer_longitudinal"); @@ -649,7 +650,6 @@ AvoidanceParameters BehaviorPathPlannerNode::getAvoidanceParam() // avoidance maneuver (lateral) { std::string ns = "avoidance.avoidance.lateral."; - p.lateral_collision_margin = declare_parameter(ns + "lateral_collision_margin"); p.road_shoulder_safety_margin = declare_parameter(ns + "road_shoulder_safety_margin"); p.lateral_execution_threshold = declare_parameter(ns + "lateral_execution_threshold"); p.lateral_small_shift_threshold = 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 ac98eb5a2b59b..8c0d6d4acd48a 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 @@ -620,7 +620,7 @@ void AvoidanceModule::fillDebugData(const AvoidancePlanningData & data, DebugDat const auto & vehicle_width = planner_data_->parameters.vehicle_width; const auto max_avoid_margin = object_parameter.safety_buffer_lateral * o_front.distance_factor + - parameters_->lateral_collision_margin + 0.5 * vehicle_width; + object_parameter.avoid_margin_lateral + 0.5 * vehicle_width; const auto variable = helper_.getSharpAvoidanceDistance( helper_.getShiftLength(o_front, utils::avoidance::isOnRight(o_front), max_avoid_margin)); @@ -3285,7 +3285,7 @@ double AvoidanceModule::calcDistanceToStopLine(const ObjectData & object) const const auto object_parameter = parameters_->object_parameters.at(t); const auto avoid_margin = object_parameter.safety_buffer_lateral * object.distance_factor + - p->lateral_collision_margin + 0.5 * vehicle_width; + object_parameter.avoid_margin_lateral + 0.5 * vehicle_width; const auto variable = helper_.getMinimumAvoidanceDistance( helper_.getShiftLength(object, utils::avoidance::isOnRight(object), avoid_margin)); const auto constant = diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp index 321a5a72cc7b7..90dbfa960dbfe 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp @@ -52,6 +52,7 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "moving_time_threshold", config.moving_time_threshold); updateParam(parameters, ns + "max_expand_ratio", config.max_expand_ratio); updateParam(parameters, ns + "envelope_buffer_margin", config.envelope_buffer_margin); + updateParam(parameters, ns + "avoid_margin_lateral", config.avoid_margin_lateral); updateParam(parameters, ns + "safety_buffer_lateral", config.safety_buffer_lateral); updateParam( parameters, ns + "safety_buffer_longitudinal", config.safety_buffer_longitudinal); @@ -82,7 +83,6 @@ void AvoidanceModuleManager::updateModuleParams(const std::vectorlateral_execution_threshold); updateParam( parameters, ns + "lateral_small_shift_threshold", p->lateral_small_shift_threshold); - updateParam(parameters, ns + "lateral_collision_margin", p->lateral_collision_margin); updateParam( parameters, ns + "road_shoulder_safety_margin", p->road_shoulder_safety_margin); } diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp index 06ca1c3cc979e..8d33faf82e645 100644 --- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp +++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp @@ -894,7 +894,7 @@ void filterTargetObjects( // calculate avoid_margin dynamically // NOTE: This calculation must be after calculating to_road_shoulder_distance. const double max_avoid_margin = object_parameter.safety_buffer_lateral * o.distance_factor + - parameters->lateral_collision_margin + 0.5 * vehicle_width; + object_parameter.avoid_margin_lateral + 0.5 * vehicle_width; const double min_safety_lateral_distance = object_parameter.safety_buffer_lateral + 0.5 * vehicle_width; const auto max_allowable_lateral_distance = From 261a1b2a0ac445cc0fb16b055dd2f3b85178b6f0 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 26 Jun 2023 12:14:16 +0900 Subject: [PATCH 020/118] chore(lane_change): add z-pos in debug marker (#4074) Signed-off-by: Takamasa Horibe --- .../src/marker_util/lane_change/debug.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp b/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp index 8c9734924e14e..1ae1f8a03e0c0 100644 --- a/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp +++ b/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp @@ -185,11 +185,12 @@ MarkerArray showPolygon( } const auto & color = colors.at(idx); const auto & ego_polygon = info.ego_polygon.outer(); + const auto poly_z = info.current_pose.position.z; // temporally ego_marker.id = ++id; ego_marker.color = createMarkerColor(color[0], color[1], color[2], 0.8); ego_marker.points.reserve(ego_polygon.size()); for (const auto & p : ego_polygon) { - ego_marker.points.push_back(tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0)); + ego_marker.points.push_back(tier4_autoware_utils::createPoint(p.x(), p.y(), poly_z)); } marker_array.markers.push_back(ego_marker); @@ -198,7 +199,7 @@ MarkerArray showPolygon( obj_marker.color = createMarkerColor(color[0], color[1], color[2], 0.8); obj_marker.points.reserve(obj_polygon.size()); for (const auto & p : obj_polygon) { - obj_marker.points.push_back(tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0)); + obj_marker.points.push_back(tier4_autoware_utils::createPoint(p.x(), p.y(), poly_z)); } marker_array.markers.push_back(obj_marker); ++idx; From 435cdf909bafba40832472a5337cf72127a50ba3 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon, 26 Jun 2023 14:17:16 +0900 Subject: [PATCH 021/118] feat(mission_planner): add mrm goal modification (#4075) Signed-off-by: yutaka --- .../src/mission_planner/mission_planner.cpp | 22 ++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/planning/mission_planner/src/mission_planner/mission_planner.cpp b/planning/mission_planner/src/mission_planner/mission_planner.cpp index 7de19df1b3b4e..6ac62128c3bc1 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.cpp @@ -503,9 +503,25 @@ void MissionPlanner::on_modified_goal(const ModifiedGoal::Message::ConstSharedPt RCLCPP_ERROR(get_logger(), "Normal route has not set yet."); return; } - if (mrm_route_) { - RCLCPP_ERROR_THROTTLE( - get_logger(), *get_clock(), 5000, "Cannot modify goal in the emergency state"); + + if (mrm_route_ && mrm_route_->uuid == msg->uuid) { + // set to changing state + change_state(RouteState::Message::CHANGING); + + const std::vector empty_waypoints; + auto new_route = + create_route(msg->header, empty_waypoints, msg->pose, mrm_route_->allow_modification); + // create_route generate new uuid, so set the original uuid again to keep that. + new_route.uuid = msg->uuid; + if (new_route.segments.empty()) { + change_mrm_route(*mrm_route_); + change_state(RouteState::Message::SET); + RCLCPP_ERROR(get_logger(), "The planned route is empty."); + return; + } + + change_mrm_route(new_route); + change_state(RouteState::Message::SET); return; } From 80d59309813412184ebd3f02613d58a42d38fa3c Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Mon, 26 Jun 2023 17:14:25 +0900 Subject: [PATCH 022/118] feat(behavior_path_planner): remove redundant process (#4077) Signed-off-by: Fumiya Watanabe --- .../scene_module/lane_change/base_class.hpp | 4 ++- .../scene_module/lane_change/normal.hpp | 4 ++- .../scene_module/lane_change/interface.cpp | 14 ++-------- .../src/scene_module/lane_change/normal.cpp | 28 ++++++++++++++++++- 4 files changed, 35 insertions(+), 15 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp index 94a4cb9462a2c..f8d80d8883b38 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp @@ -85,6 +85,8 @@ class LaneChangeBase virtual bool hasFinishedAbort() const = 0; + virtual bool isLaneChangeRequired() const = 0; + virtual bool isAbortState() const = 0; virtual bool isAbleToReturnCurrentLane() const = 0; @@ -197,7 +199,7 @@ class LaneChangeBase virtual bool getLaneChangePaths( const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, Direction direction, - LaneChangePaths * candidate_paths) const = 0; + LaneChangePaths * candidate_paths, const bool check_safety) const = 0; virtual std::vector getDrivableLanes() const = 0; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp index 6572d4f8221b0..f7c6cdc07a200 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp @@ -85,6 +85,8 @@ class NormalLaneChange : public LaneChangeBase bool isAbortState() const override; + bool isLaneChangeRequired() const override; + protected: lanelet::ConstLanelets getCurrentLanes() const override; @@ -100,7 +102,7 @@ class NormalLaneChange : public LaneChangeBase bool getLaneChangePaths( const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, Direction direction, - LaneChangePaths * candidate_paths) const override; + LaneChangePaths * candidate_paths, const bool check_safety = true) const override; std::vector getDrivableLanes() const override; diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index 81df39cb8f789..26051c4d78f3e 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -67,22 +67,12 @@ bool LaneChangeInterface::isExecutionRequested() const return true; } - LaneChangePath selected_path; - module_type_->setPreviousModulePaths( - getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path); - const auto [found_valid_path, found_safe_path] = module_type_->getSafePath(selected_path); - - return found_valid_path; + return module_type_->isLaneChangeRequired(); } bool LaneChangeInterface::isExecutionReady() const { - LaneChangePath selected_path; - module_type_->setPreviousModulePaths( - getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path); - const auto [found_valid_path, found_safe_path] = module_type_->getSafePath(selected_path); - - return found_safe_path; + return module_type_->isSafe(); } ModuleStatus LaneChangeInterface::updateState() diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 548d23642581e..7f0d84fc94aed 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -89,6 +89,28 @@ std::pair NormalLaneChange::getSafePath(LaneChangePath & safe_path) return {true, found_safe_path}; } +bool NormalLaneChange::isLaneChangeRequired() const +{ + const auto current_lanes = getCurrentLanes(); + + if (current_lanes.empty()) { + return false; + } + + const auto target_lanes = getLaneChangeLanes(current_lanes, direction_); + + if (target_lanes.empty()) { + return false; + } + + // find candidate paths + LaneChangePaths valid_paths{}; + [[maybe_unused]] const auto found_safe_path = + getLaneChangePaths(current_lanes, target_lanes, direction_, &valid_paths, false); + + return !valid_paths.empty(); +} + LaneChangePath NormalLaneChange::getLaneChangePath() const { return isAbortState() ? *abort_path_ : status_.lane_change_path; @@ -472,7 +494,7 @@ PathWithLaneId NormalLaneChange::getPrepareSegment( bool NormalLaneChange::getLaneChangePaths( const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, - Direction direction, LaneChangePaths * candidate_paths) const + Direction direction, LaneChangePaths * candidate_paths, const bool check_safety) const { object_debug_.clear(); if (original_lanelets.empty() || target_lanelets.empty()) { @@ -706,6 +728,10 @@ bool NormalLaneChange::getLaneChangePaths( } candidate_paths->push_back(*candidate_path); + if (!check_safety) { + return false; + } + const auto [is_safe, is_object_coming_from_rear] = utils::lane_change::isLaneChangePathSafe( *candidate_path, dynamic_objects, dynamic_object_indices, getEgoPose(), getEgoTwist(), common_parameter, *lane_change_parameters_, common_parameter.expected_front_deceleration, From 68a24de12b57eb1687108fc6ecc48166f9170ca6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 26 Jun 2023 18:01:23 +0900 Subject: [PATCH 023/118] docs(avoidance): update parameter descriptions (#4073) * docs(avoidance): update parameter descriptions Signed-off-by: satoshi-ota * docs(avoidance): minor update Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_path_planner_avoidance_design.md | 82 ++++++++++++------- 1 file changed, 51 insertions(+), 31 deletions(-) diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md index 42d3fad3e49bc..b023b0dff9602 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md @@ -588,13 +588,13 @@ namespace: `avoidance.` | resample_interval_for_output | [m] | double | Path resample interval for output path. Too short interval increases computational cost for latter modules. | 4.0 | | detection_area_right_expand_dist | [m] | double | Lanelet expand length for right side to find avoidance target vehicles. | 0.0 | | detection_area_left_expand_dist | [m] | double | Lanelet expand length for left side to find avoidance target vehicles. | 1.0 | -| object_envelope_buffer | [m] | double | Envelope object polygon with buffer in order to prevent shift line chattering. | 0.3 | | enable_bound_clipping | [-] | bool | Enable clipping left and right bound of drivable area when obstacles are in the drivable area | false | | enable_avoidance_over_same_direction | [-] | bool | Extend avoidance trajectory to adjacent lanes that has same direction. If false, avoidance only happen in current lane. | true | | enable_avoidance_over_opposite_direction | [-] | bool | Extend avoidance trajectory to adjacent lanes that has opposite direction. `enable_avoidance_over_same_direction` must be `true` to take effects | true | | enable_update_path_when_object_is_gone | [-] | bool | Reset trajectory when avoided objects are gone. If false, shifted path points remain same even though the avoided objects are gone. | false | | enable_safety_check | [-] | bool | Flag to enable safety check. | false | | enable_yield_maneuver | [-] | bool | Flag to enable yield maneuver. | false | +| enable_yield_maneuver_during_shifting | [-] | bool | Flag to enable yield maneuver during shifting. | false | | publish_debug_marker | [-] | bool | Flag to publish debug marker (set `false` as default since it takes considerable cost). | false | | print_debug_info | [-] | bool | Flag to print debug info (set `false` as default since it takes considerable cost). | false | @@ -604,31 +604,52 @@ namespace: `avoidance.` namespace: `avoidance.target_object.` -| Name | Unit | Type | Description | Default value | -| :--------- | ---- | ---- | ------------------------------------------ | ------------- | -| car | [-] | bool | Allow avoidance for object type CAR | true | -| truck | [-] | bool | Allow avoidance for object type TRUCK | true | -| bus | [-] | bool | Allow avoidance for object type BUS | true | -| trailer | [-] | bool | Allow avoidance for object type TRAILER | true | -| unknown | [-] | bool | Allow avoidance for object type UNKNOWN | false | -| bicycle | [-] | bool | Allow avoidance for object type BICYCLE | false | -| motorcycle | [-] | bool | Allow avoidance for object type MOTORCYCLE | false | -| pedestrian | [-] | bool | Allow avoidance for object type PEDESTRIAN | false | +This module supports all object classes, and it can set following parameters independently. + +```yaml +car: + enable: true # [-] + moving_speed_threshold: 1.0 # [m/s] + moving_time_threshold: 1.0 # [s] + max_expand_ratio: 0.0 # [-] + envelope_buffer_margin: 0.3 # [m] + avoid_margin_lateral: 1.0 # [m] + safety_buffer_lateral: 0.7 # [m] + safety_buffer_longitudinal: 0.0 # [m] +``` + +| Name | Unit | Type | Description | Default value | +| :------------------------- | ----- | ------ | ---------------------------------------------------------------------------------------------------------- | ------------- | +| enable | [-] | bool | Allow avoidance for object type CAR | false | +| moving_speed_threshold | [m/s] | double | Objects with speed greater than this will be judged as moving ones. | 1.0 | +| moving_time_threshold | [s] | double | Objects keep moving longer duration than this will be excluded from avoidance target. | 1.0 | +| envelope_buffer_margin | [m] | double | Allow avoidance for object type TRAILER | 0.3 | +| avoid_margin_lateral | [m] | double | The lateral distance between ego and avoidance targets. | 1.0 | +| safety_buffer_lateral | [m] | double | Creates an additional lateral gap that will prevent the vehicle from getting to near to the obstacle. | 0.5 | +| safety_buffer_longitudinal | [m] | double | Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle. | 0.0 | + +Parameters for the logic to compensate perception noise of the far objects. + +| Name | Unit | Type | Description | Default value | +| :----------------------------------- | ---- | ------ | ------------------------------------------------------------------------------------------------------------ | ------------- | +| max_expand_ratio | [-] | double | This value will be applied `envelope_buffer_margin` according to the distance between the ego and object. | 0.0 | +| lower_distance_for_polygon_expansion | [-] | double | If the distance between the ego and object is less than this, the expand ratio will be zero. | 30.0 | +| upper_distance_for_polygon_expansion | [-] | double | If the distance between the ego and object is larger than this, the expand ratio will be `max_expand_ratio`. | 100.0 | namespace: `avoidance.target_filtering.` -| Name | Unit | Type | Description | Default value | -| :------------------------------------- | :---- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| threshold_speed_object_is_stopped | [m/s] | double | Vehicles with speed greater than this will be excluded from avoidance target. | 1.0 | -| threshold_time_object_is_moving | [s] | double | Forward distance to search the avoidance target. | 1.0 | -| threshold_distance_object_is_on_center | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 1.0 | -| object_check_forward_distance | [m] | double | Forward distance to search the avoidance target. | 150.0 | -| object_check_backward_distance | [m] | double | Backward distance to search the avoidance target. | 2.0 | -| object_check_goal_distance | [m] | double | Backward distance to search the avoidance target. | 20.0 | -| object_check_shiftable_ratio | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 0.6 | -| object_check_min_road_shoulder_width | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 0.5 | -| object_last_seen_threshold | [s] | double | For the compensation of the detection lost. The object is registered once it is observed as an avoidance target. When the detection loses, the timer will start and the object will be un-registered when the time exceeds this limit. | 2.0 | -| left_hand_traffic | [-] | bool | Flag to select left or right hand traffic. `TRUE: LEFT-HAND TRAFFIC / FALSE: RIGHT-HAND TRAFFIC` | true | +| Name | Unit | Type | Description | Default value | +| :---------------------------------------- | :--- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| threshold_distance_object_is_on_center | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 1.0 | +| object_ignore_distance_traffic_light | [m] | double | If the distance between traffic light and vehicle is less than this parameter, this module will ignore it. | 30.0 | +| object_ignore_distance_crosswalk_forward | [m] | double | If the front distance between crosswalk and vehicle is less than this parameter, this module will ignore it. | 30.0 | +| object_ignore_distance_crosswalk_backward | [m] | double | If the back distance between crosswalk and vehicle is less than this parameter, this module will ignore it. | 30.0 | +| object_check_forward_distance | [m] | double | Forward distance to search the avoidance target. | 150.0 | +| object_check_backward_distance | [m] | double | Backward distance to search the avoidance target. | 2.0 | +| object_check_goal_distance | [m] | double | Backward distance to search the avoidance target. | 20.0 | +| object_check_shiftable_ratio | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 0.6 | +| object_check_min_road_shoulder_width | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 0.5 | +| object_last_seen_threshold | [s] | double | For the compensation of the detection lost. The object is registered once it is observed as an avoidance target. When the detection loses, the timer will start and the object will be un-registered when the time exceeds this limit. | 2.0 | ### Safety check parameters @@ -646,14 +667,13 @@ namespace: `avoidance.safety_check.` namespace: `avoidance.avoidance.lateral.` -| Name | Unit | Type | Description | Default value | -| :------------------------------------ | :--- | :----- | :-------------------------------------------------------------------------------------------------------------------------- | :------------ | -| lateral_collision_margin | [m] | double | The lateral distance between ego and avoidance targets. | 1.0 | -| lateral_collision_safety_buffer | [m] | double | Creates an additional gap that will prevent the vehicle from getting to near to the obstacle | 0.7 | -| road_shoulder_safety_margin | [m] | double | Prevents the generated path to come too close to the road shoulders. | 0.0 | -| avoidance_execution_lateral_threshold | [m] | double | The lateral distance deviation threshold between the current path and suggested avoidance point to execute avoidance. (\*2) | 0.499 | -| max_right_shift_length | [m] | double | Maximum shift length for right direction | 5.0 | -| max_left_shift_length | [m] | double | Maximum shift length for left direction | 5.0 | +| Name | Unit | Type | Description | Default value | +| :---------------------------- | :--- | :----- | :-------------------------------------------------------------------------------------------------------------------------- | :------------ | +| road_shoulder_safety_margin | [m] | double | Prevents the generated path to come too close to the road shoulders. | 0.0 | +| lateral_execution_threshold | [m] | double | The lateral distance deviation threshold between the current path and suggested avoidance point to execute avoidance. (\*2) | 0.499 | +| lateral_small_shift_threshold | [m] | double | The shift lines whose lateral offset is less than this will be applied with other ones. | 0.501 | +| max_right_shift_length | [m] | double | Maximum shift length for right direction | 5.0 | +| max_left_shift_length | [m] | double | Maximum shift length for left direction | 5.0 | namespace: `avoidance.avoidance.longitudinal.` From a31dfdb49a95f02c6c906b094bdc23e11cb84af4 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon, 26 Jun 2023 19:17:29 +0900 Subject: [PATCH 024/118] feat(behavior_path_planner): enable delay lane change when necessary (#3991) * feat(behavior_path_planner): enable delay lane change when necessary Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * feat(behavior_path_planner): add a function to judge a parked vehicle Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * Update planning/behavior_path_planner/src/utils/lane_change/utils.cpp Co-authored-by: Fumiya Watanabe * update name Signed-off-by: yutaka --------- Signed-off-by: yutaka Co-authored-by: Fumiya Watanabe --- .../config/lane_change/lane_change.param.yaml | 4 + .../lane_change/lane_change_module_data.hpp | 4 + .../utils/lane_change/utils.hpp | 12 ++ .../src/behavior_path_planner_node.cpp | 6 + .../src/scene_module/lane_change/normal.cpp | 22 +++- .../src/utils/lane_change/utils.cpp | 105 ++++++++++++++++++ 6 files changed, 149 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml index de3802b070326..95ff106eb4c00 100644 --- a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml +++ b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml @@ -15,6 +15,10 @@ longitudinal_acceleration_sampling_num: 5 lateral_acceleration_sampling_num: 3 + # side walk parked vehicle + object_check_min_road_shoulder_width: 0.5 # [m] + object_shiftable_ratio_threshold: 0.6 + # turn signal min_length_for_turn_signal_activation: 10.0 # [m] length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp index 85a77df4c1e0d..4def596f78746 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp @@ -34,6 +34,10 @@ struct LaneChangeParameters int longitudinal_acc_sampling_num{10}; int lateral_acc_sampling_num{10}; + // parked vehicle + double object_check_min_road_shoulder_width{0.5}; + double object_shiftable_ratio_threshold{0.6}; + // turn signal double min_length_for_turn_signal_activation{10.0}; double length_ratio_for_turn_signal_deactivation{0.8}; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp index 5b16a67f5349f..9570ffec56576 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp @@ -174,5 +174,17 @@ PredictedPath convertToPredictedPath( const PathWithLaneId & path, const Twist & vehicle_twist, const Pose & pose, const size_t nearest_seg_idx, const double duration, const double resolution, const double prepare_time, const double prepare_acc, const double lane_changing_acc); + +bool passParkedObject( + const RouteHandler & route_handler, const LaneChangePath & lane_change_path, + const PathWithLaneId & current_lane_path, const PredictedObjects & objects, + const std::vector & target_lane_obj_indices, const double minimum_lane_change_length, + const bool is_goal_in_route, const double object_check_min_road_shoulder_width, + const double object_shiftable_ratio_threshold); + +boost::optional getLeadingStaticObjectIdx( + const RouteHandler & route_handler, const LaneChangePath & lane_change_path, + const PredictedObjects & objects, const std::vector & obj_indices, + const double object_check_min_road_shoulder_width, const double object_shiftable_ratio_threshold); } // namespace behavior_path_planner::utils::lane_change #endif // BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTILS_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 f7336dad3f895..0384a702ff129 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -787,6 +787,12 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam() p.lateral_acc_sampling_num = declare_parameter(parameter("lateral_acceleration_sampling_num")); + // parked vehicle detection + p.object_check_min_road_shoulder_width = + declare_parameter(parameter("object_check_min_road_shoulder_width")); + p.object_shiftable_ratio_threshold = + declare_parameter(parameter("object_shiftable_ratio_threshold")); + // turn signal p.min_length_for_turn_signal_activation = declare_parameter(parameter("min_length_for_turn_signal_activation")); diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 7f0d84fc94aed..b56e382cc52ce 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -539,10 +539,10 @@ bool NormalLaneChange::getLaneChangePaths( const auto is_goal_in_route = route_handler.isInGoalRouteSection(target_lanelets.back()); - const auto shift_intervals = - route_handler.getLateralIntervalsToPreferredLane(target_lanelets.back()); - const double next_lane_change_buffer = - utils::calcMinimumLaneChangeLength(common_parameter, shift_intervals); + const double lane_change_buffer = utils::calcMinimumLaneChangeLength( + common_parameter, route_handler.getLateralIntervalsToPreferredLane(original_lanelets.back())); + const double next_lane_change_buffer = utils::calcMinimumLaneChangeLength( + common_parameter, route_handler.getLateralIntervalsToPreferredLane(target_lanelets.back())); const auto dist_to_end_of_current_lanes = utils::getDistanceToEndOfLane(getEgoPose(), original_lanelets); @@ -725,6 +725,20 @@ bool NormalLaneChange::getLaneChangePaths( {*candidate_path}, *dynamic_objects, backward_target_lanes_for_object_filtering, getEgoPose(), common_parameter.forward_path_length, *lane_change_parameters_, lateral_buffer); + + const double object_check_min_road_shoulder_width = + lane_change_parameters_->object_check_min_road_shoulder_width; + const double object_shiftable_ratio_threshold = + lane_change_parameters_->object_shiftable_ratio_threshold; + const auto current_lane_path = route_handler.getCenterLinePath( + original_lanelets, 0.0, std::numeric_limits::max()); + const bool pass_parked_object = utils::lane_change::passParkedObject( + route_handler, *candidate_path, current_lane_path, *dynamic_objects, + dynamic_object_indices.target_lane, lane_change_buffer, is_goal_in_route, + object_check_min_road_shoulder_width, object_shiftable_ratio_threshold); + if (pass_parked_object) { + return false; + } } candidate_paths->push_back(*candidate_path); diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp index 37ce67a2927f0..919541f5972a4 100644 --- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp +++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp @@ -1058,4 +1058,109 @@ PredictedPath convertToPredictedPath( return predicted_path; } + +bool passParkedObject( + const RouteHandler & route_handler, const LaneChangePath & lane_change_path, + const PathWithLaneId & current_lane_path, const PredictedObjects & objects, + const std::vector & target_lane_obj_indices, const double minimum_lane_change_length, + const bool is_goal_in_route, const double object_check_min_road_shoulder_width, + const double object_shiftable_ratio_threshold) +{ + const auto & path = lane_change_path.path; + + if (target_lane_obj_indices.empty() || path.points.empty() || current_lane_path.points.empty()) { + return false; + } + + const auto leading_obj_idx = getLeadingStaticObjectIdx( + route_handler, lane_change_path, objects, target_lane_obj_indices, + object_check_min_road_shoulder_width, object_shiftable_ratio_threshold); + if (!leading_obj_idx) { + return false; + } + + const auto & leading_obj = objects.objects.at(*leading_obj_idx); + const auto & leading_obj_poly = tier4_autoware_utils::toPolygon2d(leading_obj); + if (leading_obj_poly.outer().empty()) { + return false; + } + + const auto & current_path_end = current_lane_path.points.back().point.pose.position; + double min_dist_to_end_of_current_lane = std::numeric_limits::max(); + for (const auto & point : leading_obj_poly.outer()) { + const auto obj_p = tier4_autoware_utils::createPoint(point.x(), point.y(), 0.0); + const double dist = + motion_utils::calcSignedArcLength(current_lane_path.points, obj_p, current_path_end); + min_dist_to_end_of_current_lane = std::min(dist, min_dist_to_end_of_current_lane); + if (is_goal_in_route) { + const auto goal_pose = route_handler.getGoalPose(); + const double dist_to_goal = + motion_utils::calcSignedArcLength(current_lane_path.points, obj_p, goal_pose.position); + min_dist_to_end_of_current_lane = std::min(min_dist_to_end_of_current_lane, dist_to_goal); + } + } + + // If there are still enough length after the target object, we delay the lane change + if (min_dist_to_end_of_current_lane > minimum_lane_change_length) { + return true; + } + + return false; +} + +boost::optional getLeadingStaticObjectIdx( + const RouteHandler & route_handler, const LaneChangePath & lane_change_path, + const PredictedObjects & objects, const std::vector & obj_indices, + const double object_check_min_road_shoulder_width, const double object_shiftable_ratio_threshold) +{ + const auto & path = lane_change_path.path; + + if (path.points.empty() || obj_indices.empty()) { + return {}; + } + + const auto & lane_change_start = lane_change_path.lane_changing_start; + const auto & path_end = path.points.back(); + + double dist_lc_start_to_leading_obj = 0.0; + boost::optional leading_obj_idx = boost::none; + for (const auto & obj_idx : obj_indices) { + const auto & obj = objects.objects.at(obj_idx); + const auto & obj_pose = obj.kinematics.initial_pose_with_covariance.pose; + + // ignore non-static object + // TODO(shimizu): parametrize threshold + if (obj.kinematics.initial_twist_with_covariance.twist.linear.x > 1.0) { + continue; + } + + // ignore non-parked object + if (!isParkedObject( + path, route_handler, obj, object_check_min_road_shoulder_width, + object_shiftable_ratio_threshold)) { + continue; + } + + const double dist_back_to_obj = motion_utils::calcSignedArcLength( + path.points, path_end.point.pose.position, obj_pose.position); + if (dist_back_to_obj > 0.0) { + // object is not on the lane change path + continue; + } + + const double dist_lc_start_to_obj = + motion_utils::calcSignedArcLength(path.points, lane_change_start.position, obj_pose.position); + if (dist_lc_start_to_obj < 0.0) { + // object is on the lane changing path or behind it. It will be detected in safety check + continue; + } + + if (dist_lc_start_to_obj > dist_lc_start_to_leading_obj) { + dist_lc_start_to_leading_obj = dist_lc_start_to_obj; + leading_obj_idx = obj_idx; + } + } + + return leading_obj_idx; +} } // namespace behavior_path_planner::utils::lane_change From fba97f90696148233b57aa58b7d00e20a512d0f7 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 26 Jun 2023 19:27:29 +0900 Subject: [PATCH 025/118] fix(occupancy grid): fix launcher (#4063) Signed-off-by: Mamoru Sobue --- .../config/binary_bayes_filter_updater.param.yaml | 13 ++++++------- .../laserscan_based_occupancy_grid_map.launch.py | 6 ++---- .../pointcloud_based_occupancy_grid_map.launch.py | 11 ++--------- ...cupancy_grid_map_binary_bayes_filter_updater.cpp | 10 +++++----- 4 files changed, 15 insertions(+), 25 deletions(-) diff --git a/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml b/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml index afb776d9fd961..4e335e35740ab 100644 --- a/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml @@ -1,9 +1,8 @@ /**: ros__parameters: - binary_bayes_filter: - probability_matrix: - occupied_to_occupied: 0.95 - occupied_to_free: 0.05 - free_to_occupied: 0.2 - free_to_free: 0.8 - v_ratio: 10.0 + probability_matrix: + occupied_to_occupied: 0.95 + occupied_to_free: 0.05 + free_to_occupied: 0.2 + free_to_free: 0.8 + v_ratio: 10.0 diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py index 26c7482943333..355cc4bd8b5bd 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py @@ -107,6 +107,7 @@ def launch_setup(context, *args, **kwargs): "input_obstacle_and_raw_pointcloud": LaunchConfiguration( "input_obstacle_and_raw_pointcloud" ), + "updater_type": LaunchConfiguration("updater_type"), }, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], @@ -164,10 +165,7 @@ def add_launch_arg(name: str, default_value=None): get_package_share_directory("probabilistic_occupancy_grid_map") + "/config/laserscan_based_occupancy_grid_map.param.yaml", ), - add_launch_arg( - "updater_type", - "binary_bayes_filter", - ), + add_launch_arg("updater_type", "binary_bayes_filter"), add_launch_arg( "updater_param_file", get_package_share_directory("probabilistic_occupancy_grid_map") diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py index f6cd4200f6e4b..5b6e0d1c3c242 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py @@ -26,11 +26,6 @@ import yaml -def overwrite_config(param_dict, launch_config_name, node_params_name, context): - if LaunchConfiguration(launch_config_name).perform(context) != "": - param_dict[node_params_name] = LaunchConfiguration(launch_config_name).perform(context) - - def launch_setup(context, *args, **kwargs): # load parameter files param_file = LaunchConfiguration("param_file").perform(context) @@ -62,6 +57,7 @@ def launch_setup(context, *args, **kwargs): parameters=[ pointcloud_based_occupancy_grid_map_node_params, occupancy_grid_map_updater_params, + {"updater_type": LaunchConfiguration("updater_type")}, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), @@ -116,10 +112,7 @@ def add_launch_arg(name: str, default_value=None): get_package_share_directory("probabilistic_occupancy_grid_map") + "/config/pointcloud_based_occupancy_grid_map.param.yaml", ), - add_launch_arg( - "updater_type", - "binary_bayes_filter", - ), + add_launch_arg("updater_type", "binary_bayes_filter"), add_launch_arg( "updater_param_file", get_package_share_directory("probabilistic_occupancy_grid_map") diff --git a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp b/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp index 01763b00d2a87..16de17b1c2e61 100644 --- a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp @@ -30,14 +30,14 @@ OccupancyGridMapBBFUpdater::OccupancyGridMapBBFUpdater( void OccupancyGridMapBBFUpdater::initRosParam(rclcpp::Node & node) { probability_matrix_(Index::OCCUPIED, Index::OCCUPIED) = - node.declare_parameter("binary_bayes_filter.probability_matrix.occupied_to_occupied"); + node.declare_parameter("probability_matrix.occupied_to_occupied"); probability_matrix_(Index::FREE, Index::OCCUPIED) = - node.declare_parameter("binary_bayes_filter.probability_matrix.occupied_to_free"); + node.declare_parameter("probability_matrix.occupied_to_free"); probability_matrix_(Index::FREE, Index::FREE) = - node.declare_parameter("binary_bayes_filter.probability_matrix.free_to_free"); + node.declare_parameter("probability_matrix.free_to_free"); probability_matrix_(Index::OCCUPIED, Index::FREE) = - node.declare_parameter("binary_bayes_filter.probability_matrix.free_to_occupied"); - v_ratio_ = node.declare_parameter("binary_bayes_filter.v_ratio"); + node.declare_parameter("probability_matrix.free_to_occupied"); + v_ratio_ = node.declare_parameter("v_ratio"); } inline unsigned char OccupancyGridMapBBFUpdater::applyBBF( From ec6387afd0efb504ef9b32b3a38978402a2025ac Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Mon, 26 Jun 2023 20:11:14 +0900 Subject: [PATCH 026/118] feat(default_ad_api): add vehicle info api (#2984) * feat(default_ad_api): add vehicle dimensions api Signed-off-by: Takagi, Isamu * feat: add footprint Signed-off-by: Takagi, Isamu * update api name Signed-off-by: Takagi, Isamu --------- Signed-off-by: Takagi, Isamu --- .../include/autoware_ad_api_specs/vehicle.hpp | 33 +++++++++ system/default_ad_api/CMakeLists.txt | 2 + .../launch/default_ad_api.launch.py | 1 + system/default_ad_api/package.xml | 1 + system/default_ad_api/src/vehicle_info.cpp | 71 +++++++++++++++++++ system/default_ad_api/src/vehicle_info.hpp | 39 ++++++++++ 6 files changed, 147 insertions(+) create mode 100644 common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp create mode 100644 system/default_ad_api/src/vehicle_info.cpp create mode 100644 system/default_ad_api/src/vehicle_info.hpp diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp new file mode 100644 index 0000000000000..4d5acd544b41d --- /dev/null +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp @@ -0,0 +1,33 @@ +// Copyright 2023 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 AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ +#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ + +#include + +#include + +namespace autoware_ad_api::vehicle +{ + +struct Dimensions +{ + using Service = autoware_adapi_v1_msgs::srv::GetVehicleDimensions; + static constexpr char name[] = "/api/vehicle/dimensions"; +}; + +} // namespace autoware_ad_api::vehicle + +#endif // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_ diff --git a/system/default_ad_api/CMakeLists.txt b/system/default_ad_api/CMakeLists.txt index a09cb1222d2f9..28eec2e8eefc0 100644 --- a/system/default_ad_api/CMakeLists.txt +++ b/system/default_ad_api/CMakeLists.txt @@ -12,6 +12,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/operation_mode.cpp src/planning.cpp src/routing.cpp + src/vehicle_info.cpp src/utils/route_conversion.cpp src/compatibility/autoware_state.cpp ) @@ -25,6 +26,7 @@ rclcpp_components_register_nodes(${PROJECT_NAME} "default_ad_api::OperationModeNode" "default_ad_api::PlanningNode" "default_ad_api::RoutingNode" + "default_ad_api::VehicleInfoNode" ) if(BUILD_TESTING) 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 1cc57d5436cd0..c9a3abf9f8e5d 100644 --- a/system/default_ad_api/launch/default_ad_api.launch.py +++ b/system/default_ad_api/launch/default_ad_api.launch.py @@ -49,6 +49,7 @@ def generate_launch_description(): create_api_node("operation_mode", "OperationModeNode"), create_api_node("planning", "PlanningNode"), create_api_node("routing", "RoutingNode"), + create_api_node("vehicle_info", "VehicleInfoNode"), ] container = ComposableNodeContainer( namespace="default_ad_api", diff --git a/system/default_ad_api/package.xml b/system/default_ad_api/package.xml index d99037fdc42d0..3e11cbb2952ed 100644 --- a/system/default_ad_api/package.xml +++ b/system/default_ad_api/package.xml @@ -28,6 +28,7 @@ std_srvs tier4_control_msgs tier4_system_msgs + vehicle_info_util python3-flask diff --git a/system/default_ad_api/src/vehicle_info.cpp b/system/default_ad_api/src/vehicle_info.cpp new file mode 100644 index 0000000000000..cff7ac5cd5eae --- /dev/null +++ b/system/default_ad_api/src/vehicle_info.cpp @@ -0,0 +1,71 @@ +// Copyright 2023 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 "vehicle_info.hpp" + +#include + +namespace +{ + +auto create_point(double x, double y) +{ + geometry_msgs::msg::Point32 point; + point.x = x; + point.y = y; + point.z = 0.0; + return point; +} + +} // namespace + +namespace default_ad_api +{ + +VehicleInfoNode::VehicleInfoNode(const rclcpp::NodeOptions & options) +: Node("vehicle_info", options) +{ + const auto on_vehicle_dimensions = [this](auto, auto res) { + res->status.success = true; + res->dimensions = dimensions_; + }; + + const auto vehicle = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); + dimensions_.wheel_radius = vehicle.wheel_radius_m; + dimensions_.wheel_width = vehicle.wheel_width_m; + dimensions_.wheel_base = vehicle.wheel_base_m; + dimensions_.wheel_tread = vehicle.wheel_tread_m; + dimensions_.front_overhang = vehicle.front_overhang_m; + dimensions_.rear_overhang = vehicle.rear_overhang_m; + dimensions_.left_overhang = vehicle.left_overhang_m; + dimensions_.right_overhang = vehicle.right_overhang_m; + dimensions_.height = vehicle.vehicle_height_m; + + const auto l = (vehicle.wheel_tread_m / 2.0) + vehicle.left_overhang_m; + const auto r = (vehicle.wheel_tread_m / 2.0) + vehicle.right_overhang_m; + const auto b = vehicle.rear_overhang_m; + const auto f = vehicle.front_overhang_m + vehicle.wheel_base_m; + dimensions_.footprint.points.push_back(create_point(+f, +r)); + dimensions_.footprint.points.push_back(create_point(+f, -l)); + dimensions_.footprint.points.push_back(create_point(-b, -l)); + dimensions_.footprint.points.push_back(create_point(-b, +r)); + + const auto adaptor = component_interface_utils::NodeAdaptor(this); + adaptor.init_srv(srv_dimensions_, on_vehicle_dimensions); +} + +} // namespace default_ad_api + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::VehicleInfoNode) diff --git a/system/default_ad_api/src/vehicle_info.hpp b/system/default_ad_api/src/vehicle_info.hpp new file mode 100644 index 0000000000000..c7171ddf52485 --- /dev/null +++ b/system/default_ad_api/src/vehicle_info.hpp @@ -0,0 +1,39 @@ +// Copyright 2023 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 VEHICLE_INFO_HPP_ +#define VEHICLE_INFO_HPP_ + +#include +#include + +// This file should be included after messages. +#include "utils/types.hpp" + +namespace default_ad_api +{ + +class VehicleInfoNode : public rclcpp::Node +{ +public: + explicit VehicleInfoNode(const rclcpp::NodeOptions & options); + +private: + Srv srv_dimensions_; + autoware_adapi_v1_msgs::msg::VehicleDimensions dimensions_; +}; + +} // namespace default_ad_api + +#endif // VEHICLE_INFO_HPP_ From 52099a5a643da06ee46c9f26b2e595233e9e688b Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 26 Jun 2023 21:43:18 +0900 Subject: [PATCH 027/118] fix(behavior_path_planner): fix invalid access in avoidance module (#4081) Signed-off-by: tomoya.kimura --- .../src/scene_module/avoidance/avoidance_module.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) 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 8c0d6d4acd48a..91f1c23c3008d 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 @@ -3045,7 +3045,7 @@ TurnSignalInfo AvoidanceModule::calcTurnSignalInfo(const ShiftedPath & path) con } // compute blinker start idx and end idx - const size_t blinker_start_idx = [&]() { + size_t blinker_start_idx = [&]() { for (size_t idx = start_idx; idx <= end_idx; ++idx) { const double current_shift_length = path.shift_length.at(idx); if (current_shift_length > 0.1) { @@ -3054,7 +3054,13 @@ TurnSignalInfo AvoidanceModule::calcTurnSignalInfo(const ShiftedPath & path) con } return start_idx; }(); - const size_t blinker_end_idx = end_idx; + size_t blinker_end_idx = end_idx; + + // prevent invalid access for out-of-range + blinker_start_idx = + std::min(std::max(std::size_t(0), blinker_start_idx), path.path.points.size() - 1); + blinker_end_idx = + std::min(std::max(blinker_start_idx, blinker_end_idx), path.path.points.size() - 1); const auto blinker_start_pose = path.path.points.at(blinker_start_idx).point.pose; const auto blinker_end_pose = path.path.points.at(blinker_end_idx).point.pose; From 3e12df8328c341c9a66b71a611a9fef0b1c7a745 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon, 26 Jun 2023 22:29:19 +0900 Subject: [PATCH 028/118] refactor(mission_planner): use lower case (#4079) Signed-off-by: yutaka --- .../src/mission_planner/mission_planner.cpp | 14 +++++++------- .../src/mission_planner/mission_planner.hpp | 2 +- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/planning/mission_planner/src/mission_planner/mission_planner.cpp b/planning/mission_planner/src/mission_planner/mission_planner.cpp index 6ac62128c3bc1..0c9b27a685583 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.cpp @@ -391,7 +391,7 @@ void MissionPlanner::on_set_mrm_route( // check route safety // step1. if in mrm state, check with mrm route if (mrm_route_) { - if (checkRerouteSafety(*mrm_route_, new_route)) { + if (check_reroute_safety(*mrm_route_, new_route)) { // success to reroute change_mrm_route(new_route); res->status.success = true; @@ -413,7 +413,7 @@ void MissionPlanner::on_set_mrm_route( } // step2. if not in mrm state, check with normal route - if (checkRerouteSafety(*normal_route_, new_route)) { + if (check_reroute_safety(*normal_route_, new_route)) { // success to reroute change_mrm_route(new_route); res->status.success = true; @@ -455,7 +455,7 @@ void MissionPlanner::on_clear_mrm_route( } // check route safety - if (checkRerouteSafety(*mrm_route_, *normal_route_)) { + if (check_reroute_safety(*mrm_route_, *normal_route_)) { clear_mrm_route(); change_route(*normal_route_); change_state(RouteState::Message::SET); @@ -470,7 +470,7 @@ void MissionPlanner::on_clear_mrm_route( normal_route_->allow_modification); // check new route safety - if (new_route.segments.empty() || !checkRerouteSafety(*mrm_route_, new_route)) { + if (new_route.segments.empty() || !check_reroute_safety(*mrm_route_, new_route)) { // failed to create a new route RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 5000, "Reroute with normal goal failed."); change_mrm_route(*mrm_route_); @@ -591,7 +591,7 @@ void MissionPlanner::on_change_route( } // check route safety - if (checkRerouteSafety(*normal_route_, new_route)) { + if (check_reroute_safety(*normal_route_, new_route)) { // success to reroute change_route(new_route); res->status.success = true; @@ -649,7 +649,7 @@ void MissionPlanner::on_change_route_points( } // check route safety - if (checkRerouteSafety(*normal_route_, new_route)) { + if (check_reroute_safety(*normal_route_, new_route)) { // success to reroute change_route(new_route); res->status.success = true; @@ -664,7 +664,7 @@ void MissionPlanner::on_change_route_points( } } -bool MissionPlanner::checkRerouteSafety( +bool MissionPlanner::check_reroute_safety( const LaneletRoute & original_route, const LaneletRoute & target_route) { if (original_route.segments.empty() || target_route.segments.empty() || !map_ptr_ || !odometry_) { diff --git a/planning/mission_planner/src/mission_planner/mission_planner.hpp b/planning/mission_planner/src/mission_planner/mission_planner.hpp index d3ca6be7eb63f..4d09f72f81899 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.hpp @@ -135,7 +135,7 @@ class MissionPlanner : public rclcpp::Node double reroute_time_threshold_{10.0}; double minimum_reroute_length_{30.0}; - bool checkRerouteSafety(const LaneletRoute & original_route, const LaneletRoute & target_route); + bool check_reroute_safety(const LaneletRoute & original_route, const LaneletRoute & target_route); std::shared_ptr normal_route_{nullptr}; std::shared_ptr mrm_route_{nullptr}; From d03c8af7f4cea65e8df8a89cf4a0aed68cda70e7 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 27 Jun 2023 10:36:55 +0900 Subject: [PATCH 029/118] feat: use vehicle_stop_checker for judging vehicle stop vehicle_cmd_gate (#4060) * feat: use vehicle_stop_checker for judging vehicle stop vehicle_cmd_gate Signed-off-by: tomoya.kimura * remove unused include Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml | 1 + control/vehicle_cmd_gate/package.xml | 1 + control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp | 6 +++++- control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp | 6 ++++++ 4 files changed, 13 insertions(+), 1 deletion(-) diff --git a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml index 9fe692e16d962..7a49d3e5f82d3 100644 --- a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml +++ b/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml @@ -10,6 +10,7 @@ emergency_acceleration: -2.4 moderate_stop_service_acceleration: -1.5 stopped_state_entry_duration_time: 0.1 + stop_check_duration: 1.0 nominal: vel_lim: 25.0 lon_acc_lim: 5.0 diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml index f2a3fc83e8d63..df1de9f370cb6 100644 --- a/control/vehicle_cmd_gate/package.xml +++ b/control/vehicle_cmd_gate/package.xml @@ -21,6 +21,7 @@ component_interface_utils diagnostic_updater geometry_msgs + motion_utils rclcpp rclcpp_components std_srvs diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index 8af8c2426b430..25221c652e81d 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -51,6 +51,9 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) rclcpp::QoS durable_qos{1}; durable_qos.transient_local(); + // Stop Checker + vehicle_stop_checker_ = std::make_unique(this); + // Publisher vehicle_cmd_emergency_pub_ = create_publisher("output/vehicle_cmd_emergency", durable_qos); @@ -145,6 +148,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) emergency_acceleration_ = declare_parameter("emergency_acceleration"); moderate_stop_service_acceleration_ = declare_parameter("moderate_stop_service_acceleration"); + stop_check_duration_ = declare_parameter("stop_check_duration"); // Vehicle Parameter const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); @@ -492,7 +496,7 @@ AckermannControlCommand VehicleCmdGate::filterControlCommand(const AckermannCont const double dt = getDt(); const auto mode = current_operation_mode_; const auto current_status_cmd = getActualStatusAsCommand(); - const auto ego_is_stopped = std::abs(current_status_cmd.longitudinal.speed) < 1e-3; + const auto ego_is_stopped = vehicle_stop_checker_->isVehicleStopped(stop_check_duration_); const auto input_cmd_is_stopping = in.longitudinal.acceleration < 0.0; // Apply transition_filter when transiting from MANUAL to AUTO. diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp index 1a75d3700f346..17bfe99d45251 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp @@ -20,6 +20,7 @@ #include "vehicle_cmd_filter.hpp" #include +#include #include #include @@ -70,6 +71,7 @@ using nav_msgs::msg::Odometry; using EngageMsg = autoware_auto_vehicle_msgs::msg::Engage; using EngageSrv = tier4_external_api_msgs::srv::Engage; +using motion_utils::VehicleStopChecker; struct Commands { AckermannControlCommand control; @@ -219,6 +221,10 @@ class VehicleCmdGate : public rclcpp::Node // Pause interface for API std::unique_ptr adapi_pause_; std::unique_ptr moderate_stop_interface_; + + // stop checker + std::unique_ptr vehicle_stop_checker_; + double stop_check_duration_; }; } // namespace vehicle_cmd_gate From ed325ef7818d689729ab51938839f56238cd11cb Mon Sep 17 00:00:00 2001 From: Manato Hirabayashi <3022416+manato@users.noreply.github.com> Date: Tue, 27 Jun 2023 13:28:06 +0900 Subject: [PATCH 030/118] feat: add new yolox model (#4068) * feat(tensorrt_yolox): add support for yolox-sPlus-opt Signed-off-by: Manato HIRABAYASHI * feat(tensorrt_yolox): add launchers for each available model Signed-off-by: Manato HIRABAYASHI * style(pre-commit): autofix * fix(tensorrt_yolox.cpp): add if-guard to check empty string Signed-off-by: Manato HIRABAYASHI * feat: download a calibration file to use the new model on TensorRT 8.0 environment Signed-off-by: Manato HIRABAYASHI * refactor: change variable name to adjust to the launcher option Signed-off-by: Manato HIRABAYASHI * refactor: fix obvious missspelling Signed-off-by: Manato HIRABAYASHI * docs: update README - add brief description for yolox-sPlus-opt - emphasizing that ONNX -> engine conversion time may take long Signed-off-by: Manato HIRABAYASHI * style: change file name for consistency Signed-off-by: Manato HIRABAYASHI --------- Signed-off-by: Manato HIRABAYASHI Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/tensorrt_yolox/CMakeLists.txt | 2 + perception/tensorrt_yolox/README.md | 10 +++- .../include/tensorrt_yolox/tensorrt_yolox.hpp | 13 ++--- .../tensorrt_yolox/launch/yolox.launch.xml | 57 +------------------ .../launch/yolox_s_plus_opt.launch.xml | 56 ++++++++++++++++++ .../launch/yolox_tiny.launch.xml | 56 ++++++++++++++++++ .../tensorrt_yolox/src/tensorrt_yolox.cpp | 30 ++++++---- 7 files changed, 149 insertions(+), 75 deletions(-) mode change 100644 => 120000 perception/tensorrt_yolox/launch/yolox.launch.xml create mode 100644 perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml create mode 100644 perception/tensorrt_yolox/launch/yolox_tiny.launch.xml diff --git a/perception/tensorrt_yolox/CMakeLists.txt b/perception/tensorrt_yolox/CMakeLists.txt index 08263d05fbe83..01ade9bac43d6 100644 --- a/perception/tensorrt_yolox/CMakeLists.txt +++ b/perception/tensorrt_yolox/CMakeLists.txt @@ -63,6 +63,8 @@ function(download FILE_NAME FILE_HASH) endfunction() download(yolox-tiny.onnx 97028baf73ce55e115599c9c60651b08) +download(yolox-sPlus-opt.onnx bf3b0155351f90fcdca2626acbfd3bcf) +download(yolox-sPlus-opt.EntropyV2-calibration.table c6e6f1999d5724a017516a956096701f) download(label.txt 9ceadca8b72b6169ee6aabb861fe3e1e) ########## diff --git a/perception/tensorrt_yolox/README.md b/perception/tensorrt_yolox/README.md index a8332ad9eeec1..3c253a0b68489 100644 --- a/perception/tensorrt_yolox/README.md +++ b/perception/tensorrt_yolox/README.md @@ -79,11 +79,17 @@ hence these parameters are ignored when users specify ONNX models including this This package accepts both `EfficientNMS_TRT` attached ONNXs and [models published from the official YOLOX repository](https://github.com/Megvii-BaseDetection/YOLOX/tree/main/demo/ONNXRuntime#download-onnx-models) (we referred to them as "plain" models). +In addition to `yolox-tiny.onnx`, a custom model named `yolox-sPlus-opt.onnx` is either available. +This model is based on YOLOX-s and tuned to perform more accurate detection with almost comparable execution speed with `yolox-tiny`. +To get better results with this model, users are recommended to use some specific running arguments +such as `precision:=int8`, `calibration_algorithm:=Entropy`, `clip_value:=6.0`. +Users can refer `launch/yolox_sPlus_opt.launch.xml` to see how this model can be used. + All models are automatically converted to TensorRT format. These converted files will be saved in the same directory as specified ONNX files with `.engine` filename extension and reused from the next run. -The conversion process may take a while (typically a few minutes) and the inference process is blocked -until complete the conversion, so it will take some time until detection results are published on the first run. +The conversion process may take a while (**typically 10 to 20 minutes**) and the inference process is blocked +until complete the conversion, so it will take some time until detection results are published (**even until appearing in the topic list**) on the first run ### Package acceptable model generation diff --git a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp index 2bdb9a83bfbf9..bdd6d6fe66861 100644 --- a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp +++ b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp @@ -81,9 +81,8 @@ class TrtYoloX const std::string & model_path, const std::string & precision, const int num_class = 8, const float score_threshold = 0.3, const float nms_threshold = 0.7, const tensorrt_common::BuildConfig build_config = tensorrt_common::BuildConfig(), - const bool use_gpu_preprocess = false, - const std::string & calibration_image_list_file = std::string(), const double norm_factor = 1.0, - const std::string & cache_dir = "", + const bool use_gpu_preprocess = false, std::string calibration_image_list_file = std::string(), + const double norm_factor = 1.0, const std::string & cache_dir = "", const tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, const size_t max_workspace_size = (1 << 30)); @@ -101,7 +100,7 @@ class TrtYoloX * @warning if we don't allocate buffers using it, "preprocess_gpu" allocates buffers at the * beginning */ - void initPreprocesBuffer(int width, int height); + void initPreprocessBuffer(int width, int height); /** * @brief output TensorRT profiles for each layer @@ -169,11 +168,11 @@ class TrtYoloX CudaUniquePtrHost out_prob_h_; - // flag whether prepreceses are performed on GPU + // flag whether preprocess are performed on GPU bool use_gpu_preprocess_; - // host buffer for preprecessing on GPU + // host buffer for preprocessing on GPU CudaUniquePtrHost image_buf_h_; - // device buffer for preprecessing on GPU + // device buffer for preprocessing on GPU CudaUniquePtr image_buf_d_; // normalization factor used for preprocessing double norm_factor_; diff --git a/perception/tensorrt_yolox/launch/yolox.launch.xml b/perception/tensorrt_yolox/launch/yolox.launch.xml deleted file mode 100644 index d8c67e39e0b8a..0000000000000 --- a/perception/tensorrt_yolox/launch/yolox.launch.xml +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/perception/tensorrt_yolox/launch/yolox.launch.xml b/perception/tensorrt_yolox/launch/yolox.launch.xml new file mode 120000 index 0000000000000..06ee1ae877c0c --- /dev/null +++ b/perception/tensorrt_yolox/launch/yolox.launch.xml @@ -0,0 +1 @@ +yolox_s_plus_opt.launch.xml \ No newline at end of file diff --git a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml new file mode 100644 index 0000000000000..43f59e944f889 --- /dev/null +++ b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml new file mode 100644 index 0000000000000..d8c67e39e0b8a --- /dev/null +++ b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp index cddaddd1098bb..515ff1d3c6e9e 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp @@ -104,21 +104,31 @@ namespace tensorrt_yolox TrtYoloX::TrtYoloX( const std::string & model_path, const std::string & precision, const int num_class, const float score_threshold, const float nms_threshold, tensorrt_common::BuildConfig build_config, - const bool use_gpu_preprocess, const std::string & calibration_image_list_file, - const double norm_factor, [[maybe_unused]] const std::string & cache_dir, - const tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size) + const bool use_gpu_preprocess, std::string calibration_image_list_path, const double norm_factor, + [[maybe_unused]] const std::string & cache_dir, const tensorrt_common::BatchConfig & batch_config, + const size_t max_workspace_size) { src_width_ = -1; src_height_ = -1; norm_factor_ = norm_factor; if (precision == "int8") { - if (calibration_image_list_file.empty()) { - throw std::runtime_error( - "calibration_image_list_file should be passed to generate int8 engine."); + if (build_config.clip_value <= 0.0) { + if (calibration_image_list_path.empty()) { + throw std::runtime_error( + "calibration_image_list_path should be passed to generate int8 engine " + "or specify values larger than zero to clip_value."); + } + } else { + // if clip value is larger than zero, calibration file is not needed + calibration_image_list_path = ""; } + int max_batch_size = 1; nvinfer1::Dims input_dims = tensorrt_common::get_input_dims(model_path); - std::vector calibration_images = loadImageList(calibration_image_list_file, ""); + std::vector calibration_images; + if (calibration_image_list_path != "") { + calibration_images = loadImageList(calibration_image_list_path, ""); + } tensorrt_yolox::ImageStream stream(max_batch_size, input_dims, calibration_images); fs::path calibration_table{model_path}; std::string calibName = ""; @@ -231,9 +241,9 @@ TrtYoloX::TrtYoloX( } } -void TrtYoloX::initPreprocesBuffer(int width, int height) +void TrtYoloX::initPreprocessBuffer(int width, int height) { - // if size of source input has benn changed... + // if size of source input has been changed... if (src_width_ != -1 || src_height_ != -1) { if (width != src_width_ || height != src_height_) { // Free cuda memory to reallocate @@ -315,7 +325,7 @@ void TrtYoloX::preprocessGpu(const std::vector & images) CHECK_CUDA_ERROR(cudaMemcpyAsync( image_buf_d_.get(), image_buf_h_.get(), image.cols * image.rows * 3 * sizeof(unsigned char), cudaMemcpyHostToDevice, *stream_)); - // Preprcess on GPU + // Preprocess on GPU resize_bilinear_letterbox_nhwc_to_nchw32_gpu( input_d_.get(), image_buf_d_.get(), input_width, input_height, 3, image.cols, image.rows, 3, static_cast(norm_factor_), *stream_); From 52f375288015b2622dd499a19b1ae0235cb54157 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 27 Jun 2023 13:51:57 +0900 Subject: [PATCH 031/118] refactor(avoidance): rename ununderstandable params (#4088) Signed-off-by: satoshi-ota --- .../config/avoidance/avoidance.param.yaml | 26 +++++------ .../behavior_path_planner_avoidance_design.md | 44 +++++++++---------- .../utils/avoidance/avoidance_module_data.hpp | 8 ++-- .../src/behavior_path_planner_node.cpp | 14 +++--- .../src/scene_module/avoidance/manager.cpp | 2 +- .../src/utils/avoidance/utils.cpp | 9 ++-- 6 files changed, 52 insertions(+), 51 deletions(-) diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml index 79aca0867cce9..7c785efa0d5a9 100644 --- a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml +++ b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml @@ -28,7 +28,7 @@ # avoidance is performed for the object type with true target_object: car: - enable: true # [-] + is_target: true # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] @@ -37,7 +37,7 @@ safety_buffer_lateral: 0.7 # [m] safety_buffer_longitudinal: 0.0 # [m] truck: - enable: true + is_target: true moving_speed_threshold: 1.0 moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -46,7 +46,7 @@ safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 bus: - enable: true + is_target: true moving_speed_threshold: 1.0 moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -55,7 +55,7 @@ safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 trailer: - enable: true + is_target: true moving_speed_threshold: 1.0 moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -64,7 +64,7 @@ safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 unknown: - enable: false + is_target: false moving_speed_threshold: 1.0 moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -73,7 +73,7 @@ safety_buffer_lateral: 0.7 safety_buffer_longitudinal: 0.0 bicycle: - enable: false + is_target: false moving_speed_threshold: 1.0 moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -82,7 +82,7 @@ safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 motorcycle: - enable: false + is_target: false moving_speed_threshold: 1.0 moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -91,7 +91,7 @@ safety_buffer_lateral: 1.0 safety_buffer_longitudinal: 1.0 pedestrian: - enable: false + is_target: false moving_speed_threshold: 1.0 moving_time_threshold: 1.0 max_expand_ratio: 0.0 @@ -104,12 +104,12 @@ # For target object filtering target_filtering: - # filtering moving objects - threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s] + # params for avoidance of not-parked objects + threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s] + object_ignore_section_traffic_light_in_front_distance: 30.0 # [m] + object_ignore_section_crosswalk_in_front_distance: 30.0 # [m] + object_ignore_section_crosswalk_behind_distance: 30.0 # [m] # detection range - object_ignore_distance_traffic_light: 30.0 # [m] - object_ignore_distance_crosswalk_forward: 30.0 # [m] - object_ignore_distance_crosswalk_backward: 30.0 # [m] object_check_forward_distance: 150.0 # [m] object_check_backward_distance: 2.0 # [m] object_check_goal_distance: 20.0 # [m] diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md index b023b0dff9602..b290a1efa90da 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md @@ -608,7 +608,7 @@ This module supports all object classes, and it can set following parameters ind ```yaml car: - enable: true # [-] + is_target: true # [-] moving_speed_threshold: 1.0 # [m/s] moving_time_threshold: 1.0 # [s] max_expand_ratio: 0.0 # [-] @@ -618,15 +618,15 @@ car: safety_buffer_longitudinal: 0.0 # [m] ``` -| Name | Unit | Type | Description | Default value | -| :------------------------- | ----- | ------ | ---------------------------------------------------------------------------------------------------------- | ------------- | -| enable | [-] | bool | Allow avoidance for object type CAR | false | -| moving_speed_threshold | [m/s] | double | Objects with speed greater than this will be judged as moving ones. | 1.0 | -| moving_time_threshold | [s] | double | Objects keep moving longer duration than this will be excluded from avoidance target. | 1.0 | -| envelope_buffer_margin | [m] | double | Allow avoidance for object type TRAILER | 0.3 | -| avoid_margin_lateral | [m] | double | The lateral distance between ego and avoidance targets. | 1.0 | -| safety_buffer_lateral | [m] | double | Creates an additional lateral gap that will prevent the vehicle from getting to near to the obstacle. | 0.5 | -| safety_buffer_longitudinal | [m] | double | Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle. | 0.0 | +| Name | Unit | Type | Description | Default value | +| :------------------------- | ----- | ------ | ------------------------------------------------------------------------------------------------------------------------- | ------------- | +| is_target | [-] | bool | By setting this flag `true`, this module avoid those class objects. | false | +| moving_speed_threshold | [m/s] | double | Objects with speed greater than this will be judged as moving ones. | 1.0 | +| moving_time_threshold | [s] | double | Objects keep moving longer duration than this will be excluded from avoidance target. | 1.0 | +| envelope_buffer_margin | [m] | double | The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation. | 0.3 | +| avoid_margin_lateral | [m] | double | The lateral distance between ego and avoidance targets. | 1.0 | +| safety_buffer_lateral | [m] | double | Creates an additional lateral gap that will prevent the vehicle from getting to near to the obstacle. | 0.5 | +| safety_buffer_longitudinal | [m] | double | Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle. | 0.0 | Parameters for the logic to compensate perception noise of the far objects. @@ -638,18 +638,18 @@ Parameters for the logic to compensate perception noise of the far objects. namespace: `avoidance.target_filtering.` -| Name | Unit | Type | Description | Default value | -| :---------------------------------------- | :--- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| threshold_distance_object_is_on_center | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 1.0 | -| object_ignore_distance_traffic_light | [m] | double | If the distance between traffic light and vehicle is less than this parameter, this module will ignore it. | 30.0 | -| object_ignore_distance_crosswalk_forward | [m] | double | If the front distance between crosswalk and vehicle is less than this parameter, this module will ignore it. | 30.0 | -| object_ignore_distance_crosswalk_backward | [m] | double | If the back distance between crosswalk and vehicle is less than this parameter, this module will ignore it. | 30.0 | -| object_check_forward_distance | [m] | double | Forward distance to search the avoidance target. | 150.0 | -| object_check_backward_distance | [m] | double | Backward distance to search the avoidance target. | 2.0 | -| object_check_goal_distance | [m] | double | Backward distance to search the avoidance target. | 20.0 | -| object_check_shiftable_ratio | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 0.6 | -| object_check_min_road_shoulder_width | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 0.5 | -| object_last_seen_threshold | [s] | double | For the compensation of the detection lost. The object is registered once it is observed as an avoidance target. When the detection loses, the timer will start and the object will be un-registered when the time exceeds this limit. | 2.0 | +| Name | Unit | Type | Description | Default value | +| :---------------------------------------------------- | :--- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| threshold_distance_object_is_on_center | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 1.0 | +| object_ignore_section_traffic_light_in_front_distance | [m] | double | If the distance between traffic light and vehicle is less than this parameter, this module will ignore it. | 30.0 | +| object_ignore_section_crosswalk_in_front_distance | [m] | double | If the front distance between crosswalk and vehicle is less than this parameter, this module will ignore it. | 30.0 | +| object_ignore_section_crosswalk_behind_distance | [m] | double | If the back distance between crosswalk and vehicle is less than this parameter, this module will ignore it. | 30.0 | +| object_check_forward_distance | [m] | double | Forward distance to search the avoidance target. | 150.0 | +| object_check_backward_distance | [m] | double | Backward distance to search the avoidance target. | 2.0 | +| object_check_goal_distance | [m] | double | Backward distance to search the avoidance target. | 20.0 | +| object_check_shiftable_ratio | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 0.6 | +| object_check_min_road_shoulder_width | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 0.5 | +| object_last_seen_threshold | [s] | double | For the compensation of the detection lost. The object is registered once it is observed as an avoidance target. When the detection loses, the timer will start and the object will be un-registered when the time exceeds this limit. | 2.0 | ### Safety check parameters diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp index 187dca71ae6c8..0b016db9c9c2c 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp @@ -48,7 +48,7 @@ using geometry_msgs::msg::TransformStamped; struct ObjectParameter { - bool enable{false}; + bool is_target{false}; double moving_speed_threshold{0.0}; @@ -134,13 +134,13 @@ struct AvoidanceParameters double threshold_distance_object_is_on_center; // execute only when there is no intersection behind of the stopped vehicle. - double object_ignore_distance_traffic_light; + double object_ignore_section_traffic_light_in_front_distance; // execute only when there is no crosswalk near the stopped vehicle. - double object_ignore_distance_crosswalk_forward; + double object_ignore_section_crosswalk_in_front_distance; // execute only when there is no crosswalk near the stopped vehicle. - double object_ignore_distance_crosswalk_backward; + double object_ignore_section_crosswalk_behind_distance; // distance to avoid object detection double object_check_forward_distance; 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 0384a702ff129..428e064e6bd90 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -581,7 +581,7 @@ AvoidanceParameters BehaviorPathPlannerNode::getAvoidanceParam() { const auto get_object_param = [&](std::string && ns) { ObjectParameter param{}; - param.enable = declare_parameter(ns + "enable"); + param.is_target = declare_parameter(ns + "is_target"); param.moving_speed_threshold = declare_parameter(ns + "moving_speed_threshold"); param.moving_time_threshold = declare_parameter(ns + "moving_time_threshold"); param.max_expand_ratio = declare_parameter(ns + "max_expand_ratio"); @@ -616,12 +616,12 @@ AvoidanceParameters BehaviorPathPlannerNode::getAvoidanceParam() std::string ns = "avoidance.target_filtering."; p.threshold_time_force_avoidance_for_stopped_vehicle = declare_parameter(ns + "threshold_time_force_avoidance_for_stopped_vehicle"); - p.object_ignore_distance_traffic_light = - declare_parameter(ns + "object_ignore_distance_traffic_light"); - p.object_ignore_distance_crosswalk_forward = - declare_parameter(ns + "object_ignore_distance_crosswalk_forward"); - p.object_ignore_distance_crosswalk_backward = - declare_parameter(ns + "object_ignore_distance_crosswalk_backward"); + p.object_ignore_section_traffic_light_in_front_distance = + declare_parameter(ns + "object_ignore_section_traffic_light_in_front_distance"); + p.object_ignore_section_crosswalk_in_front_distance = + declare_parameter(ns + "object_ignore_section_crosswalk_in_front_distance"); + p.object_ignore_section_crosswalk_behind_distance = + declare_parameter(ns + "object_ignore_section_crosswalk_behind_distance"); p.object_check_forward_distance = declare_parameter(ns + "object_check_forward_distance"); p.object_check_backward_distance = diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp index 90dbfa960dbfe..816ed94e5b822 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp @@ -47,7 +47,7 @@ void AvoidanceModuleManager::updateModuleParams(const std::vectorobject_parameters.at(semantic); - updateParam(parameters, ns + "enable", config.enable); + updateParam(parameters, ns + "is_target", config.is_target); updateParam(parameters, ns + "moving_speed_threshold", config.moving_speed_threshold); updateParam(parameters, ns + "moving_time_threshold", config.moving_time_threshold); updateParam(parameters, ns + "max_expand_ratio", config.max_expand_ratio); diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp index 8d33faf82e645..5fd1457042693 100644 --- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp +++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp @@ -107,7 +107,7 @@ bool isTargetObjectType( return false; } - return parameters->object_parameters.at(t).enable; + return parameters->object_parameters.at(t).is_target; } bool isVehicleTypeObject(const ObjectData & object) @@ -951,7 +951,8 @@ void filterTargetObjects( const auto to_traffic_light = utils::getDistanceToNextTrafficLight(object_pose, data.current_lanelets); { - not_parked_object = to_traffic_light < parameters->object_ignore_distance_traffic_light; + not_parked_object = + to_traffic_light < parameters->object_ignore_section_traffic_light_in_front_distance; } // check crosswalk @@ -961,8 +962,8 @@ void filterTargetObjects( o.longitudinal; { const auto stop_for_crosswalk = - to_crosswalk < parameters->object_ignore_distance_crosswalk_forward && - to_crosswalk > -1.0 * parameters->object_ignore_distance_crosswalk_backward; + to_crosswalk < parameters->object_ignore_section_crosswalk_in_front_distance && + to_crosswalk > -1.0 * parameters->object_ignore_section_crosswalk_behind_distance; not_parked_object = not_parked_object || stop_for_crosswalk; } From 084c7e20d6fda5fd7f6356ff4eb3c0738b33c548 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 27 Jun 2023 14:12:08 +0900 Subject: [PATCH 032/118] fix(behavior_path_planner): enable abort lane change default (#4080) Signed-off-by: Fumiya Watanabe --- .../config/lane_change/lane_change.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml index 95ff106eb4c00..420415ac64578 100644 --- a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml +++ b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml @@ -48,11 +48,11 @@ enable_prepare_segment_collision_check: true prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] use_predicted_path_outside_lanelet: true - use_all_predicted_path: false + use_all_predicted_path: true # abort enable_cancel_lane_change: true - enable_abort_lane_change: false + enable_abort_lane_change: true abort_delta_time: 1.0 # [s] aborting_time: 5.0 # [s] From cdf26944ec86b23b8eba692c922e3778d0168874 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 27 Jun 2023 16:01:45 +0900 Subject: [PATCH 033/118] fix(behavior_path_planner): fix route update condition (#4091) Signed-off-by: satoshi-ota --- .../behavior_path_planner/src/behavior_path_planner_node.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) 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 428e064e6bd90..d4e9fda75800c 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -1252,7 +1252,10 @@ void BehaviorPathPlannerNode::run() } #ifndef USE_OLD_ARCHITECTURE - if (planner_data_->operation_mode->mode != OperationModeState::AUTONOMOUS) { + const auto controlled_by_autoware_autonomously = + planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS && + planner_data_->operation_mode->is_autoware_control_enabled; + if (!controlled_by_autoware_autonomously) { planner_manager_->resetRootLanelet(planner_data_); } #endif From 06cdf326a4aee7d79fb4c79e156a2f4d7f047c53 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 27 Jun 2023 16:20:25 +0900 Subject: [PATCH 034/118] refactor(lane_change): add namespace for lane-change-cancel (#4090) * refactor(lane_change): add namespace for lane-change-cancel Signed-off-by: Takamasa Horibe * fix indent Signed-off-by: Takamasa Horibe * lane_change_cancel -> cancel Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../behavior_planning.launch.py | 2 +- .../config/lane_change/lane_change.param.yaml | 14 ++++++------- ...ehavior_path_planner_lane_change_design.md | 17 ++++++++------- .../scene_module/lane_change/base_class.hpp | 7 +++++-- .../lane_change/lane_change_module_data.hpp | 16 ++++++++------ .../src/behavior_path_planner_node.cpp | 21 ++++++++++--------- .../src/scene_module/lane_change/normal.cpp | 10 ++++----- 7 files changed, 48 insertions(+), 39 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py index 6dc0b2bea85b3..6150abdafe7d6 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py @@ -102,7 +102,7 @@ def launch_setup(context, *args, **kwargs): behavior_path_planner_param, vehicle_param, { - "lane_change.enable_abort_lane_change": LaunchConfiguration( + "lane_change.cancel.enable_on_lane_changing_phase": LaunchConfiguration( "use_experimental_lane_change_function" ), "lane_change.enable_collision_check_at_prepare_phase": LaunchConfiguration( diff --git a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml index 420415ac64578..049303203ed44 100644 --- a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml +++ b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml @@ -50,13 +50,13 @@ use_predicted_path_outside_lanelet: true use_all_predicted_path: true - # abort - enable_cancel_lane_change: true - enable_abort_lane_change: true - - abort_delta_time: 1.0 # [s] - aborting_time: 5.0 # [s] - abort_max_lateral_jerk: 1000.0 # [m/s3] + # lane change cancel + cancel: + enable_on_prepare_phase: true + enable_on_lane_changing_phase: true + delta_time: 1.0 # [s] + duration: 5.0 # [s] + max_lateral_jerk: 1000.0 # [m/s3] finish_judge_lateral_threshold: 0.2 # [m] diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md index 945ca579c434a..4b9d04794e43f 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md @@ -240,7 +240,7 @@ detach Suppose the lane change trajectory is evaluated as unsafe. In that case, if the ego vehicle has not departed from the current lane yet, the trajectory will be reset, and the ego vehicle will resume the lane following the maneuver. -The function can be enabled by setting `enable_cancel_lane_change` to `true`. +The function can be enabled by setting `enable_on_prepare_phase` to `true`. The following image illustrates the cancel process. @@ -248,7 +248,7 @@ The following image illustrates the cancel process. #### Abort -Assume the ego vehicle has already departed from the current lane. In that case, it is dangerous to cancel the path, and it will cause the ego vehicle to change the heading direction abruptly. In this case, planning a trajectory that allows the ego vehicle to return to the current path while minimizing the heading changes is necessary. In this case, the lane change module will generate an abort path. The following images show an example of the abort path. Do note that the function DOESN'T GUARANTEE a safe abort process, as it didn't check the presence of the surrounding objects and/or their reactions. The function can be enable manually by setting both `enable_cancel_lane_change` and `enable_abort_lane_change` to `true`. The parameter `abort_max_lateral_jerk` need to be set to a high value in order for it to work. +Assume the ego vehicle has already departed from the current lane. In that case, it is dangerous to cancel the path, and it will cause the ego vehicle to change the heading direction abruptly. In this case, planning a trajectory that allows the ego vehicle to return to the current path while minimizing the heading changes is necessary. In this case, the lane change module will generate an abort path. The following images show an example of the abort path. Do note that the function DOESN'T GUARANTEE a safe abort process, as it didn't check the presence of the surrounding objects and/or their reactions. The function can be enable manually by setting both `enable_on_prepare_phase` and `enable_on_lane_changing_phase` to `true`. The parameter `max_lateral_jerk` need to be set to a high value in order for it to work. ![abort](../image/lane_change/cancel_and_abort/lane_change-abort.png) @@ -301,12 +301,13 @@ The following parameters are configurable in `behavior_path_planner.param.yaml`. The following parameters are configurable in `lane_change.param.yaml`. -| Name | Unit | Type | Description | Default value | -| :-------------------------- | ---- | ------- | --------------------------------------- | ------------- | -| `enable_cancel_lane_change` | [-] | boolean | Enable cancel lane change | true | -| `enable_abort_lane_change` | [-] | boolean | Enable abort lane change. | false | -| `abort_delta_time` | [s] | double | The time taken to start aborting. | 3.0 | -| `abort_max_lateral_jerk` | [s] | double | The maximum lateral jerk for abort path | 1000.0 | +| Name | Unit | Type | Description | Default value | +| :------------------------------------- | ------- | ------- | -------------------------------------------------------------- | ------------- | +| `cancel.enable_on_prepare_phase` | [-] | boolean | Enable cancel lane change | true | +| `cancel.enable_on_lane_changing_phase` | [-] | boolean | Enable abort lane change. | false | +| `cancel.delta_time` | [s] | double | The time taken to start steering to return to the center line. | 3.0 | +| `cancel.duration` | [s] | double | The time taken to complete returning to the center line. | 3.0 | +| `cancel.max_lateral_jerk` | [m/sss] | double | The maximum lateral jerk for abort path | 1000.0 | ### Debug diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp index f8d80d8883b38..225b093018d95 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp @@ -145,9 +145,12 @@ class LaneChangeBase LaneChangeParameters getLaneChangeParam() const { return *lane_change_parameters_; } - bool isCancelEnabled() const { return lane_change_parameters_->enable_cancel_lane_change; } + bool isCancelEnabled() const { return lane_change_parameters_->cancel.enable_on_prepare_phase; } - bool isAbortEnabled() const { return lane_change_parameters_->enable_abort_lane_change; } + bool isAbortEnabled() const + { + return lane_change_parameters_->cancel.enable_on_lane_changing_phase; + } bool isSafe() const { return status_.is_safe; } diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp index 4def596f78746..2a77419092189 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp @@ -26,6 +26,15 @@ namespace behavior_path_planner { + +struct LaneChangeCancelParameters +{ + bool enable_on_prepare_phase{true}; + bool enable_on_lane_changing_phase{false}; + double delta_time{1.0}; + double duration{5.0}; + double max_lateral_jerk{10.0}; +}; struct LaneChangeParameters { // trajectory generation @@ -63,12 +72,7 @@ struct LaneChangeParameters bool check_pedestrian{true}; // check object pedestrian // abort - bool enable_cancel_lane_change{true}; - bool enable_abort_lane_change{false}; - - double abort_delta_time{1.0}; - double aborting_time{5.0}; - double abort_max_lateral_jerk{10.0}; + LaneChangeCancelParameters cancel; double finish_judge_lateral_threshold{0.2}; 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 d4e9fda75800c..f9791b8b79b54 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -825,13 +825,14 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam() p.check_pedestrian = declare_parameter(ns + "pedestrian"); } - // abort - p.enable_cancel_lane_change = declare_parameter(parameter("enable_cancel_lane_change")); - p.enable_abort_lane_change = declare_parameter(parameter("enable_abort_lane_change")); - - p.abort_delta_time = declare_parameter(parameter("abort_delta_time")); - p.aborting_time = declare_parameter(parameter("aborting_time")); - p.abort_max_lateral_jerk = declare_parameter(parameter("abort_max_lateral_jerk")); + // lane change cancel + p.cancel.enable_on_prepare_phase = + declare_parameter(parameter("cancel.enable_on_prepare_phase")); + p.cancel.enable_on_lane_changing_phase = + declare_parameter(parameter("cancel.enable_on_lane_changing_phase")); + p.cancel.delta_time = declare_parameter(parameter("cancel.delta_time")); + p.cancel.duration = declare_parameter(parameter("cancel.duration")); + p.cancel.max_lateral_jerk = declare_parameter(parameter("cancel.max_lateral_jerk")); p.finish_judge_lateral_threshold = declare_parameter("lane_change.finish_judge_lateral_threshold"); @@ -850,10 +851,10 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam() exit(EXIT_FAILURE); } - if (p.abort_delta_time < 1.0) { + if (p.cancel.delta_time < 1.0) { RCLCPP_FATAL_STREAM( - get_logger(), "abort_delta_time: " << p.abort_delta_time << ", is too short.\n" - << "Terminating the program..."); + get_logger(), "cancel.delta_time: " << p.cancel.delta_time << ", is too short.\n" + << "Terminating the program..."); exit(EXIT_FAILURE); } diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index b56e382cc52ce..28d1b30ca5991 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -387,7 +387,7 @@ bool NormalLaneChange::isAbleToReturnCurrentLane() const const double ego_velocity = std::max(getEgoVelocity(), planner_data_->parameters.minimum_lane_changing_velocity); - const double estimated_travel_dist = ego_velocity * lane_change_parameters_->abort_delta_time; + const double estimated_travel_dist = ego_velocity * lane_change_parameters_->cancel.delta_time; double dist = 0.0; for (size_t idx = nearest_idx; idx < status_.lane_change_path.path.points.size() - 1; ++idx) { @@ -454,7 +454,7 @@ bool NormalLaneChange::hasFinishedAbort() const bool NormalLaneChange::isAbortState() const { - if (!lane_change_parameters_->enable_abort_lane_change) { + if (!lane_change_parameters_->cancel.enable_on_lane_changing_phase) { return false; } @@ -945,9 +945,9 @@ bool NormalLaneChange::getAbortPath() }; const auto [abort_start_idx, abort_start_dist] = - get_abort_idx_and_distance(lane_change_parameters_->abort_delta_time); + get_abort_idx_and_distance(lane_change_parameters_->cancel.delta_time); const auto [abort_return_idx, abort_return_dist] = get_abort_idx_and_distance( - lane_change_parameters_->abort_delta_time + lane_change_parameters_->aborting_time); + lane_change_parameters_->cancel.delta_time + lane_change_parameters_->cancel.delta_time); if (abort_start_idx >= abort_return_idx) { RCLCPP_ERROR(logger_, "abort start idx and return idx is equal. can't compute abort path."); @@ -983,7 +983,7 @@ bool NormalLaneChange::getAbortPath() const double & max_lateral_acc = lateral_acc_range.second; path_shifter.setLateralAccelerationLimit(max_lateral_acc); - if (lateral_jerk > lane_change_parameters_->abort_max_lateral_jerk) { + if (lateral_jerk > lane_change_parameters_->cancel.max_lateral_jerk) { RCLCPP_ERROR(logger_, "Aborting jerk is too strong. lateral_jerk = %f", lateral_jerk); return false; } From 6f5af963f4ad01e549941d1547609a86b1ea0b2b Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 27 Jun 2023 16:33:22 +0900 Subject: [PATCH 035/118] fix(lane_change): enrich lane change debug markers (#4076) * fix(lane_change): enrich lane change debug markers Signed-off-by: Zulfaqar Azmi * fix testing error and add some info Signed-off-by: Zulfaqar Azmi * Added polygon id Signed-off-by: Zulfaqar Azmi * include valid path Signed-off-by: Zulfaqar Azmi * remove unused marker Signed-off-by: Zulfaqar Azmi * update documentation Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- ...ehavior_path_planner_lane_change_design.md | 31 ++++++- .../image/lane_change/lane_change-debug-1.png | Bin 0 -> 171140 bytes .../image/lane_change/lane_change-debug-2.png | Bin 0 -> 219621 bytes .../image/lane_change/lane_change-debug-3.png | Bin 0 -> 143759 bytes .../image/lane_change/lane_change-debug.png | Bin 1204325 -> 0 bytes .../marker_util/debug_utilities.hpp | 4 + .../utils/safety_check.hpp | 5 +- .../src/marker_util/lane_change/debug.cpp | 62 +++++++++---- .../src/scene_module/lane_change/normal.cpp | 1 + .../src/utils/lane_change/utils.cpp | 12 +-- .../src/utils/safety_check.cpp | 83 ++++++++++++------ .../test/test_safety_check.cpp | 14 ++- 12 files changed, 154 insertions(+), 58 deletions(-) create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-debug-1.png create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-debug-2.png create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-debug-3.png delete mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-debug.png diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md index 4b9d04794e43f..91c3c2a219a20 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md @@ -319,6 +319,33 @@ The following parameters are configurable in `lane_change.param.yaml`. ## Debug Marker & Visualization -To enable the debug marker, execute `ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner lane_change.publish_debug_marker true` (no restart is needed) or simply set the `publish_debug_marker` to `true` in the `lane_change.param.yaml` for permanent effect (restart is needed). Then add the marker `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lanechange` in `rviz2`. +To enable the debug marker, execute (no restart is needed) -![debug](../image/lane_change/lane_change-debug.png) +```shell +ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner lane_change.publish_debug_marker true + +``` + +or simply set the `publish_debug_marker` to `true` in the `lane_change.param.yaml` for permanent effect (restart is needed). + +Then add the marker + +```shell +/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left +``` + +in `rviz2`. + +![debug](../image/lane_change/lane_change-debug-1.png) + +![debug2](../image/lane_change/lane_change-debug-2.png) + +![debug3](../image/lane_change/lane_change-debug-3.png) + +Available information + +1. Ego to object relation, plus safety check information +2. Ego vehicle interpolated pose up to the latest safety check position. +3. Object is safe or not, shown by the color of the polygon (Green = Safe, Red = unsafe) +4. Valid candidate paths. +5. 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a/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp index 858d742be867b..8f86af7b39ca1 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp @@ -62,9 +62,10 @@ bool isTargetObjectFront( Polygon2d createExtendedPolygon( const Pose & base_link_pose, const vehicle_info_util::VehicleInfo & vehicle_info, - const double lon_length, const double lat_margin); + const double lon_length, const double lat_margin, CollisionCheckDebug & debug); Polygon2d createExtendedPolygon( - const Pose & obj_pose, const Shape & shape, const double lon_length, const double lat_margin); + const Pose & obj_pose, const Shape & shape, const double lon_length, const double lat_margin, + CollisionCheckDebug & debug); double calcRssDistance( const double front_object_velocity, const double rear_object_velocity, diff --git a/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp b/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp index 1ae1f8a03e0c0..2345d6f40fb18 100644 --- a/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp +++ b/planning/behavior_path_planner/src/marker_util/lane_change/debug.cpp @@ -12,6 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "behavior_path_planner/marker_util/debug_utilities.hpp" #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp" #include @@ -24,6 +25,7 @@ #include #include #include +#include #include #include @@ -37,7 +39,7 @@ using tier4_autoware_utils::createMarkerScale; MarkerArray showObjectInfo( const std::unordered_map & obj_debug_vec, std::string && ns) { - Marker marker = createDefaultMarker( + Marker obj_marker = createDefaultMarker( "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, 0L, Marker::TEXT_VIEW_FACING, createMarkerScale(0.5, 0.5, 0.5), createMarkerColor(0.0, 1.0, 1.0, 0.999)); @@ -46,19 +48,24 @@ MarkerArray showObjectInfo( marker_array.markers.reserve(obj_debug_vec.size()); + int idx{0}; + for (const auto & [uuid, info] : obj_debug_vec) { - marker.id = ++id; - marker.pose = info.current_pose; + obj_marker.id = ++id; + obj_marker.pose = info.current_pose; std::ostringstream ss; - ss << info.failed_reason << "\nLon: " << std::setprecision(4) << info.relative_to_ego.position.x - << "\nLat: " << info.relative_to_ego.position.y - << "\nPosition: " << (info.is_front ? "front" : "back"); + ss << "Idx: " << ++idx << "\nReason: " << info.failed_reason + << "\nRSS dist: " << std::setprecision(4) << info.rss_longitudinal + << "\nEgo to obj: " << info.ego_to_obj_margin << "\nLateral offset: " << info.lateral_offset + << "\nLongitudinal offset: " << info.longitudinal_offset + << "\nPosition: " << (info.is_front ? "front" : "back") + << "\nSafe: " << (info.allow_lane_change ? "Yes" : "No"); - marker.text = ss.str(); + obj_marker.text = ss.str(); - marker_array.markers.push_back(marker); + marker_array.markers.push_back(obj_marker); } return marker_array; } @@ -167,23 +174,28 @@ MarkerArray showPolygon( constexpr float scale_val{0.2}; int32_t id{0}; + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); Marker ego_marker = createDefaultMarker( - "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, id, Marker::LINE_STRIP, - createMarkerScale(scale_val, scale_val, scale_val), createMarkerColor(1.0, 1.0, 1.0, 0.9)); + "map", now, ns, id, Marker::LINE_STRIP, createMarkerScale(scale_val, scale_val, scale_val), + createMarkerColor(1.0, 1.0, 1.0, 0.9)); Marker obj_marker = ego_marker; + + auto text_marker = createDefaultMarker( + "map", now, ns + "_text", id, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, + createMarkerScale(1.5, 1.5, 1.5), createMarkerColor(1.0, 1.0, 1.0, 1.0)); + MarkerArray marker_array; - constexpr auto colors = colorsList(); - const auto loop_size = std::min(obj_debug_vec.size(), colors.size()); + constexpr auto red_color = colorsList().at(0); + constexpr auto green_color = colorsList().at(1); + const auto reserve_size = obj_debug_vec.size(); - marker_array.markers.reserve(loop_size * 2); - size_t idx{0}; + marker_array.markers.reserve(reserve_size * 4); + + int32_t idx = {0}; for (const auto & [uuid, info] : obj_debug_vec) { - if (idx >= loop_size) { - break; - } - const auto & color = colors.at(idx); + const auto & color = info.allow_lane_change ? green_color : red_color; const auto & ego_polygon = info.ego_polygon.outer(); const auto poly_z = info.current_pose.position.z; // temporally ego_marker.id = ++id; @@ -194,6 +206,14 @@ MarkerArray showPolygon( } marker_array.markers.push_back(ego_marker); + std::ostringstream ss; + text_marker.id = ego_marker.id; + ss << ++idx; + text_marker.text = ss.str(); + text_marker.pose = info.expected_ego_pose; + + marker_array.markers.push_back(text_marker); + const auto & obj_polygon = info.obj_polygon.outer(); obj_marker.id = ++id; obj_marker.color = createMarkerColor(color[0], color[1], color[2], 0.8); @@ -202,7 +222,11 @@ MarkerArray showPolygon( obj_marker.points.push_back(tier4_autoware_utils::createPoint(p.x(), p.y(), poly_z)); } marker_array.markers.push_back(obj_marker); - ++idx; + + text_marker.id = obj_marker.id; + text_marker.pose = info.expected_obj_pose; + marker_array.markers.push_back(text_marker); + ego_marker.points.clear(); obj_marker.points.clear(); } diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 28d1b30ca5991..e57c55136d1cb 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -74,6 +74,7 @@ std::pair NormalLaneChange::getSafePath(LaneChangePath & safe_path) LaneChangePaths valid_paths{}; const auto found_safe_path = getLaneChangePaths(current_lanes, target_lanes, direction_, &valid_paths); + debug_valid_path_ = valid_paths; if (valid_paths.empty()) { return {false, false}; diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp index 919541f5972a4..04224b380414e 100644 --- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp +++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp @@ -396,8 +396,8 @@ PathSafetyStatus isLaneChangePathSafe( return std::make_pair(tier4_autoware_utils::toHexString(obj.object_id), debug); }; - const auto appendDebugInfo = - [&debug_data](std::pair & obj, bool && is_allowed) { + const auto updateDebugInfo = + [&debug_data](std::pair & obj, bool is_allowed) { const auto & key = obj.first; auto & element = obj.second; element.allow_lane_change = is_allowed; @@ -438,7 +438,7 @@ PathSafetyStatus isLaneChangePathSafe( lane_change_path.duration.prepare, lane_change_parameter.prepare_segment_ignore_object_velocity_thresh)) { path_safety_status.is_safe = false; - appendDebugInfo(current_debug_data, false); + updateDebugInfo(current_debug_data, path_safety_status.is_safe); if (isObjectIndexIncluded(i, dynamic_objects_indices.target_lane)) { const auto & obj_pose = obj.kinematics.initial_pose_with_covariance.pose; const auto obj_polygon = tier4_autoware_utils::toPolygon2d(obj_pose, obj.shape); @@ -448,7 +448,7 @@ PathSafetyStatus isLaneChangePathSafe( } } } - appendDebugInfo(current_debug_data, true); + updateDebugInfo(current_debug_data, path_safety_status.is_safe); } if (!lane_change_parameter.use_predicted_path_outside_lanelet) { @@ -469,13 +469,13 @@ PathSafetyStatus isLaneChangePathSafe( lane_change_parameter.prepare_segment_ignore_object_velocity_thresh, front_decel, rear_decel, current_debug_data.second)) { path_safety_status.is_safe = false; - appendDebugInfo(current_debug_data, false); + updateDebugInfo(current_debug_data, path_safety_status.is_safe); const auto & obj_pose = obj.kinematics.initial_pose_with_covariance.pose; const auto obj_polygon = tier4_autoware_utils::toPolygon2d(obj_pose, obj.shape); path_safety_status.is_object_coming_from_rear |= !utils::safety_check::isTargetObjectFront( path, current_pose, common_parameter.vehicle_info, obj_polygon); } - appendDebugInfo(current_debug_data, true); + updateDebugInfo(current_debug_data, path_safety_status.is_safe); } return path_safety_status; } diff --git a/planning/behavior_path_planner/src/utils/safety_check.cpp b/planning/behavior_path_planner/src/utils/safety_check.cpp index 72bba383a22f7..ef450c3538f65 100644 --- a/planning/behavior_path_planner/src/utils/safety_check.cpp +++ b/planning/behavior_path_planner/src/utils/safety_check.cpp @@ -14,6 +14,7 @@ #include "behavior_path_planner/utils/safety_check.hpp" +#include "behavior_path_planner/marker_util/debug_utilities.hpp" #include "motion_utils/trajectory/trajectory.hpp" #include "perception_utils/predicted_path_utils.hpp" @@ -49,14 +50,21 @@ bool isTargetObjectFront( Polygon2d createExtendedPolygon( const Pose & base_link_pose, const vehicle_info_util::VehicleInfo & vehicle_info, - const double lon_length, const double lat_margin) + const double lon_length, const double lat_margin, CollisionCheckDebug & debug) { const double & base_to_front = vehicle_info.max_longitudinal_offset_m; const double & width = vehicle_info.vehicle_width_m; const double & base_to_rear = vehicle_info.rear_overhang_m; const double lon_offset = std::max(lon_length + base_to_front, base_to_front); + const double lat_offset = width / 2.0 + lat_margin; + + { + debug.longitudinal_offset = lon_offset; + debug.lateral_offset = lat_offset; + } + const auto p1 = tier4_autoware_utils::calcOffsetPose(base_link_pose, lon_offset, lat_offset, 0.0); const auto p2 = tier4_autoware_utils::calcOffsetPose(base_link_pose, lon_offset, -lat_offset, 0.0); @@ -77,7 +85,8 @@ Polygon2d createExtendedPolygon( } Polygon2d createExtendedPolygon( - const Pose & obj_pose, const Shape & shape, const double lon_length, const double lat_margin) + const Pose & obj_pose, const Shape & shape, const double lon_length, const double lat_margin, + CollisionCheckDebug & debug) { const auto obj_polygon = tier4_autoware_utils::toPolygon2d(obj_pose, shape); if (obj_polygon.outer().empty()) { @@ -101,6 +110,12 @@ Polygon2d createExtendedPolygon( const double lon_offset = max_x + lon_length; const double left_lat_offset = max_y + lat_margin; const double right_lat_offset = min_y - lat_margin; + + { + debug.longitudinal_offset = lon_offset; + debug.lateral_offset = (left_lat_offset + right_lat_offset) / 2; + } + const auto p1 = tier4_autoware_utils::calcOffsetPose(obj_pose, lon_offset, left_lat_offset, 0.0); const auto p2 = tier4_autoware_utils::calcOffsetPose(obj_pose, lon_offset, right_lat_offset, 0.0); const auto p3 = tier4_autoware_utils::calcOffsetPose(obj_pose, min_x, right_lat_offset, 0.0); @@ -183,9 +198,15 @@ bool isSafeInLaneletCollisionCheck( const auto & ego_pose = predicted_ego_poses.at(i).first; const auto & ego_polygon = predicted_ego_poses.at(i).second; + { + debug.lerped_path.push_back(ego_pose); + debug.expected_ego_pose = ego_pose; + debug.expected_obj_pose = *obj_pose; + debug.ego_polygon = ego_polygon; + debug.obj_polygon = obj_polygon; + } + // check overlap - debug.ego_polygon = ego_polygon; - debug.obj_polygon = obj_polygon; if (boost::geometry::overlaps(ego_polygon, obj_polygon)) { debug.failed_reason = "overlap_polygon"; return false; @@ -211,17 +232,21 @@ bool isSafeInLaneletCollisionCheck( const auto & ego_vehicle_info = common_parameters.vehicle_info; const auto & lat_margin = common_parameters.lateral_distance_max_threshold; const auto & extended_ego_polygon = - is_object_front ? createExtendedPolygon(ego_pose, ego_vehicle_info, lon_offset, lat_margin) - : ego_polygon; + is_object_front + ? createExtendedPolygon(ego_pose, ego_vehicle_info, lon_offset, lat_margin, debug) + : ego_polygon; const auto & extended_obj_polygon = is_object_front ? obj_polygon - : createExtendedPolygon(*obj_pose, target_object.shape, lon_offset, lat_margin); - - debug.lerped_path.push_back(ego_pose); - debug.expected_ego_pose = ego_pose; - debug.expected_obj_pose = *obj_pose; - debug.is_front = is_object_front; + : createExtendedPolygon(*obj_pose, target_object.shape, lon_offset, lat_margin, debug); + + { + debug.rss_longitudinal = rss_dist; + debug.ego_to_obj_margin = min_lon_length; + debug.ego_polygon = extended_ego_polygon; + debug.obj_polygon = extended_obj_polygon; + debug.is_front = is_object_front; + } // check overlap with extended polygon if (boost::geometry::overlaps(extended_ego_polygon, extended_obj_polygon)) { @@ -229,6 +254,7 @@ bool isSafeInLaneletCollisionCheck( return false; } } + return true; } @@ -259,16 +285,19 @@ bool isSafeInFreeSpaceCollisionCheck( const auto & ego_pose = interpolated_ego.at(i).first; const auto & ego_polygon = interpolated_ego.at(i).second; - debug.ego_polygon = ego_polygon; - debug.obj_polygon = obj_polygon; + { + debug.lerped_path.push_back(ego_pose); + debug.expected_ego_pose = ego_pose; + debug.expected_obj_pose = obj_pose; + debug.ego_polygon = ego_polygon; + debug.obj_polygon = obj_polygon; + } + if (boost::geometry::overlaps(ego_polygon, obj_polygon)) { debug.failed_reason = "overlap_polygon"; return false; } - debug.expected_ego_pose = ego_pose; - debug.expected_obj_pose = obj_pose; - // compute which one is at the front of the other const bool is_object_front = isTargetObjectFront(path, ego_pose, common_parameters.vehicle_info, obj_polygon); @@ -288,17 +317,21 @@ bool isSafeInFreeSpaceCollisionCheck( const auto & ego_vehicle_info = common_parameters.vehicle_info; const auto & lat_margin = common_parameters.lateral_distance_max_threshold; const auto & extended_ego_polygon = - is_object_front ? createExtendedPolygon(ego_pose, ego_vehicle_info, lon_offset, lat_margin) - : ego_polygon; + is_object_front + ? createExtendedPolygon(ego_pose, ego_vehicle_info, lon_offset, lat_margin, debug) + : ego_polygon; const auto & extended_obj_polygon = is_object_front ? obj_polygon - : createExtendedPolygon(obj_pose, target_object.shape, lon_offset, lat_margin); - - debug.lerped_path.push_back(ego_pose); - debug.expected_ego_pose = ego_pose; - debug.expected_obj_pose = obj_pose; - debug.is_front = is_object_front; + : createExtendedPolygon(obj_pose, target_object.shape, lon_offset, lat_margin, debug); + + { + debug.rss_longitudinal = rss_dist; + debug.ego_to_obj_margin = min_lon_length; + debug.ego_polygon = extended_ego_polygon; + debug.obj_polygon = extended_obj_polygon; + debug.is_front = is_object_front; + } if (boost::geometry::overlaps(extended_ego_polygon, extended_obj_polygon)) { debug.failed_reason = "overlap_extended_polygon"; diff --git a/planning/behavior_path_planner/test/test_safety_check.cpp b/planning/behavior_path_planner/test/test_safety_check.cpp index 07762ff96eb67..2174ef47a1c86 100644 --- a/planning/behavior_path_planner/test/test_safety_check.cpp +++ b/planning/behavior_path_planner/test/test_safety_check.cpp @@ -12,6 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "behavior_path_planner/marker_util/debug_utilities.hpp" #include "behavior_path_planner/utils/safety_check.hpp" #include "tier4_autoware_utils/tier4_autoware_utils.hpp" @@ -40,6 +41,7 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedEgoPolygon) vehicle_info.max_longitudinal_offset_m = 4.0; vehicle_info.vehicle_width_m = 2.0; vehicle_info.rear_overhang_m = 1.0; + CollisionCheckDebug debug; { Pose ego_pose; @@ -49,7 +51,8 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedEgoPolygon) const double lon_length = 10.0; const double lat_margin = 2.0; - const auto polygon = createExtendedPolygon(ego_pose, vehicle_info, lon_length, lat_margin); + const auto polygon = + createExtendedPolygon(ego_pose, vehicle_info, lon_length, lat_margin, debug); EXPECT_EQ(polygon.outer().size(), static_cast(5)); @@ -75,7 +78,8 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedEgoPolygon) const double lon_length = 10.0; const double lat_margin = 2.0; - const auto polygon = createExtendedPolygon(ego_pose, vehicle_info, lon_length, lat_margin); + const auto polygon = + createExtendedPolygon(ego_pose, vehicle_info, lon_length, lat_margin, debug); EXPECT_EQ(polygon.outer().size(), static_cast(5)); @@ -102,7 +106,8 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedEgoPolygon) const double lon_length = 10.0; const double lat_margin = 2.0; - const auto polygon = createExtendedPolygon(ego_pose, vehicle_info, lon_length, lat_margin); + const auto polygon = + createExtendedPolygon(ego_pose, vehicle_info, lon_length, lat_margin, debug); EXPECT_EQ(polygon.outer().size(), static_cast(5)); @@ -149,7 +154,8 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedObjPolygon) const double lon_length = 10.0; const double lat_margin = 2.0; - const auto polygon = createExtendedPolygon(obj_pose, shape, lon_length, lat_margin); + CollisionCheckDebug debug; + const auto polygon = createExtendedPolygon(obj_pose, shape, lon_length, lat_margin, debug); EXPECT_EQ(polygon.outer().size(), static_cast(5)); From 3fea24f2e9f334ccddec704cf7adeb77d20bb7ee Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 27 Jun 2023 19:14:32 +0900 Subject: [PATCH 036/118] feat(lane_change): add param for a lateral distance margin where the abort can be performed (#4083) * feat(lane_change): add param for abort execution margin Signed-off-by: Takamasa Horibe * fix precommit Signed-off-by: Takamasa Horibe * fix for merge Signed-off-by: Takamasa Horibe * update readme Signed-off-by: Takamasa Horibe * fix doc Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../config/lane_change/lane_change.param.yaml | 1 + .../behavior_path_planner_lane_change_design.md | 15 ++++++++------- .../lane_change/lane_change_module_data.hpp | 1 + .../behavior_path_planner/utils/utils.hpp | 2 +- .../src/behavior_path_planner_node.cpp | 1 + .../src/scene_module/lane_change/normal.cpp | 3 ++- .../behavior_path_planner/src/utils/utils.cpp | 16 ++++++++++++---- 7 files changed, 26 insertions(+), 13 deletions(-) diff --git a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml index 049303203ed44..6f5105c46eb99 100644 --- a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml +++ b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml @@ -57,6 +57,7 @@ delta_time: 1.0 # [s] duration: 5.0 # [s] max_lateral_jerk: 1000.0 # [m/s3] + overhang_tolerance: 0.0 # [m] finish_judge_lateral_threshold: 0.2 # [m] diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md index 91c3c2a219a20..ae49542b3970b 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md @@ -301,13 +301,14 @@ The following parameters are configurable in `behavior_path_planner.param.yaml`. The following parameters are configurable in `lane_change.param.yaml`. -| Name | Unit | Type | Description | Default value | -| :------------------------------------- | ------- | ------- | -------------------------------------------------------------- | ------------- | -| `cancel.enable_on_prepare_phase` | [-] | boolean | Enable cancel lane change | true | -| `cancel.enable_on_lane_changing_phase` | [-] | boolean | Enable abort lane change. | false | -| `cancel.delta_time` | [s] | double | The time taken to start steering to return to the center line. | 3.0 | -| `cancel.duration` | [s] | double | The time taken to complete returning to the center line. | 3.0 | -| `cancel.max_lateral_jerk` | [m/sss] | double | The maximum lateral jerk for abort path | 1000.0 | +| Name | Unit | Type | Description | Default value | +| :------------------------------------- | ------- | ------- | ---------------------------------------------------------------------------------------------------------------- | ------------- | +| `cancel.enable_on_prepare_phase` | [-] | boolean | Enable cancel lane change | true | +| `cancel.enable_on_lane_changing_phase` | [-] | boolean | Enable abort lane change. | false | +| `cancel.delta_time` | [s] | double | The time taken to start steering to return to the center line. | 3.0 | +| `cancel.duration` | [s] | double | The time taken to complete returning to the center line. | 3.0 | +| `cancel.max_lateral_jerk` | [m/sss] | double | The maximum lateral jerk for abort path | 1000.0 | +| `cancel.overhang_tolerance` | [m] | double | Lane change cancel is prohibited if the vehicle head exceeds the lane boundary more than this tolerance distance | 0.0 | ### Debug diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp index 2a77419092189..67a23f23d5827 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp @@ -34,6 +34,7 @@ struct LaneChangeCancelParameters double delta_time{1.0}; double duration{5.0}; double max_lateral_jerk{10.0}; + double overhang_tolerance{0.0}; }; struct LaneChangeParameters { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index b5da46148a9f3..cc2d109f0cf1c 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -306,7 +306,7 @@ bool isEgoOutOfRoute( bool isEgoWithinOriginalLane( const lanelet::ConstLanelets & current_lanes, const Pose & current_pose, - const BehaviorPathPlannerParameters & common_param); + const BehaviorPathPlannerParameters & common_param, const double outer_margin = 0.0); // path management 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 f9791b8b79b54..c3191d5ab4a2c 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -833,6 +833,7 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam() p.cancel.delta_time = declare_parameter(parameter("cancel.delta_time")); p.cancel.duration = declare_parameter(parameter("cancel.duration")); p.cancel.max_lateral_jerk = declare_parameter(parameter("cancel.max_lateral_jerk")); + p.cancel.overhang_tolerance = declare_parameter(parameter("cancel.overhang_tolerance")); p.finish_judge_lateral_threshold = declare_parameter("lane_change.finish_judge_lateral_threshold"); diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index e57c55136d1cb..6fb84577a3b99 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -396,7 +396,8 @@ bool NormalLaneChange::isAbleToReturnCurrentLane() const if (dist > estimated_travel_dist) { const auto & estimated_pose = status_.lane_change_path.path.points.at(idx + 1).point.pose; return utils::isEgoWithinOriginalLane( - status_.current_lanes, estimated_pose, planner_data_->parameters); + status_.current_lanes, estimated_pose, planner_data_->parameters, + lane_change_parameters_->cancel.overhang_tolerance); } } diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index e1c2560b1c0d1..5b89b352d9574 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -1114,7 +1114,7 @@ bool isEgoOutOfRoute( bool isEgoWithinOriginalLane( const lanelet::ConstLanelets & current_lanes, const Pose & current_pose, - const BehaviorPathPlannerParameters & common_param) + const BehaviorPathPlannerParameters & common_param, const double outer_margin) { const auto lane_length = lanelet::utils::getLaneletLength2d(current_lanes); const auto lane_poly = lanelet::utils::getPolygonFromArcLength(current_lanes, 0, lane_length); @@ -1124,9 +1124,17 @@ bool isEgoWithinOriginalLane( const auto vehicle_poly = tier4_autoware_utils::toFootprint(current_pose, base_link2front, base_link2rear, vehicle_width); - // Check if the ego vehicle is entirely within the lane by checking if the vehicle's polygon - // is within the lane's polygon - return boost::geometry::within(vehicle_poly, lanelet::utils::to2D(lane_poly).basicPolygon()); + // Check if the ego vehicle is entirely within the lane with a given outer margin. + for (const auto & p : vehicle_poly.outer()) { + // When the point is in the polygon, the distance is 0. When it is out of the polygon, return a + // positive value. + const auto dist = boost::geometry::distance(p, lanelet::utils::to2D(lane_poly).basicPolygon()); + if (dist > std::max(outer_margin, 0.0)) { + return false; // out of polygon + } + } + + return true; // inside polygon } lanelet::ConstLanelets transformToLanelets(const DrivableLanes & drivable_lanes) From 37c8a0e843a15c87d2a33983345d2026c3d14f66 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 27 Jun 2023 20:14:10 +0900 Subject: [PATCH 037/118] fix(behavior_path_planner): support separated lanes in getIntersectionTurnSignalInfo (#4085) Signed-off-by: kosuke55 --- .../src/turn_signal_decider.cpp | 84 ++++++++++++++++--- 1 file changed, 74 insertions(+), 10 deletions(-) diff --git a/planning/behavior_path_planner/src/turn_signal_decider.cpp b/planning/behavior_path_planner/src/turn_signal_decider.cpp index ac11941ec1eb6..78ea16dbc3c05 100644 --- a/planning/behavior_path_planner/src/turn_signal_decider.cpp +++ b/planning/behavior_path_planner/src/turn_signal_decider.cpp @@ -140,29 +140,94 @@ boost::optional TurnSignalDecider::getIntersectionTurnSignalInfo } } - std::queue signal_queue; + // combine consecutive lanes of the same turn direction + // stores lanes that have already been combine + std::set processed_lanes; + // since combined_lane does not inherit id and attribute, + // and ConstantLanelet does not rewrite the value, + // we keep front_lane together as a representative. + std::vector> combined_and_front_vec{}; for (const auto & lane_id : unique_lane_ids) { - const auto lane = route_handler.getLaneletsFromId(lane_id); - const double search_distance = lane.attributeOr("turn_signal_distance", base_search_distance); - if (lane.centerline3d().size() < 2) { + // Skip if already processed + if (processed_lanes.find(lane_id) != processed_lanes.end()) continue; + auto current_lane = route_handler.getLaneletsFromId(lane_id); + lanelet::ConstLanelets combined_lane_elems{}; + while (rclcpp::ok()) { + processed_lanes.insert(current_lane.id()); + combined_lane_elems.push_back(current_lane); + + // Get the lane and its attribute + const std::string lane_attribute = + current_lane.attributeOr("turn_direction", std::string("none")); + + // check next lanes + auto next_lanes = route_handler.getNextLanelets(current_lane); + if (next_lanes.empty()) { + break; + } + + // filter next lanes with same attribute in the path + std::vector next_lanes_in_path{}; + std::copy_if( + next_lanes.begin(), next_lanes.end(), std::back_inserter(next_lanes_in_path), + [&](const auto & next_lane) { + const bool is_in_unique_ids = + std::find(unique_lane_ids.begin(), unique_lane_ids.end(), next_lane.id()) != + unique_lane_ids.end(); + const bool has_same_attribute = + next_lane.attributeOr("turn_direction", std::string("none")) == lane_attribute; + return is_in_unique_ids && has_same_attribute; + }); + if (next_lanes_in_path.empty()) { + break; + } + + // assume that the next lane in the path is only one + current_lane = next_lanes_in_path.front(); + } + + if (!combined_lane_elems.empty()) { + // store combined lane and its front lane + const auto & combined_and_first = std::pair( + lanelet::utils::combineLaneletsShape(combined_lane_elems), combined_lane_elems.front()); + combined_and_front_vec.push_back(combined_and_first); + } + } + + std::queue signal_queue; + for (const auto & combined_and_front : combined_and_front_vec) { + // use combined_lane's centerline + const auto & combined_lane = combined_and_front.first; + if (combined_lane.centerline3d().size() < 2) { continue; } + // use front lane's id, attribute, and search distance as a representative + const auto & front_lane = combined_and_front.second; + const auto lane_id = front_lane.id(); + const double search_distance = + front_lane.attributeOr("turn_signal_distance", base_search_distance); + const std::string lane_attribute = + front_lane.attributeOr("turn_direction", std::string("none")); + // lane front and back pose Pose lane_front_pose; Pose lane_back_pose; - lane_front_pose.position = lanelet::utils::conversion::toGeomMsgPt(lane.centerline3d().front()); - lane_back_pose.position = lanelet::utils::conversion::toGeomMsgPt(lane.centerline3d().back()); + lane_front_pose.position = + lanelet::utils::conversion::toGeomMsgPt(combined_lane.centerline3d().front()); + lane_back_pose.position = + lanelet::utils::conversion::toGeomMsgPt(combined_lane.centerline3d().back()); { const auto & current_point = lane_front_pose.position; - const auto & next_point = lanelet::utils::conversion::toGeomMsgPt(lane.centerline3d()[1]); + const auto & next_point = + lanelet::utils::conversion::toGeomMsgPt(combined_lane.centerline3d()[1]); lane_front_pose.orientation = calc_orientation(current_point, next_point); } { const auto & current_point = lanelet::utils::conversion::toGeomMsgPt( - lane.centerline3d()[lane.centerline3d().size() - 2]); + combined_lane.centerline3d()[combined_lane.centerline3d().size() - 2]); const auto & next_point = lane_back_pose.position; lane_back_pose.orientation = calc_orientation(current_point, next_point); } @@ -195,7 +260,6 @@ boost::optional TurnSignalDecider::getIntersectionTurnSignalInfo continue; } - const std::string lane_attribute = lane.attributeOr("turn_direction", std::string("none")); if ( (lane_attribute == "right" || lane_attribute == "left" || lane_attribute == "straight") && dist_to_front_point < search_distance) { @@ -207,7 +271,7 @@ boost::optional TurnSignalDecider::getIntersectionTurnSignalInfo TurnSignalInfo turn_signal_info{}; turn_signal_info.desired_start_point = desired_start_point_map_.at(lane_id); turn_signal_info.required_start_point = lane_front_pose; - turn_signal_info.required_end_point = get_required_end_point(lane.centerline3d()); + turn_signal_info.required_end_point = get_required_end_point(combined_lane.centerline3d()); turn_signal_info.desired_end_point = lane_back_pose; turn_signal_info.turn_signal.command = signal_map.at(lane_attribute); signal_queue.push(turn_signal_info); From bf0a7e158167ba8f1801191e8cb6054fec53aa8c Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 27 Jun 2023 20:27:02 +0900 Subject: [PATCH 038/118] fix(start_planner): fix winker near intersection (#4053) Signed-off-by: kosuke55 --- .../src/scene_module/start_planner/start_planner_module.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 67ad82a489ade..b2cf74893666b 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -846,7 +846,8 @@ TurnSignalInfo StartPlannerModule::calcTurnSignalInfo() const const bool is_near_intersection = std::invoke([&]() { const double check_length = parameters_->intersection_search_length; double accumulated_length = 0.0; - for (size_t i = 0; i < path.points.size() - 1; ++i) { + const size_t current_idx = motion_utils::findNearestIndex(path.points, current_pose.position); + for (size_t i = current_idx; i < path.points.size() - 1; ++i) { const auto & p = path.points.at(i); for (const auto & lane : planner_data_->route_handler->getLaneletsFromIds(p.lane_ids)) { const std::string turn_direction = lane.attributeOr("turn_direction", "else"); From 0e733cdc429525ca46b6846066cdd20b5fa3ef22 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 27 Jun 2023 20:43:43 +0900 Subject: [PATCH 039/118] docs(behavior_path_planner): add documentation for avoidance by lane change module (#4087) Signed-off-by: satoshi-ota --- planning/behavior_path_planner/README.md | 20 +- ...planner_avoidance_by_lane_change_design.md | 40 ++++ .../avoidance_by_lane_change.svg | 54 +++++ .../avoidance_by_lc_trigger_1.svg | 205 ++++++++++++++++++ .../avoidance_by_lc_trigger_2.svg | 85 ++++++++ 5 files changed, 394 insertions(+), 10 deletions(-) create mode 100644 planning/behavior_path_planner/docs/behavior_path_planner_avoidance_by_lane_change_design.md create mode 100644 planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lane_change.svg create mode 100644 planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lc_trigger_1.svg create mode 100644 planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lc_trigger_2.svg diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md index 8bf46fb3d3ae7..07d949aae8a39 100644 --- a/planning/behavior_path_planner/README.md +++ b/planning/behavior_path_planner/README.md @@ -16,16 +16,16 @@ The `behavior_path_planner` module is responsible to generate Behavior path planner has following scene modules. -| Name | Description | Details | -| :------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------------------------------------------------------- | -| Lane Following | this module generates reference path from lanelet centerline. | LINK | -| Avoidance | this module generates avoidance path when there is objects that should be avoid. | [LINK](./docs/behavior_path_planner_avoidance_design.md) | -| Avoidance By LC | this module generates lane change path when there is objects that should be avoid. | LINK | -| Lane Change | this module is performed when it is necessary and a collision check with other vehicles is cleared. | [LINK](./docs/behavior_path_planner_lane_change_design.md) | -| External Lane Change | WIP | LINK | -| Goal Planner | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal. | [LINK](./docs/behavior_path_planner_goal_planner_design.md) | -| Pull Out | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](./docs/behavior_path_planner_start_planner_design.md) | -| Side Shift | (for remote control) shift the path to left or right according to an external instruction. | [LINK](./docs/behavior_path_planner_side_shift_design.md) | +| Name | Description | Details | +| :------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------- | +| Lane Following | this module generates reference path from lanelet centerline. | LINK | +| Avoidance | this module generates avoidance path when there is objects that should be avoid. | [LINK](./docs/behavior_path_planner_avoidance_design.md) | +| Avoidance By LC | this module generates lane change path when there is objects that should be avoid. | [LINK](./docs/behavior_path_planner_avoidance_by_lane_change_design.md) | +| Lane Change | this module is performed when it is necessary and a collision check with other vehicles is cleared. | [LINK](./docs/behavior_path_planner_lane_change_design.md) | +| External Lane Change | WIP | LINK | +| Goal Planner | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal. | [LINK](./docs/behavior_path_planner_goal_planner_design.md) | +| Pull Out | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](./docs/behavior_path_planner_start_planner_design.md) | +| Side Shift | (for remote control) shift the path to left or right according to an external instruction. | [LINK](./docs/behavior_path_planner_side_shift_design.md) | ![behavior_modules](./image/behavior_modules.png) diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_by_lane_change_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_by_lane_change_design.md new file mode 100644 index 0000000000000..2c91cc43995ac --- /dev/null +++ b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_by_lane_change_design.md @@ -0,0 +1,40 @@ +# Avoidance by lane change design + +This is a sub-module to avoid obstacles by lane change maneuver. + +## Purpose / Role + +This module is designed as one of the obstacle avoidance features and generates a lane change path if the following conditions are satisfied. + +- Exist lane changeable lanelet. +- Exist avoidance target objects on ego driving lane. + +![avoidance_by_lane_change](../image/avoidance_by_lane_change/avoidance_by_lane_change.svg) + +## Inner-workings / Algorithms + +Basically, this module is implemented by reusing the avoidance target filtering logic of the existing [Normal Avoidance Module](./behavior_path_planner_avoidance_design.md) and the path generation logic of the [Normal Lane Change Module](./behavior_path_planner_lane_change_design.md). On the other hand, the conditions under which the module is activated differ from those of a normal avoidance module. + +Check that the following conditions are satisfied after the filtering process for the avoidance target. + +### Number of the avoidance target objects + +This module is launched when the number of avoidance target objects on **EGO DRIVING LANE** is greater than `execute_object_num`. If there are no avoidance targets in the ego driving lane or their number is less than the parameter, the obstacle is avoided by normal avoidance behavior (if the normal avoidance module is registered). + +![trigger_1](../image/avoidance_by_lane_change/avoidance_by_lc_trigger_1.svg) + +### Lane change end point condition + +Unlike the normal avoidance module, which specifies the shift line end point, this module does not specify its end point when generating a lane change path. On the other hand, setting `execute_only_when_lane_change_finish_before_object` to `true` will activate this module only if the lane change can be completed before the avoidance target object. + +Although setting the parameter to `false` would increase the scene of avoidance by lane change, it is assumed that sufficient lateral margin may not be ensured in some cases because the vehicle passes by the side of obstacles during the lane change. + +![trigger_2](../image/avoidance_by_lane_change/avoidance_by_lc_trigger_2.svg) + +## Parameters + +| Name | Unit | Type | Description | Default value | +| :------------------------------------------------- | ---- | ------ | ---------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| execute_object_num | [-] | int | Number of avoidance target objects on ego driving lane is greater than this value, this module will be launched. | 1 | +| execute_object_longitudinal_margin | [m] | double | [maybe unused] Only when distance between the ego and avoidance target object is longer than this value, this module will be launched. | 0.0 | +| execute_only_when_lane_change_finish_before_object | [-] | bool | If this flag set `true`, this module will be launched only when the lane change end point is **NOT** behind the avoidance target object. | true | diff --git a/planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lane_change.svg b/planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lane_change.svg new file mode 100644 index 0000000000000..78ccb44806661 --- /dev/null +++ b/planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lane_change.svg @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lc_trigger_1.svg b/planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lc_trigger_1.svg new file mode 100644 index 0000000000000..db4987f5806b5 --- /dev/null +++ b/planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lc_trigger_1.svg @@ -0,0 +1,205 @@ + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ parked on adjacent lane +
+
+
+ + parked on adjacent lane + + + + + + +
+
+
+ moving +
+
+
+ + moving + + + + + + + + +
+
+
+ outside of ego driving lane +
+
+
+ + outside of ego driving lane + + + + + + +
+
+
+ parked on ego driving lane +
+
+
+ + parked on ego driving lane + + + + + + + +
+
+
+ count only these objects +
+
+
+ + count only these objects + + + + + + +
+
+
+ ego +
+
+
+ + ego + + + + + + + Text is not SVG - cannot display + + + diff --git a/planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lc_trigger_2.svg b/planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lc_trigger_2.svg new file mode 100644 index 0000000000000..304cc33614a90 --- /dev/null +++ b/planning/behavior_path_planner/image/avoidance_by_lane_change/avoidance_by_lc_trigger_2.svg @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ lane change end point +
+
+
+ + lane change end point + + + + + + + Text is not SVG - cannot display + + + From 0443a08de439aab33457cf599170f6da076d487c Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 27 Jun 2023 22:47:39 +0900 Subject: [PATCH 040/118] chore(lane_change): don't exit for danger param (#4092) Signed-off-by: Takamasa Horibe --- .../src/behavior_path_planner_node.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) 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 c3191d5ab4a2c..4ed96ebe463ae 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -853,10 +853,9 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam() } if (p.cancel.delta_time < 1.0) { - RCLCPP_FATAL_STREAM( - get_logger(), "cancel.delta_time: " << p.cancel.delta_time << ", is too short.\n" - << "Terminating the program..."); - exit(EXIT_FAILURE); + RCLCPP_WARN_STREAM( + get_logger(), "cancel.delta_time: " << p.cancel.delta_time + << ", is too short. This could cause a danger behavior."); } return p; From 7aeb71647bb03c44813f6f7ab2f608cf43caf83a Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 28 Jun 2023 11:23:49 +0900 Subject: [PATCH 041/118] fix(behavior_velocity_intersection_module): fix condition of use_stuck_stopline (#4086) Signed-off-by: tomoya.kimura --- planning/behavior_velocity_intersection_module/src/util.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index 2dcc6a0ef761d..88b2599dae03a 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -278,14 +278,14 @@ std::optional generateIntersectionStopLines( // (5) stuck vehicle stop line int stuck_stop_line_ip_int = 0; if (use_stuck_stopline) { - stuck_stop_line_ip_int = std::get<0>(lane_interval_ip); - } else { const auto stuck_stop_line_idx_ip_opt = getFirstPointInsidePolygon(path_ip, lane_interval_ip, first_conflicting_area); if (!stuck_stop_line_idx_ip_opt) { return std::nullopt; } stuck_stop_line_ip_int = stuck_stop_line_idx_ip_opt.value(); + } else { + stuck_stop_line_ip_int = std::get<0>(lane_interval_ip); } const auto stuck_stop_line_ip = static_cast( std::max(0, stuck_stop_line_ip_int - stop_line_margin_idx_dist - base2front_idx_dist)); From 3d293de5da5db4e68eaef5e135661a0e312a4ca5 Mon Sep 17 00:00:00 2001 From: Manato Hirabayashi <3022416+manato@users.noreply.github.com> Date: Wed, 28 Jun 2023 12:34:56 +0900 Subject: [PATCH 042/118] fix(tensorrt_yolox): yolox extra bbox with zero value (#4089) fix: remove unintended bounding boxes with zero value Signed-off-by: Manato HIRABAYASHI --- perception/tensorrt_yolox/src/tensorrt_yolox.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp index 515ff1d3c6e9e..0950f46f30b43 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp @@ -428,7 +428,8 @@ bool TrtYoloX::feedforward(const std::vector & images, ObjectArrays & o objects.clear(); for (size_t i = 0; i < batch_size; ++i) { const size_t num_detection = static_cast(out_num_detections[i]); - ObjectArray object_array(num_detection); + ObjectArray object_array; + object_array.reserve(num_detection); for (size_t j = 0; j < num_detection; ++j) { Object object{}; const auto x1 = out_boxes[i * max_detections_ * 4 + j * 4] / scales_[i]; From df8a43a4f583bed3e7f7c07f46958512a3320bd5 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 28 Jun 2023 13:32:34 +0900 Subject: [PATCH 043/118] fix(intersection): do not plan if detection area is not empty and stop line idx is 0 (#4097) do not plan if detection area is not empty and stop line idx is 0 Signed-off-by: Mamoru Sobue --- .../src/scene_intersection.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index 4a5541508d65f..0512e90197237 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -715,6 +715,11 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( return IntersectionModule::Indecisive{}; } + if (default_stop_line_idx == 0) { + RCLCPP_DEBUG(logger_, "stop line index is 0"); + return IntersectionModule::Indecisive{}; + } + const double baselink2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; debug_data_.pass_judge_wall_pose = planning_utils::getAheadPose(pass_judge_line_idx, baselink2front, *path); @@ -795,7 +800,11 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( path->points.at(default_stop_line_idx).point.pose.position); const bool approached_stop_line = (std::fabs(dist_stopline) < planner_param_.common.stop_overshoot_margin); + const bool over_stop_line = (dist_stopline < 0.0); const bool is_stopped = planner_data_->isVehicleStopped(); + if (over_stop_line) { + before_creep_state_machine_.setState(StateMachine::State::GO); + } if (before_creep_state_machine_.getState() == StateMachine::State::GO) { if (has_collision) { return IntersectionModule::OccludedCollisionStop{ From 2246931a4ea1e0ff82cd981f5b74e8702da2e971 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 28 Jun 2023 14:06:23 +0900 Subject: [PATCH 044/118] fix(lane_change): do not prematurely combine lane change lanes (#4095) * fix(lane_change): do not prematurely combine lane change lanes Signed-off-by: Zulfaqar Azmi * directly using utils Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../scene_module/lane_change/base_class.hpp | 2 -- .../scene_module/lane_change/normal.hpp | 4 ---- .../src/scene_module/lane_change/normal.cpp | 16 ++-------------- 3 files changed, 2 insertions(+), 20 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp index 225b093018d95..e20c2e8ae9091 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp @@ -204,8 +204,6 @@ class LaneChangeBase const lanelet::ConstLanelets & target_lanelets, Direction direction, LaneChangePaths * candidate_paths, const bool check_safety) const = 0; - virtual std::vector getDrivableLanes() const = 0; - virtual TurnSignalInfo calcTurnSignalInfo() = 0; virtual bool isValidPath(const PathWithLaneId & path) const = 0; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp index f7c6cdc07a200..cac0252e274ae 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp @@ -104,8 +104,6 @@ class NormalLaneChange : public LaneChangeBase const lanelet::ConstLanelets & target_lanelets, Direction direction, LaneChangePaths * candidate_paths, const bool check_safety = true) const override; - std::vector getDrivableLanes() const override; - TurnSignalInfo calcTurnSignalInfo() override; bool isValidPath(const PathWithLaneId & path) const override; @@ -136,8 +134,6 @@ class NormalLaneChangeBT : public NormalLaneChange PathWithLaneId getPrepareSegment( const lanelet::ConstLanelets & current_lanes, const double arc_length_from_current, const double backward_path_length, const double prepare_length) const override; - - std::vector getDrivableLanes() const override; }; } // namespace behavior_path_planner #endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__NORMAL_HPP_ diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 6fb84577a3b99..c004a0b3aec26 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -158,7 +158,8 @@ void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) const auto & common_parameters = planner_data_->parameters; const auto & dp = planner_data_->drivable_area_expansion_parameters; - const auto drivable_lanes = getDrivableLanes(); + const auto drivable_lanes = utils::lane_change::generateDrivableLanes( + *getRouteHandler(), status_.current_lanes, status_.lane_change_lanes); const auto shorten_lanes = utils::cutOverlappedLanes(*output.path, drivable_lanes); const auto expanded_lanes = utils::expandLanelets( shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, @@ -763,13 +764,6 @@ bool NormalLaneChange::getLaneChangePaths( return false; } -std::vector NormalLaneChange::getDrivableLanes() const -{ - const auto drivable_lanes = utils::lane_change::generateDrivableLanes( - *getRouteHandler(), status_.current_lanes, status_.lane_change_lanes); - return utils::combineDrivableLanes(prev_drivable_area_info_.drivable_lanes, drivable_lanes); -} - PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const { const auto current_pose = getEgoPose(); @@ -1118,10 +1112,4 @@ PathWithLaneId NormalLaneChangeBT::getPrepareSegment( return prepare_segment; } - -std::vector NormalLaneChangeBT::getDrivableLanes() const -{ - return utils::lane_change::generateDrivableLanes( - *getRouteHandler(), status_.current_lanes, status_.lane_change_lanes); -} } // namespace behavior_path_planner From e819ca68d9004adde6db8ae3da94b6210fb04fc1 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 28 Jun 2023 15:44:06 +0900 Subject: [PATCH 045/118] feat: add visualization node of traffic light recognition result (#4099) * feat: add visualization node of traffic light recognition result Signed-off-by: tomoya.kimura * docs: update readme Signed-off-by: tomoya.kimura * chore: change image Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../CMakeLists.txt | 16 ++ .../Readme.md | 40 +++++ ...light_recognition_visualization_sample.png | Bin 0 -> 637103 bytes ...ht_recognition_marker_publisher.launch.xml | 7 + .../package.xml | 30 ++++ ...fic_light_recognition_marker_publisher.cpp | 164 ++++++++++++++++++ ...fic_light_recognition_marker_publisher.hpp | 62 +++++++ 7 files changed, 319 insertions(+) create mode 100644 common/traffic_light_recognition_marker_publisher/CMakeLists.txt create mode 100644 common/traffic_light_recognition_marker_publisher/Readme.md create mode 100644 common/traffic_light_recognition_marker_publisher/images/traffic_light_recognition_visualization_sample.png create mode 100644 common/traffic_light_recognition_marker_publisher/launch/traffic_light_recognition_marker_publisher.launch.xml create mode 100644 common/traffic_light_recognition_marker_publisher/package.xml create mode 100644 common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp create mode 100644 common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp diff --git a/common/traffic_light_recognition_marker_publisher/CMakeLists.txt b/common/traffic_light_recognition_marker_publisher/CMakeLists.txt new file mode 100644 index 0000000000000..d028ab21475f7 --- /dev/null +++ b/common/traffic_light_recognition_marker_publisher/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.14) +project(traffic_light_recognition_marker_publisher) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/traffic_light_recognition_marker_publisher.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "TrafficLightRecognitionMarkerPublisher" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/common/traffic_light_recognition_marker_publisher/Readme.md b/common/traffic_light_recognition_marker_publisher/Readme.md new file mode 100644 index 0000000000000..1cafc619ff6fb --- /dev/null +++ b/common/traffic_light_recognition_marker_publisher/Readme.md @@ -0,0 +1,40 @@ +# path_distance_calculator + +## Purpose + +This node publishes a marker array for visualizing traffic signal recognition results on Rviz. + +![sample_img](./images/traffic_light_recognition_visualization_sample.png) + +## Inner-workings / Algorithms + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| ------------------------------------------------------- | -------------------------------------------------------- | ------------------------------------------------- | +| `/map/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | Vector map for getting traffic signal information | +| `/perception/traffic_light_recognition/traffic_signals` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | The result of traffic signal recognition | + +### Output + +| Name | Type | Description | +| -------------------------------------------------------------- | -------------------------------------- | ------------------------------------------------------------------------------ | +| `/perception/traffic_light_recognition/traffic_signals_marker` | `visualization_msgs::msg::MarkerArray` | Publish a marker array for visualization of traffic signal recognition results | + +## Parameters + +None. + +### Node Parameters + +None. + +### Core Parameters + +None. + +## Assumptions / Known limits + +TBD. diff --git a/common/traffic_light_recognition_marker_publisher/images/traffic_light_recognition_visualization_sample.png b/common/traffic_light_recognition_marker_publisher/images/traffic_light_recognition_visualization_sample.png new file mode 100644 index 0000000000000000000000000000000000000000..a9a782e4a70129b40cccc0ea984a8b55ec58beaa GIT binary patch literal 637103 zcmaI83pms7|39vz6D2Asy(uAbj!=eFDyJj~F~^YD9A}16DsnE#X`xg^&T`tAGs$6< zSj@H@SH_0L%p86YueH-lbIlL!68NGS~VdbjTW zJ-hZDlT)10!d+|KZ?)nH*@(t< zZRMr)wWS?h>$LC=Zt6O(8kg1C5r4m|GPE?s!t-o-%H1ed>;o6i!?(LCRYO%H50=hU z6l|SrpY0c2Ba5z)dVI4!%b=&D)-U|YUO(Bs{)ft%8|RgH81eSyT#3fWI^Iroyy3> zw)8N3WlW-*#zJzL;c>-;7ICa@wqE!on;Pz}fvJxPY0Bj(HyS=A+Nq z&+oD$Lki*zW_Iui2_!fM#QYQ9_$NxBE~(JQ@As9^e8^`4*t#+AwEobpijeR)Rdv&c zs*ws^zZQaF$6qNJPhrDK_Z^?FP&e(WB#2m$5ld 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z(!Ib}!Ir({kpd5Bo$t+w<{01rsfkg=X~{skwp&y3{444SL^##a&CJDFOgL=$U!%EI zB*3OQcZ<=!vu#;ZokM@D{yr=>^ewDI#NW2#RVf)Aeaz4x!MzTH45x9Vjm-oWyZilX zi180bzo1fJYQwFVaewl7y}@C!baF$I&sGZXY-2cU9|adx*5?XWULo@K?)lczUQ#4M zz~VG<7Sv_>^s%teuhiqK-LP&LVf$Z9KLpR`(b`+{J*s(kQ~txum_vJFOtY+Bn)NvH<+c2jtKa~`rgEVhg!&+h8O6bQ~6u2q| zryW{%kLR`{WN+gt3ljPkfl~=>xW4YIl>q}SKr^VYkk}m`AM5*KyU;CH)I*j6nONhlM#AtJh#{hyZab*%L<*;X zHX+-t0S{8Bu~P{1>;+M~*Y((NqOWK2@K=xHQH`v&fYYU4w`T2a2RDoRrLQZ=*@!c63JIXRZfYS#c@8&3>Fm?b&EBa^Uk4X zPOCdOYwitUD~p98GUwU&Q@BF&bxMpF_t1>KS%(}eCKOswTZ$y57O~I1kMv(hBq!SR zB$;+kAS&VRF79W+?8&C$1@~8b*PsQ7QorNHnt~05r`1dO_F$x;(cMbkX&QLwo1^dZ ze9IL$mIXV#U!q(9IG=FSSsK#SkAhn+t-Nzfy`?U#x!lqVUwjRLW*Vr{~a1=!PGR? zs`E@ii9uVtuz&67?CcB^hf%ICdiAEcVn;~5$ynm56hn*rQ#81}>Fd2;w6&G(LcWtk vSYZG6az`fIgm*=VPPT(q_AHMttwk7*3 literal 0 HcmV?d00001 From 8b03061fbc12cf127951fd75d457da7831b7fa0f Mon Sep 17 00:00:00 2001 From: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Fri, 30 Jun 2023 10:04:45 +0900 Subject: [PATCH 057/118] feat(traffic_light): improved traffic_light_map_based_detector and new traffic_light_fine_detector package (#4084) * update traffic_light_map_based_detector traffic_light_classifier traffic_light_fine_detector traffic_light_multi_camera_fusion Signed-off-by: Mingyu Li * replace autoware_auto_perception_msgs with tier4_perception_msgs Signed-off-by: Mingyu Li --------- Signed-off-by: Mingyu Li --- .../traffic_light.launch.xml | 74 ++- .../traffic_light_node_container.launch.py | 73 ++- .../README.md | 16 +- .../node.hpp | 12 +- .../package.xml | 2 +- .../src/node.cpp | 48 +- .../traffic_light_classifier/CMakeLists.txt | 37 +- perception/traffic_light_classifier/README.md | 55 +- .../classifier_interface.hpp | 7 +- .../cnn_classifier.hpp | 85 +-- .../color_classifier.hpp | 6 +- .../traffic_light_classifier/nodelet.hpp | 21 +- .../traffic_light_classifier.launch.xml | 19 +- .../traffic_light_classifier/package.xml | 7 +- .../src/cnn_classifier.cpp | 137 ++--- .../src/color_classifier.cpp | 36 +- .../traffic_light_classifier/src/nodelet.cpp | 12 +- .../src/single_image_debug_inference_node.cpp | 38 +- .../utils/trt_common.cpp | 170 ------ .../utils/trt_common.hpp | 142 ----- .../traffic_light_fine_detector/.gitignore | 1 + .../CMakeLists.txt | 156 ++++++ .../traffic_light_fine_detector/README.md | 66 +++ .../traffic_light_fine_detector/nodelet.hpp | 172 ++++++ .../traffic_light_fine_detector.launch.xml | 26 + .../traffic_light_fine_detector/package.xml | 29 + .../src/nodelet.cpp | 310 +++++++++++ .../README.md | 27 +- ...raffic_light_map_based_detector.param.yaml | 11 +- .../traffic_light_map_based_detector/node.hpp | 133 +++-- ...raffic_light_map_based_detector.launch.xml | 12 + .../package.xml | 6 +- .../src/node.cpp | 501 ++++++++++-------- .../CMakeLists.txt | 23 + .../README.md | 34 ++ ...affic_light_multi_camera_fusion.param.yaml | 6 + .../node.hpp | 131 +++++ ...affic_light_multi_camera_fusion.launch.xml | 12 + .../package.xml | 28 + .../src/node.cpp | 322 +++++++++++ perception/traffic_light_selector/README.md | 6 +- perception/traffic_light_selector/package.xml | 2 +- .../src/traffic_light_converter.cpp | 10 +- .../src/traffic_light_converter.hpp | 4 +- .../traffic_light_ssd_fine_detector/README.md | 16 +- .../nodelet.hpp | 17 +- .../package.xml | 2 +- .../src/nodelet.cpp | 17 +- .../traffic_light_visualization/README.md | 20 +- .../traffic_light_map_visualizer/node.hpp | 7 +- .../traffic_light_roi_visualizer/nodelet.hpp | 75 ++- .../traffic_light_visualization/package.xml | 3 +- .../src/traffic_light_map_visualizer/node.cpp | 26 +- .../traffic_light_roi_visualizer/nodelet.cpp | 48 +- 54 files changed, 2205 insertions(+), 1051 deletions(-) delete mode 100644 perception/traffic_light_classifier/utils/trt_common.cpp delete mode 100644 perception/traffic_light_classifier/utils/trt_common.hpp create mode 100644 perception/traffic_light_fine_detector/.gitignore create mode 100644 perception/traffic_light_fine_detector/CMakeLists.txt create mode 100644 perception/traffic_light_fine_detector/README.md create mode 100644 perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp create mode 100644 perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml create mode 100644 perception/traffic_light_fine_detector/package.xml create mode 100644 perception/traffic_light_fine_detector/src/nodelet.cpp create mode 100644 perception/traffic_light_multi_camera_fusion/CMakeLists.txt create mode 100644 perception/traffic_light_multi_camera_fusion/README.md create mode 100644 perception/traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml create mode 100644 perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp create mode 100644 perception/traffic_light_multi_camera_fusion/launch/traffic_light_multi_camera_fusion.launch.xml create mode 100644 perception/traffic_light_multi_camera_fusion/package.xml create mode 100644 perception/traffic_light_multi_camera_fusion/src/node.cpp diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml index 9e63832f5e522..ea50101719d65 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml @@ -2,30 +2,62 @@ - - - - + + - + + + + + + + + + + + + - + - + + + + + + + + + + + + + + + + + + + + + + + + - + - + + + + - - - @@ -33,13 +65,21 @@ - - - - + + + + - + + + + + + + + + diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py index a3fd412577e1f..964008dafa5cd 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py @@ -35,38 +35,39 @@ def add_launch_arg(name: str, default_value=None, description=None): DeclareLaunchArgument(name, default_value=default_value, description=description) ) - ssd_fine_detector_share_dir = get_package_share_directory("traffic_light_ssd_fine_detector") + fine_detector_share_dir = get_package_share_directory("traffic_light_fine_detector") classifier_share_dir = get_package_share_directory("traffic_light_classifier") add_launch_arg("enable_image_decompressor", "True") add_launch_arg("enable_fine_detection", "True") add_launch_arg("input/image", "/sensing/camera/traffic_light/image_raw") - # traffic_light_ssd_fine_detector + # traffic_light_fine_detector add_launch_arg( - "onnx_file", os.path.join(ssd_fine_detector_share_dir, "data", "mb2-ssd-lite-tlr.onnx") + "fine_detector_model_path", + os.path.join(fine_detector_share_dir, "data", "tlr_yolox_s.onnx"), ) add_launch_arg( - "label_file", os.path.join(ssd_fine_detector_share_dir, "data", "voc_labels_tl.txt") + "fine_detector_label_path", + os.path.join(fine_detector_share_dir, "data", "tlr_labels.txt"), ) - add_launch_arg("dnn_header_type", "pytorch") - add_launch_arg("fine_detector_precision", "FP32") - add_launch_arg("score_thresh", "0.7") - add_launch_arg("max_batch_size", "8") + add_launch_arg("fine_detector_precision", "fp16") + add_launch_arg("fine_detector_score_thresh", "0.3") + add_launch_arg("fine_detector_nms_thresh", "0.65") + add_launch_arg("approximate_sync", "False") - add_launch_arg("mean", "[0.5, 0.5, 0.5]") - add_launch_arg("std", "[0.5, 0.5, 0.5]") # traffic_light_classifier add_launch_arg("classifier_type", "1") add_launch_arg( - "model_file_path", - os.path.join(classifier_share_dir, "data", "traffic_light_classifier_mobilenetv2.onnx"), + "classifier_model_path", + os.path.join(classifier_share_dir, "data", "traffic_light_classifier_efficientNet_b1.onnx"), + ) + add_launch_arg( + "classifier_label_path", os.path.join(classifier_share_dir, "data", "lamp_labels.txt") ) - add_launch_arg("label_file_path", os.path.join(classifier_share_dir, "data", "lamp_labels.txt")) - add_launch_arg("precision", "fp16") - add_launch_arg("input_c", "3") - add_launch_arg("input_h", "224") - add_launch_arg("input_w", "224") + add_launch_arg("classifier_precision", "fp16") + add_launch_arg("classifier_mean", "[123.675, 116.28, 103.53]") + add_launch_arg("classifier_std", "[58.395, 57.12, 57.375]") add_launch_arg("use_crosswalk_traffic_light_estimator", "True") add_launch_arg("use_intra_process", "False") @@ -80,7 +81,7 @@ def create_parameter_dict(*args): container = ComposableNodeContainer( name="traffic_light_node_container", - namespace="/perception/traffic_light_recognition", + namespace="", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), composable_node_descriptions=[ @@ -92,12 +93,11 @@ def create_parameter_dict(*args): create_parameter_dict( "approximate_sync", "classifier_type", - "model_file_path", - "label_file_path", - "precision", - "input_c", - "input_h", - "input_w", + "classifier_model_path", + "classifier_label_path", + "classifier_precision", + "classifier_mean", + "classifier_std", ) ], remappings=[ @@ -195,28 +195,25 @@ def create_parameter_dict(*args): condition=IfCondition(LaunchConfiguration("enable_image_decompressor")), ) - ssd_fine_detector_param = create_parameter_dict( - "onnx_file", - "label_file", - "dnn_header_type", - "score_thresh", - "max_batch_size", - "approximate_sync", - "mean", - "std", + fine_detector_param = create_parameter_dict( + "fine_detector_model_path", + "fine_detector_label_path", + "fine_detector_precision", + "fine_detector_score_thresh", + "fine_detector_nms_thresh", ) - ssd_fine_detector_param["mode"] = LaunchConfiguration("fine_detector_precision") fine_detector_loader = LoadComposableNodes( composable_node_descriptions=[ ComposableNode( - package="traffic_light_ssd_fine_detector", - plugin="traffic_light::TrafficLightSSDFineDetectorNodelet", - name="traffic_light_ssd_fine_detector", - parameters=[ssd_fine_detector_param], + package="traffic_light_fine_detector", + plugin="traffic_light::TrafficLightFineDetectorNodelet", + name="traffic_light_fine_detector", + parameters=[fine_detector_param], remappings=[ ("~/input/image", LaunchConfiguration("input/image")), ("~/input/rois", "rough/rois"), + ("~/expect/rois", "expect/rois"), ("~/output/rois", "rois"), ], extra_arguments=[ diff --git a/perception/crosswalk_traffic_light_estimator/README.md b/perception/crosswalk_traffic_light_estimator/README.md index 54d7c561e05c2..e23b454905081 100644 --- a/perception/crosswalk_traffic_light_estimator/README.md +++ b/perception/crosswalk_traffic_light_estimator/README.md @@ -8,17 +8,17 @@ ### Input -| Name | Type | Description | -| ------------------------------------ | -------------------------------------------------------- | ------------------ | -| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map | -| `~/input/route` | `autoware_planning_msgs::msg::LaneletRoute` | route | -| `~/input/classified/traffic_signals` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | classified signals | +| Name | Type | Description | +| ------------------------------------ | ------------------------------------------------ | ------------------ | +| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map | +| `~/input/route` | `autoware_planning_msgs::msg::LaneletRoute` | route | +| `~/input/classified/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | classified signals | ### Output -| Name | Type | Description | -| -------------------------- | -------------------------------------------------------- | --------------------------------------------------------- | -| `~/output/traffic_signals` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | output that contains estimated pedestrian traffic signals | +| Name | Type | Description | +| -------------------------- | ------------------------------------------------ | --------------------------------------------------------- | +| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | output that contains estimated pedestrian traffic signals | ## Parameters diff --git a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp index 852e99ff7ba54..0850436851e6a 100644 --- a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp +++ b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp @@ -22,11 +22,11 @@ #include #include -#include -#include -#include #include #include +#include +#include +#include #include #include @@ -43,13 +43,13 @@ namespace traffic_light { using autoware_auto_mapping_msgs::msg::HADMapBin; -using autoware_auto_perception_msgs::msg::TrafficLight; -using autoware_auto_perception_msgs::msg::TrafficSignal; -using autoware_auto_perception_msgs::msg::TrafficSignalArray; using autoware_planning_msgs::msg::LaneletRoute; using tier4_autoware_utils::DebugPublisher; using tier4_autoware_utils::StopWatch; using tier4_debug_msgs::msg::Float64Stamped; +using tier4_perception_msgs::msg::TrafficLightElement; +using tier4_perception_msgs::msg::TrafficSignal; +using tier4_perception_msgs::msg::TrafficSignalArray; using TrafficSignalAndTime = std::pair; using TrafficLightIdMap = std::unordered_map; diff --git a/perception/crosswalk_traffic_light_estimator/package.xml b/perception/crosswalk_traffic_light_estimator/package.xml index 1a3b90f617f4e..435ecf6e6fa3d 100644 --- a/perception/crosswalk_traffic_light_estimator/package.xml +++ b/perception/crosswalk_traffic_light_estimator/package.xml @@ -11,13 +11,13 @@ autoware_cmake autoware_auto_mapping_msgs - autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_planning_msgs lanelet2_extension rclcpp rclcpp_components tier4_autoware_utils + tier4_perception_msgs ament_lint_auto autoware_lint_common diff --git a/perception/crosswalk_traffic_light_estimator/src/node.cpp b/perception/crosswalk_traffic_light_estimator/src/node.cpp index 8400a1708e6af..55d272cb71cfe 100644 --- a/perception/crosswalk_traffic_light_estimator/src/node.cpp +++ b/perception/crosswalk_traffic_light_estimator/src/node.cpp @@ -160,7 +160,7 @@ void CrosswalkTrafficLightEstimatorNode::onTrafficLightArray( TrafficLightIdMap traffic_light_id_map; for (const auto & traffic_signal : msg->signals) { - traffic_light_id_map[traffic_signal.map_primitive_id] = + traffic_light_id_map[traffic_signal.traffic_light_id] = std::pair(traffic_signal, get_clock()->now()); } @@ -185,17 +185,17 @@ void CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignal( const TrafficLightIdMap & traffic_light_id_map) { for (const auto & input_traffic_signal : traffic_light_id_map) { - const auto & lights = input_traffic_signal.second.first.lights; + const auto & elements = input_traffic_signal.second.first.elements; - if (lights.empty()) { + if (elements.empty()) { continue; } - if (lights.front().color == TrafficLight::UNKNOWN) { + if (elements.front().color == TrafficLightElement::UNKNOWN) { continue; } - const auto & id = input_traffic_signal.second.first.map_primitive_id; + const auto & id = input_traffic_signal.second.first.traffic_light_id; if (last_detect_color_.count(id) == 0) { last_detect_color_.insert(std::make_pair(id, input_traffic_signal.second)); @@ -207,7 +207,7 @@ void CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignal( std::vector erase_id_list; for (auto & last_traffic_signal : last_detect_color_) { - const auto & id = last_traffic_signal.second.first.map_primitive_id; + const auto & id = last_traffic_signal.second.first.traffic_light_id; if (traffic_light_id_map.count(id) == 0) { // hold signal recognition results for [last_detect_color_hold_time_] seconds. @@ -233,11 +233,11 @@ void CrosswalkTrafficLightEstimatorNode::setCrosswalkTrafficSignal( const auto ll_traffic_light = static_cast(traffic_light); TrafficSignal output_traffic_signal; - TrafficLight output_traffic_light; + TrafficLightElement output_traffic_light; output_traffic_light.color = color; output_traffic_light.confidence = 1.0; - output_traffic_signal.lights.push_back(output_traffic_light); - output_traffic_signal.map_primitive_id = ll_traffic_light.id(); + output_traffic_signal.elements.push_back(output_traffic_light); + output_traffic_signal.traffic_light_id = ll_traffic_light.id(); msg.signals.push_back(output_traffic_signal); } } @@ -265,13 +265,14 @@ lanelet::ConstLanelets CrosswalkTrafficLightEstimatorNode::getNonRedLanelets( continue; } - const auto current_is_not_red = current_detected_signal - ? current_detected_signal.get() == TrafficLight::GREEN || - current_detected_signal.get() == TrafficLight::AMBER - : true; + const auto current_is_not_red = + current_detected_signal ? current_detected_signal.get() == TrafficLightElement::GREEN || + current_detected_signal.get() == TrafficLightElement::AMBER + : true; const auto current_is_unknown_or_none = - current_detected_signal ? current_detected_signal.get() == TrafficLight::UNKNOWN : true; + current_detected_signal ? current_detected_signal.get() == TrafficLightElement::UNKNOWN + : true; const auto last_detected_signal = getHighestConfidenceTrafficSignal(traffic_lights_for_vehicle, last_detect_color_); @@ -281,8 +282,8 @@ lanelet::ConstLanelets CrosswalkTrafficLightEstimatorNode::getNonRedLanelets( } const auto was_not_red = current_is_unknown_or_none && - (last_detected_signal.get() == TrafficLight::GREEN || - last_detected_signal.get() == TrafficLight::AMBER) && + (last_detected_signal.get() == TrafficLightElement::GREEN || + last_detected_signal.get() == TrafficLightElement::AMBER) && use_last_detect_color_; if (!current_is_not_red && !was_not_red) { @@ -323,12 +324,13 @@ uint8_t CrosswalkTrafficLightEstimatorNode::estimateCrosswalkTrafficSignal( } if (has_straight_non_red_lane || has_related_non_red_tl) { - return TrafficLight::RED; + return TrafficLightElement::RED; } const auto has_merge_lane = hasMergeLane(non_red_lanelets, routing_graph_ptr_); - return !has_merge_lane && has_left_non_red_lane && has_right_non_red_lane ? TrafficLight::RED - : TrafficLight::UNKNOWN; + return !has_merge_lane && has_left_non_red_lane && has_right_non_red_lane + ? TrafficLightElement::RED + : TrafficLightElement::UNKNOWN; } boost::optional CrosswalkTrafficLightEstimatorNode::getHighestConfidenceTrafficSignal( @@ -348,13 +350,13 @@ boost::optional CrosswalkTrafficLightEstimatorNode::getHighestConfidenc continue; } - const auto & lights = traffic_light_id_map.at(id).first.lights; - if (lights.empty()) { + const auto & elements = traffic_light_id_map.at(id).first.elements; + if (elements.empty()) { continue; } - const auto & color = lights.front().color; - const auto & confidence = lights.front().confidence; + const auto & color = elements.front().color; + const auto & confidence = elements.front().confidence; if (confidence < highest_confidence) { continue; } diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt index e125abc7b435a..aeea36ecde047 100644 --- a/perception/traffic_light_classifier/CMakeLists.txt +++ b/perception/traffic_light_classifier/CMakeLists.txt @@ -84,14 +84,14 @@ function(download FILE_NAME FILE_HASH) else() message(STATUS "diff ${FILE_NAME}") message(STATUS "File hash changes. Downloading now ...") - file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) + file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v1/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) list(GET DOWNLOAD_STATUS 0 STATUS_CODE) list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE) endif() else() message(STATUS "not found ${FILE_NAME}") message(STATUS "File doesn't exists. Downloading now ...") - file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) + file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v1/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) list(GET DOWNLOAD_STATUS 0 STATUS_CODE) list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE) endif() @@ -101,8 +101,9 @@ function(download FILE_NAME FILE_HASH) message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}") endif() endfunction() -download(traffic_light_classifier_mobilenetv2.onnx 7dc31c696b0400ddfc2cc5521586fa51) -download(lamp_labels.txt 20167c8e9a1f9d2ec7b0b0088c4100f0) +download(traffic_light_classifier_mobilenetv2.onnx caa51f2080aa2df943e4f884c41898eb) +download(traffic_light_classifier_efficientNet_b1.onnx 82baba4fcf1abe0c040cd55005e34510) +download(lamp_labels.txt 4b2cf910d97d05d464e7c26901af3d4c) find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() @@ -113,15 +114,16 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) add_definitions(-DENABLE_GPU) include_directories( - utils ${OpenCV_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS} ) - ament_auto_add_library(libutils SHARED - utils/trt_common.cpp + ament_auto_add_library(traffic_light_classifier_nodelet SHARED + src/color_classifier.cpp + src/cnn_classifier.cpp + src/nodelet.cpp ) - target_link_libraries(libutils + target_link_libraries(traffic_light_classifier_nodelet ${OpenCV_LIBRARIES} ${NVINFER} ${NVONNXPARSER} @@ -131,16 +133,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ${CUDNN_LIBRARY} stdc++fs ) - - ament_auto_add_library(traffic_light_classifier_nodelet SHARED - src/color_classifier.cpp - src/cnn_classifier.cpp - src/nodelet.cpp - ) - target_link_libraries(traffic_light_classifier_nodelet - libutils - ${OpenCV_LIBRARIES} - ) rclcpp_components_register_node(traffic_light_classifier_nodelet PLUGIN "traffic_light::TrafficLightClassifierNodelet" EXECUTABLE traffic_light_classifier_node @@ -153,7 +145,14 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) src/single_image_debug_inference_node.cpp ) target_link_libraries(single_image_debug_inference_node - libutils + ${OpenCV_LIBRARIES} + ${NVINFER} + ${NVONNXPARSER} + ${NVINFER_PLUGIN} + ${CUDA_LIBRARIES} + ${CUBLAS_LIBRARIES} + ${CUDNN_LIBRARY} + stdc++fs opencv_core opencv_highgui ) diff --git a/perception/traffic_light_classifier/README.md b/perception/traffic_light_classifier/README.md index 0935a451862e1..e2faf1633d331 100644 --- a/perception/traffic_light_classifier/README.md +++ b/perception/traffic_light_classifier/README.md @@ -8,8 +8,14 @@ traffic_light_classifier is a package for classifying traffic light labels using ### cnn_classifier -Traffic light labels are classified by MobileNetV2. -Totally 37600 (26300 for training, 6800 for evaluation and 4500 for test) TIER IV internal images of Japanese traffic lights were used for fine-tuning. +Traffic light labels are classified by EfficientNet-b1 or MobiletNet-v2. +Totally 83400 (58600 for training, 14800 for evaluation and 10000 for test) TIER IV internal images of Japanese traffic lights were used for fine-tuning. +The information of the models is listed here: + +| Name | Input Size | Test Accuracy | +| --------------- | ---------- | ------------- | +| EfficientNet-b1 | 128 x 128 | 99.76% | +| MobileNet-v2 | 224 x 224 | 99.81% | ### hsv_classifier @@ -30,17 +36,17 @@ These colors and shapes are assigned to the message as follows: ### Input -| Name | Type | Description | -| --------------- | ---------------------------------------------------------- | ---------------------- | -| `~/input/image` | `sensor_msgs::msg::Image` | input image | -| `~/input/rois` | `autoware_auto_perception_msgs::msg::TrafficLightRoiArray` | rois of traffic lights | +| Name | Type | Description | +| --------------- | -------------------------------------------------- | ---------------------- | +| `~/input/image` | `sensor_msgs::msg::Image` | input image | +| `~/input/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | rois of traffic lights | ### Output -| Name | Type | Description | -| -------------------------- | -------------------------------------------------------- | ------------------- | -| `~/output/traffic_signals` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | classified signals | -| `~/output/debug/image` | `sensor_msgs::msg::Image` | image for debugging | +| Name | Type | Description | +| -------------------------- | ------------------------------------------------ | ------------------- | +| `~/output/traffic_signals` | `tier4_perception_msgs::msg::TrafficSignalArray` | classified signals | +| `~/output/debug/image` | `sensor_msgs::msg::Image` | image for debugging | ## Parameters @@ -54,19 +60,14 @@ These colors and shapes are assigned to the message as follows: #### cnn_classifier -| Name | Type | Description | -| ----------------- | ------ | ------------------------------------------------- | -| `model_file_path` | str | path to the model file | -| `label_file_path` | str | path to the label file | -| `precision` | str | TensorRT precision, `fp16` or `int8` | -| `input_c` | str | the channel size of an input image | -| `input_h` | str | the height of an input image | -| `input_w` | str | the width of an input image | -| `input_name` | str | the name of neural network's input layer | -| `output_name` | str | the name of neural network's output name | -| `mean` | double | mean values for image normalization | -| `std` | double | std values for image normalization | -| `build_only` | bool | shutdown node after TensorRT engine file is built | +| Name | Type | Description | +| ----------------------- | --------------- | ------------------------------------ | +| `classifier_label_path` | str | path to the model file | +| `classifier_model_path` | str | path to the label file | +| `classifier_precision` | str | TensorRT precision, `fp16` or `int8` | +| `classifier_mean` | vector\ | 3-channel input image mean | +| `classifier_std` | vector\ | 3-channel input image std | +| `apply_softmax` | bool | whether or not apply softmax | #### hsv_classifier @@ -93,10 +94,10 @@ These colors and shapes are assigned to the message as follows: ## Customization of CNN model -Currently, in Autoware, [MobileNetV2](https://arxiv.org/abs/1801.04381v3) is used as CNN classifier by default. The corresponding onnx file is `data/traffic_light_classifier_mobilenetv2.onnx`(This file will be downloaded during the build process). +Currently, in Autoware, [MobileNetV2](https://arxiv.org/abs/1801.04381v3) and [EfficientNet-b1](https://arxiv.org/abs/1905.11946v5) are provided. +The corresponding onnx files are `data/traffic_light_classifier_mobilenetv2.onnx` and `data/traffic_light_classifier_efficientNet_b1.onnx` (These files will be downloaded during the build process). Also, you can apply the following models shown as below, for example. -- [EfficientNet](https://arxiv.org/abs/1905.11946v5) - [ResNet](https://openaccess.thecvf.com/content_cvpr_2016/html/He_Deep_Residual_Learning_CVPR_2016_paper.html) - [MobileNetV3](https://arxiv.org/abs/1905.02244) ... @@ -153,7 +154,7 @@ python3 pytorch2onnx.py YOUR_CONFIG.py ... ``` After obtaining your onnx model, update parameters defined in the launch file (e.g. `model_file_path`, `label_file_path`, `input_h`, `input_w`...). -Note that, we only support labels defined in [autoware_auto_perception_msgs::msg::TrafficLight](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/TrafficLight.idl). +Note that, we only support labels defined in [tier4_perception_msgs::msg::TrafficLightElement](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_perception_msgs/msg/traffic_light/TrafficLightElement.msg). ## Assumptions / Known limits @@ -191,6 +192,8 @@ Example: [1] M. Sandler, A. Howard, M. Zhu, A. Zhmoginov and L. Chen, "MobileNetV2: Inverted Residuals and Linear Bottlenecks," 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, Salt Lake City, UT, 2018, pp. 4510-4520, doi: 10.1109/CVPR.2018.00474. +[2] Tan, Mingxing, and Quoc Le. "Efficientnet: Rethinking model scaling for convolutional neural networks." International conference on machine learning. PMLR, 2019. + ## (Optional) Future extensions / Unimplemented parts @@ -17,17 +16,9 @@ - - - - - - - - - - - + + + diff --git a/perception/traffic_light_classifier/package.xml b/perception/traffic_light_classifier/package.xml index 2f7b07962a23b..89129cf0fe9d4 100644 --- a/perception/traffic_light_classifier/package.xml +++ b/perception/traffic_light_classifier/package.xml @@ -9,10 +9,11 @@ Apache License 2.0 ament_cmake_auto - autoware_cmake wget - autoware_auto_perception_msgs + autoware_cmake + + cuda_utils cv_bridge image_transport libboost-filesystem-dev @@ -20,6 +21,8 @@ rclcpp rclcpp_components sensor_msgs + tensorrt_common + tier4_perception_msgs ament_cmake diff --git a/perception/traffic_light_classifier/src/cnn_classifier.cpp b/perception/traffic_light_classifier/src/cnn_classifier.cpp index 621466206ac01..45ef5f94af146 100644 --- a/perception/traffic_light_classifier/src/cnn_classifier.cpp +++ b/perception/traffic_light_classifier/src/cnn_classifier.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2023 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. @@ -33,23 +33,41 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) std::string precision; std::string label_file_path; std::string model_file_path; - precision = node_ptr_->declare_parameter("precision", "fp16"); - label_file_path = node_ptr_->declare_parameter("label_file_path", "labels.txt"); - model_file_path = node_ptr_->declare_parameter("model_file_path", "model.onnx"); - input_c_ = node_ptr_->declare_parameter("input_c", 3); - input_h_ = node_ptr_->declare_parameter("input_h", 224); - input_w_ = node_ptr_->declare_parameter("input_w", 224); - mean_ = node_ptr_->declare_parameter("mean", std::vector({0.242, 0.193, 0.201})); - std_ = node_ptr_->declare_parameter("std", std::vector({1.0, 1.0, 1.0})); - std::string input_name = node_ptr_->declare_parameter("input_name", std::string("input_0")); - std::string output_name = node_ptr_->declare_parameter("output_name", std::string("output_0")); - apply_softmax_ = node_ptr_->declare_parameter("apply_softmax", true); + precision = node_ptr_->declare_parameter("classifier_precision", "fp16"); + label_file_path = node_ptr_->declare_parameter("classifier_label_path", "labels.txt"); + model_file_path = node_ptr_->declare_parameter("classifier_model_path", "model.onnx"); + apply_softmax_ = node_ptr_->declare_parameter("apply_softmax", false); + mean_ = + node_ptr->declare_parameter("classifier_mean", std::vector{123.675, 116.28, 103.53}); + std_ = node_ptr->declare_parameter("classifier_std", std::vector{58.395, 57.12, 57.375}); + if (mean_.size() != 3 || std_.size() != 3) { + RCLCPP_ERROR(node_ptr->get_logger(), "classifier_mean and classifier_std must be of size 3"); + return; + } readLabelfile(label_file_path, labels_); - trt_ = std::make_shared(model_file_path, precision, input_name, output_name); - trt_->setup(); + tensorrt_common::BatchConfig batch_config{1, 1, 1}; + size_t max_workspace_size = 1 << 30; + trt_common_ = std::make_unique( + model_file_path, precision, nullptr, batch_config, max_workspace_size); + trt_common_->setup(); + if (!trt_common_->isInitialized()) { + return; + } + const auto input_dims = trt_common_->getBindingDimensions(0); + if (input_dims.nbDims != 4) { + RCLCPP_ERROR(node_ptr_->get_logger(), "Model input dimension must be 4!"); + } + batch_size_ = input_dims.d[0]; + input_c_ = input_dims.d[1]; + input_h_ = input_dims.d[2]; + input_w_ = input_dims.d[3]; + num_input_ = batch_size_ * input_c_ * input_h_ * input_w_; + const auto output_dims = trt_common_->getBindingDimensions(1); + num_output_ = + std::accumulate(output_dims.d, output_dims.d + output_dims.nbDims, 1, std::multiplies()); if (node_ptr_->declare_parameter("build_only", false)) { RCLCPP_INFO(node_ptr_->get_logger(), "TensorRT engine is built and shutdown node."); rclcpp::shutdown(); @@ -57,36 +75,33 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) } bool CNNClassifier::getTrafficSignal( - const cv::Mat & input_image, autoware_auto_perception_msgs::msg::TrafficSignal & traffic_signal) + const cv::Mat & input_image, tier4_perception_msgs::msg::TrafficSignal & traffic_signal) { - if (!trt_->isInitialized()) { + if (!trt_common_->isInitialized()) { RCLCPP_WARN(node_ptr_->get_logger(), "failed to init tensorrt"); return false; } - int num_input = trt_->getNumInput(); - int num_output = trt_->getNumOutput(); - - std::vector input_data_host(num_input); + std::vector input_data_host(num_input_); cv::Mat image = input_image.clone(); preProcess(image, input_data_host, true); - auto input_data_device = Tn::make_unique(num_input); + auto input_data_device = cuda_utils::make_unique(num_input_); cudaMemcpy( - input_data_device.get(), input_data_host.data(), num_input * sizeof(float), + input_data_device.get(), input_data_host.data(), num_input_ * sizeof(float), cudaMemcpyHostToDevice); - auto output_data_device = Tn::make_unique(num_output); + auto output_data_device = cuda_utils::make_unique(num_output_); // do inference std::vector bindings = {input_data_device.get(), output_data_device.get()}; - trt_->context_->executeV2(bindings.data()); + trt_common_->enqueueV2(bindings.data(), *stream_, nullptr); - std::vector output_data_host(num_output); + std::vector output_data_host(num_output_); cudaMemcpy( - output_data_host.data(), output_data_device.get(), num_output * sizeof(float), + output_data_host.data(), output_data_device.get(), num_output_ * sizeof(float), cudaMemcpyDeviceToHost); postProcess(output_data_host, traffic_signal, apply_softmax_); @@ -101,17 +116,17 @@ bool CNNClassifier::getTrafficSignal( } void CNNClassifier::outputDebugImage( - cv::Mat & debug_image, const autoware_auto_perception_msgs::msg::TrafficSignal & traffic_signal) + cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficSignal & traffic_signal) { float probability; std::string label; - for (std::size_t i = 0; i < traffic_signal.lights.size(); i++) { - auto light = traffic_signal.lights.at(i); + for (std::size_t i = 0; i < traffic_signal.elements.size(); i++) { + auto light = traffic_signal.elements.at(i); const auto light_label = state2label_[light.color] + "-" + state2label_[light.shape]; label += light_label; // all lamp confidence are the same probability = light.confidence; - if (i < traffic_signal.lights.size() - 1) { + if (i < traffic_signal.elements.size() - 1) { label += ","; } } @@ -134,11 +149,13 @@ void CNNClassifier::outputDebugImage( void CNNClassifier::preProcess(cv::Mat & image, std::vector & input_tensor, bool normalize) { - /* normalize */ - /* ((channel[0] / 255) - mean[0]) / std[0] */ - - // cv::cvtColor(image, image, cv::COLOR_BGR2RGB, 3); - cv::resize(image, image, cv::Size(input_w_, input_h_)); + const float scale = + std::min(static_cast(input_w_) / image.cols, static_cast(input_h_) / image.rows); + const auto scale_size = cv::Size(image.cols * scale, image.rows * scale); + cv::resize(image, image, scale_size, 0, 0, cv::INTER_CUBIC); + const auto bottom = input_h_ - image.rows; + const auto right = input_w_ - image.cols; + copyMakeBorder(image, image, 0, bottom, 0, right, cv::BORDER_CONSTANT, {0, 0, 0}); const size_t strides_cv[3] = { static_cast(input_w_ * input_c_), static_cast(input_c_), 1}; @@ -151,8 +168,7 @@ void CNNClassifier::preProcess(cv::Mat & image, std::vector & input_tenso const size_t offset_cv = i * strides_cv[0] + j * strides_cv[1] + k * strides_cv[2]; const size_t offset = k * strides[0] + i * strides[1] + j * strides[2]; if (normalize) { - input_tensor[offset] = - ((static_cast(image.data[offset_cv]) / 255) - mean_[k]) / std_[k]; + input_tensor[offset] = (static_cast(image.data[offset_cv]) - mean_[k]) / std_[k]; } else { input_tensor[offset] = static_cast(image.data[offset_cv]); } @@ -162,19 +178,14 @@ void CNNClassifier::preProcess(cv::Mat & image, std::vector & input_tenso } bool CNNClassifier::postProcess( - std::vector & output_tensor, - autoware_auto_perception_msgs::msg::TrafficSignal & traffic_signal, bool apply_softmax) + std::vector & output_tensor, tier4_perception_msgs::msg::TrafficSignal & traffic_signal, + bool apply_softmax) { std::vector probs; - int num_output = trt_->getNumOutput(); if (apply_softmax) { - calcSoftmax(output_tensor, probs, num_output); + calcSoftmax(output_tensor, probs, num_output_); } - std::vector sorted_indices = argsort(output_tensor, num_output); - - // ROS_INFO("label: %s, score: %.2f\%", - // labels_[sorted_indices[0]].c_str(), - // probs[sorted_indices[0]] * 100); + std::vector sorted_indices = argsort(output_tensor, num_output_); size_t max_indice = sorted_indices.front(); std::string match_label = labels_[max_indice]; @@ -194,27 +205,27 @@ bool CNNClassifier::postProcess( node_ptr_->get_logger(), "cnn_classifier does not have a key [%s]", label.c_str()); continue; } - autoware_auto_perception_msgs::msg::TrafficLight light; + tier4_perception_msgs::msg::TrafficLightElement element; if (label.find("-") != std::string::npos) { // found "-" delimiter in label string std::vector color_and_shape; boost::algorithm::split(color_and_shape, label, boost::is_any_of("-")); - light.color = label2state_[color_and_shape.at(0)]; - light.shape = label2state_[color_and_shape.at(1)]; + element.color = label2state_[color_and_shape.at(0)]; + element.shape = label2state_[color_and_shape.at(1)]; } else { - if (label == state2label_[autoware_auto_perception_msgs::msg::TrafficLight::UNKNOWN]) { - light.color = autoware_auto_perception_msgs::msg::TrafficLight::UNKNOWN; - light.shape = autoware_auto_perception_msgs::msg::TrafficLight::UNKNOWN; + if (label == state2label_[tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN]) { + element.color = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; + element.shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; } else if (isColorLabel(label)) { - light.color = label2state_[label]; - light.shape = autoware_auto_perception_msgs::msg::TrafficLight::CIRCLE; + element.color = label2state_[label]; + element.shape = tier4_perception_msgs::msg::TrafficLightElement::CIRCLE; } else { - light.color = autoware_auto_perception_msgs::msg::TrafficLight::GREEN; - light.shape = label2state_[label]; + element.color = tier4_perception_msgs::msg::TrafficLightElement::GREEN; + element.shape = label2state_[label]; } } - light.confidence = probability; - traffic_signal.lights.push_back(light); + element.confidence = probability; + traffic_signal.elements.push_back(element); } return true; @@ -262,12 +273,12 @@ std::vector CNNClassifier::argsort(std::vector & tensor, int num_ bool CNNClassifier::isColorLabel(const std::string label) { - using autoware_auto_perception_msgs::msg::TrafficSignal; + using tier4_perception_msgs::msg::TrafficSignal; if ( - label == state2label_[autoware_auto_perception_msgs::msg::TrafficLight::GREEN] || - label == state2label_[autoware_auto_perception_msgs::msg::TrafficLight::AMBER] || - label == state2label_[autoware_auto_perception_msgs::msg::TrafficLight::RED] || - label == state2label_[autoware_auto_perception_msgs::msg::TrafficLight::WHITE]) { + label == state2label_[tier4_perception_msgs::msg::TrafficLightElement::GREEN] || + label == state2label_[tier4_perception_msgs::msg::TrafficLightElement::AMBER] || + label == state2label_[tier4_perception_msgs::msg::TrafficLightElement::RED] || + label == state2label_[tier4_perception_msgs::msg::TrafficLightElement::WHITE]) { return true; } return false; diff --git a/perception/traffic_light_classifier/src/color_classifier.cpp b/perception/traffic_light_classifier/src/color_classifier.cpp index 0267b3cd3c3ac..4b7fb37096021 100644 --- a/perception/traffic_light_classifier/src/color_classifier.cpp +++ b/perception/traffic_light_classifier/src/color_classifier.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2023 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. @@ -52,7 +52,7 @@ ColorClassifier::ColorClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) } bool ColorClassifier::getTrafficSignal( - const cv::Mat & input_image, autoware_auto_perception_msgs::msg::TrafficSignal & traffic_signal) + const cv::Mat & input_image, tier4_perception_msgs::msg::TrafficSignal & traffic_signal) { cv::Mat green_image; cv::Mat yellow_image; @@ -157,25 +157,25 @@ bool ColorClassifier::getTrafficSignal( static_cast(red_filtered_bin_image.rows * red_filtered_bin_image.cols); if (yellow_ratio < green_ratio && red_ratio < green_ratio) { - autoware_auto_perception_msgs::msg::TrafficLight light; - light.color = autoware_auto_perception_msgs::msg::TrafficLight::GREEN; - light.confidence = std::min(1.0, static_cast(green_pixel_num) / (20.0 * 20.0)); - traffic_signal.lights.push_back(light); + tier4_perception_msgs::msg::TrafficLightElement element; + element.color = tier4_perception_msgs::msg::TrafficLightElement::GREEN; + element.confidence = std::min(1.0, static_cast(green_pixel_num) / (20.0 * 20.0)); + traffic_signal.elements.push_back(element); } else if (green_ratio < yellow_ratio && red_ratio < yellow_ratio) { - autoware_auto_perception_msgs::msg::TrafficLight light; - light.color = autoware_auto_perception_msgs::msg::TrafficLight::AMBER; - light.confidence = std::min(1.0, static_cast(yellow_pixel_num) / (20.0 * 20.0)); - traffic_signal.lights.push_back(light); + tier4_perception_msgs::msg::TrafficLightElement element; + element.color = tier4_perception_msgs::msg::TrafficLightElement::AMBER; + element.confidence = std::min(1.0, static_cast(yellow_pixel_num) / (20.0 * 20.0)); + traffic_signal.elements.push_back(element); } else if (green_ratio < red_ratio && yellow_ratio < red_ratio) { - autoware_auto_perception_msgs::msg::TrafficLight light; - light.color = ::autoware_auto_perception_msgs::msg::TrafficLight::RED; - light.confidence = std::min(1.0, static_cast(red_pixel_num) / (20.0 * 20.0)); - traffic_signal.lights.push_back(light); + tier4_perception_msgs::msg::TrafficLightElement element; + element.color = ::tier4_perception_msgs::msg::TrafficLightElement::RED; + element.confidence = std::min(1.0, static_cast(red_pixel_num) / (20.0 * 20.0)); + traffic_signal.elements.push_back(element); } else { - autoware_auto_perception_msgs::msg::TrafficLight light; - light.color = ::autoware_auto_perception_msgs::msg::TrafficLight::UNKNOWN; - light.confidence = 0.0; - traffic_signal.lights.push_back(light); + tier4_perception_msgs::msg::TrafficLightElement element; + element.color = ::tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; + element.confidence = 0.0; + traffic_signal.elements.push_back(element); } return true; } diff --git a/perception/traffic_light_classifier/src/nodelet.cpp b/perception/traffic_light_classifier/src/nodelet.cpp index a593f34fd8273..5332f5d3baacc 100644 --- a/perception/traffic_light_classifier/src/nodelet.cpp +++ b/perception/traffic_light_classifier/src/nodelet.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2023 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. @@ -37,7 +37,7 @@ TrafficLightClassifierNodelet::TrafficLightClassifierNodelet(const rclcpp::NodeO } traffic_signal_array_pub_ = - this->create_publisher( + this->create_publisher( "~/output/traffic_signals", rclcpp::QoS{1}); using std::chrono_literals::operator""ms; @@ -74,7 +74,7 @@ void TrafficLightClassifierNodelet::connectCb() void TrafficLightClassifierNodelet::imageRoiCallback( const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg, - const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_rois_msg) + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_rois_msg) { if (classifier_ptr_.use_count() == 0) { return; @@ -89,15 +89,15 @@ void TrafficLightClassifierNodelet::imageRoiCallback( input_image_msg->encoding.c_str()); } - autoware_auto_perception_msgs::msg::TrafficSignalArray output_msg; + tier4_perception_msgs::msg::TrafficSignalArray output_msg; for (size_t i = 0; i < input_rois_msg->rois.size(); ++i) { const sensor_msgs::msg::RegionOfInterest & roi = input_rois_msg->rois.at(i).roi; cv::Mat clipped_image( cv_ptr->image, cv::Rect(roi.x_offset, roi.y_offset, roi.width, roi.height)); - autoware_auto_perception_msgs::msg::TrafficSignal traffic_signal; - traffic_signal.map_primitive_id = input_rois_msg->rois.at(i).id; + tier4_perception_msgs::msg::TrafficSignal traffic_signal; + traffic_signal.traffic_light_id = input_rois_msg->rois.at(i).traffic_light_id; if (!classifier_ptr_->getTrafficSignal(clipped_image, traffic_signal)) { RCLCPP_ERROR(this->get_logger(), "failed classify image, abort callback"); return; diff --git a/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp index f324b04f1628c..10d36978224ab 100644 --- a/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp +++ b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 Tier IV, Inc. +// Copyright 2023 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. @@ -28,31 +28,31 @@ namespace { std::string toString(const uint8_t state) { - if (state == autoware_auto_perception_msgs::msg::TrafficLight::RED) { + if (state == tier4_perception_msgs::msg::TrafficLightElement::RED) { return "red"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::AMBER) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::AMBER) { return "yellow"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::GREEN) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::GREEN) { return "green"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::WHITE) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::WHITE) { return "white"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::CIRCLE) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::CIRCLE) { return "circle"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::LEFT_ARROW) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::LEFT_ARROW) { return "left"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::RIGHT_ARROW) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::RIGHT_ARROW) { return "right"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::UP_ARROW) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::UP_ARROW) { return "straight"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::DOWN_ARROW) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::DOWN_ARROW) { return "down"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::DOWN_LEFT_ARROW) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::DOWN_LEFT_ARROW) { return "down_left"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::DOWN_RIGHT_ARROW) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::DOWN_RIGHT_ARROW) { return "down_right"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::CROSS) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::CROSS) { return "cross"; - } else if (state == autoware_auto_perception_msgs::msg::TrafficLight::UNKNOWN) { + } else if (state == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN) { return "unknown"; } else { return ""; @@ -122,17 +122,17 @@ class SingleImageDebugInferenceNode : public rclcpp::Node return; } cv::cvtColor(crop, crop, cv::COLOR_BGR2RGB); - autoware_auto_perception_msgs::msg::TrafficSignal traffic_signal; + tier4_perception_msgs::msg::TrafficSignal traffic_signal; if (!classifier_ptr_->getTrafficSignal(crop, traffic_signal)) { RCLCPP_ERROR(get_logger(), "failed to classify image"); return; } cv::Scalar color; cv::Scalar text_color; - for (const auto & light : traffic_signal.lights) { - auto color_str = toString(light.color); - auto shape_str = toString(light.shape); - auto confidence_str = std::to_string(light.confidence); + for (const auto & element : traffic_signal.elements) { + auto color_str = toString(element.color); + auto shape_str = toString(element.shape); + auto confidence_str = std::to_string(element.confidence); if (shape_str == "circle") { if (color_str == "red") { color = cv::Scalar(0, 0, 255); diff --git a/perception/traffic_light_classifier/utils/trt_common.cpp b/perception/traffic_light_classifier/utils/trt_common.cpp deleted file mode 100644 index f12be16879321..0000000000000 --- a/perception/traffic_light_classifier/utils/trt_common.cpp +++ /dev/null @@ -1,170 +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 - -#if (defined(_MSC_VER) or (defined(__GNUC__) and (7 <= __GNUC_MAJOR__))) -#include -namespace fs = ::std::filesystem; -#else -#include -namespace fs = ::std::experimental::filesystem; -#endif - -#include -#include - -namespace Tn -{ -void check_error(const ::cudaError_t e, decltype(__FILE__) f, decltype(__LINE__) n) -{ - if (e != ::cudaSuccess) { - std::stringstream s; - s << ::cudaGetErrorName(e) << " (" << e << ")@" << f << "#L" << n << ": " - << ::cudaGetErrorString(e); - throw std::runtime_error{s.str()}; - } -} - -TrtCommon::TrtCommon( - std::string model_path, std::string precision, std::string input_name, std::string output_name) -: model_file_path_(model_path), - precision_(precision), - input_name_(input_name), - output_name_(output_name), - is_initialized_(false) -{ - runtime_ = UniquePtr(nvinfer1::createInferRuntime(logger_)); -} - -void TrtCommon::setup() -{ - const fs::path path(model_file_path_); - std::string extension = path.extension().string(); - - if (fs::exists(path)) { - if (extension == ".engine") { - loadEngine(model_file_path_); - } else if (extension == ".onnx") { - fs::path cache_engine_path{model_file_path_}; - cache_engine_path.replace_extension("engine"); - if (fs::exists(cache_engine_path)) { - loadEngine(cache_engine_path.string()); - } else { - logger_.log(nvinfer1::ILogger::Severity::kINFO, "start build engine"); - buildEngineFromOnnx(model_file_path_, cache_engine_path.string()); - logger_.log(nvinfer1::ILogger::Severity::kINFO, "end build engine"); - } - } else { - is_initialized_ = false; - return; - } - } else { - is_initialized_ = false; - return; - } - - context_ = UniquePtr(engine_->createExecutionContext()); - -#if (NV_TENSORRT_MAJOR * 10000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 80500 - input_dims_ = engine_->getTensorShape(input_name_.c_str()); - output_dims_ = engine_->getTensorShape(output_name_.c_str()); -#else - // Deprecated since 8.5 - input_dims_ = engine_->getBindingDimensions(engine_->getBindingIndex(input_name_.c_str())); - output_dims_ = engine_->getBindingDimensions(engine_->getBindingIndex(output_name_.c_str())); -#endif - - is_initialized_ = true; -} - -bool TrtCommon::loadEngine(std::string engine_file_path) -{ - std::ifstream engine_file(engine_file_path); - std::stringstream engine_buffer; - engine_buffer << engine_file.rdbuf(); - std::string engine_str = engine_buffer.str(); - engine_ = UniquePtr(runtime_->deserializeCudaEngine( - reinterpret_cast(engine_str.data()), engine_str.size())); - return true; -} - -bool TrtCommon::buildEngineFromOnnx(std::string onnx_file_path, std::string output_engine_file_path) -{ - auto builder = UniquePtr(nvinfer1::createInferBuilder(logger_)); - const auto explicitBatch = - 1U << static_cast(nvinfer1::NetworkDefinitionCreationFlag::kEXPLICIT_BATCH); - auto network = UniquePtr(builder->createNetworkV2(explicitBatch)); - auto config = UniquePtr(builder->createBuilderConfig()); - - auto parser = UniquePtr(nvonnxparser::createParser(*network, logger_)); - if (!parser->parseFromFile( - onnx_file_path.c_str(), static_cast(nvinfer1::ILogger::Severity::kERROR))) { - return false; - } - -#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400 - config->setMemoryPoolLimit(nvinfer1::MemoryPoolType::kWORKSPACE, 16 << 20); -#else - config->setMaxWorkspaceSize(16 << 20); -#endif - - if (precision_ == "fp16") { - config->setFlag(nvinfer1::BuilderFlag::kFP16); - } else if (precision_ == "int8") { - config->setFlag(nvinfer1::BuilderFlag::kINT8); - } else { - return false; - } - - auto plan = UniquePtr(builder->buildSerializedNetwork(*network, *config)); - if (!plan) { - return false; - } - engine_ = - UniquePtr(runtime_->deserializeCudaEngine(plan->data(), plan->size())); - if (!engine_) { - return false; - } - - // save engine - std::ofstream file; - file.open(output_engine_file_path, std::ios::binary | std::ios::out); - if (!file.is_open()) { - return false; - } - file.write((const char *)plan->data(), plan->size()); - file.close(); - - return true; -} - -bool TrtCommon::isInitialized() -{ - return is_initialized_; -} - -int TrtCommon::getNumInput() -{ - return std::accumulate( - input_dims_.d, input_dims_.d + input_dims_.nbDims, 1, std::multiplies()); -} - -int TrtCommon::getNumOutput() -{ - return std::accumulate( - output_dims_.d, output_dims_.d + output_dims_.nbDims, 1, std::multiplies()); -} - -} // namespace Tn diff --git a/perception/traffic_light_classifier/utils/trt_common.hpp b/perception/traffic_light_classifier/utils/trt_common.hpp deleted file mode 100644 index d7e314a3b4705..0000000000000 --- a/perception/traffic_light_classifier/utils/trt_common.hpp +++ /dev/null @@ -1,142 +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 PERCEPTION__TRAFFIC_LIGHT_CLASSIFIER__UTILS__TRT_COMMON_HPP_ -#define PERCEPTION__TRAFFIC_LIGHT_CLASSIFIER__UTILS__TRT_COMMON_HPP_ - -#include -#include - -#include <./cudnn.h> -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#define CHECK_CUDA_ERROR(e) (Tn::check_error(e, __FILE__, __LINE__)) - -namespace Tn -{ -class Logger : public nvinfer1::ILogger -{ -public: - Logger() : Logger(Severity::kINFO) {} - - explicit Logger(Severity severity) : reportableSeverity(severity) {} - - void log(Severity severity, const char * msg) noexcept override - { - // suppress messages with severity enum value greater than the reportable - if (severity > reportableSeverity) { - return; - } - - switch (severity) { - case Severity::kINTERNAL_ERROR: - std::cerr << "[TRT_COMMON][INTERNAL_ERROR]: "; - break; - case Severity::kERROR: - std::cerr << "[TRT_COMMON][ERROR]: "; - break; - case Severity::kWARNING: - std::cerr << "[TRT_COMMON][WARNING]: "; - break; - case Severity::kINFO: - std::cerr << "[TRT_COMMON][INFO]: "; - break; - default: - std::cerr << "[TRT_COMMON][UNKNOWN]: "; - break; - } - std::cerr << msg << std::endl; - } - - Severity reportableSeverity{Severity::kWARNING}; -}; - -void check_error(const ::cudaError_t e, decltype(__FILE__) f, decltype(__LINE__) n); - -struct InferDeleter -{ - void operator()(void * p) const { ::cudaFree(p); } -}; - -template -using UniquePtr = std::unique_ptr; - -// auto array = Tn::make_unique(n); -// ::cudaMemcpy(array.get(), src_array, sizeof(float)*n, ::cudaMemcpyHostToDevice); -template -typename std::enable_if::value, Tn::UniquePtr>::type make_unique( - const std::size_t n) -{ - using U = typename std::remove_extent::type; - U * p; - ::cudaMalloc(reinterpret_cast(&p), sizeof(U) * n); - return Tn::UniquePtr{p}; -} - -// auto value = Tn::make_unique(); -// ::cudaMemcpy(value.get(), src_value, sizeof(my_class), ::cudaMemcpyHostToDevice); -template -Tn::UniquePtr make_unique() -{ - T * p; - ::cudaMalloc(reinterpret_cast(&p), sizeof(T)); - return Tn::UniquePtr{p}; -} - -class TrtCommon -{ -public: - TrtCommon( - std::string model_path, std::string precision, std::string input_name, std::string output_name); - ~TrtCommon() {} - - bool loadEngine(std::string engine_file_path); - bool buildEngineFromOnnx(std::string onnx_file_path, std::string output_engine_file_path); - void setup(); - - bool isInitialized(); - int getNumInput(); - int getNumOutput(); - - UniquePtr context_; - -private: - Logger logger_; - std::string model_file_path_; - UniquePtr runtime_; - UniquePtr engine_; - - nvinfer1::Dims input_dims_; - nvinfer1::Dims output_dims_; - std::string cache_dir_; - std::string precision_; - std::string input_name_; - std::string output_name_; - bool is_initialized_; -}; - -} // namespace Tn - -#endif // PERCEPTION__TRAFFIC_LIGHT_CLASSIFIER__UTILS__TRT_COMMON_HPP_ diff --git a/perception/traffic_light_fine_detector/.gitignore b/perception/traffic_light_fine_detector/.gitignore new file mode 100644 index 0000000000000..8fce603003c1e --- /dev/null +++ b/perception/traffic_light_fine_detector/.gitignore @@ -0,0 +1 @@ +data/ diff --git a/perception/traffic_light_fine_detector/CMakeLists.txt b/perception/traffic_light_fine_detector/CMakeLists.txt new file mode 100644 index 0000000000000..a26cafff1ee4d --- /dev/null +++ b/perception/traffic_light_fine_detector/CMakeLists.txt @@ -0,0 +1,156 @@ +cmake_minimum_required(VERSION 3.14) +project(traffic_light_fine_detector) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +add_compile_options(-Wno-deprecated-declarations) + +option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) + +find_package(OpenCV REQUIRED) + +# set flags for CUDA availability +option(CUDA_AVAIL "CUDA available" OFF) +find_package(CUDA) +if(CUDA_FOUND) + find_library(CUBLAS_LIBRARIES cublas HINTS + ${CUDA_TOOLKIT_ROOT_DIR}/lib64 + ${CUDA_TOOLKIT_ROOT_DIR}/lib + ) + if(CUDA_VERBOSE) + message(STATUS "CUDA is available!") + message(STATUS "CUDA Libs: ${CUDA_LIBRARIES}") + message(STATUS "CUDA Headers: ${CUDA_INCLUDE_DIRS}") + endif() + set(CUDA_AVAIL ON) +else() + message(STATUS "CUDA NOT FOUND") + set(CUDA_AVAIL OFF) +endif() + +# set flags for TensorRT availability +option(TRT_AVAIL "TensorRT available" OFF) +# try to find the tensorRT modules +find_library(NVINFER NAMES nvinfer) +find_library(NVONNXPARSER nvonnxparser) +find_library(NVINFER_PLUGIN NAMES nvinfer_plugin) +if(NVINFER AND NVONNXPARSER AND NVINFER_PLUGIN) + if(CUDA_VERBOSE) + message(STATUS "TensorRT is available!") + message(STATUS "NVINFER: ${NVINFER}") + message(STATUS "NVPARSERS: ${NVPARSERS}") + message(STATUS "NVINFER_PLUGIN: ${NVINFER_PLUGIN}") + message(STATUS "NVONNXPARSER: ${NVONNXPARSER}") + endif() + set(TRT_AVAIL ON) +else() + message(STATUS "TensorRT is NOT Available") + set(TRT_AVAIL OFF) +endif() + +# set flags for CUDNN availability +option(CUDNN_AVAIL "CUDNN available" OFF) +# try to find the CUDNN module +find_library(CUDNN_LIBRARY + NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name} + PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX} + PATH_SUFFIXES lib lib64 bin + DOC "CUDNN library." +) +if(CUDNN_LIBRARY) + if(CUDA_VERBOSE) + message(STATUS "CUDNN is available!") + message(STATUS "CUDNN_LIBRARY: ${CUDNN_LIBRARY}") + endif() + set(CUDNN_AVAIL ON) +else() + message(STATUS "CUDNN is NOT Available") + set(CUDNN_AVAIL OFF) +endif() + +# Download caffemodel and prototxt +set(PRETRAINED_MODEL_HASH f3af5bd588c6c99ccf9ca236a07ad41e) +set(LAMP_LABEL_HASH e9f45efb02f2a9aa8ac27b3d5c164905) +set(DATA_DIR https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v2) + +set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data") +if(NOT EXISTS "${DATA_PATH}") + execute_process(COMMAND mkdir -p ${DATA_PATH}) +endif() +function(download FILE_NAME FILE_HASH) + message(STATUS "Checking and downloading ${FILE_NAME}") + set(FILE_PATH ${DATA_PATH}/${FILE_NAME}) + set(STATUS_CODE 0) + message(STATUS "start ${FILE_NAME}") + if(EXISTS ${FILE_PATH}) + message(STATUS "found ${FILE_NAME}") + file(MD5 ${FILE_PATH} EXISTING_FILE_HASH) + if(${FILE_HASH} STREQUAL ${EXISTING_FILE_HASH}) + message(STATUS "same ${FILE_NAME}") + message(STATUS "File already exists.") + else() + message(STATUS "diff ${FILE_NAME}") + message(STATUS "File hash changes. Downloading now ...") + file(DOWNLOAD ${DATA_DIR}/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) + list(GET DOWNLOAD_STATUS 0 STATUS_CODE) + list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE) + endif() + else() + message(STATUS "not found ${FILE_NAME}") + message(STATUS "File doesn't exists. Downloading now ...") + file(DOWNLOAD ${DATA_DIR}/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) + list(GET DOWNLOAD_STATUS 0 STATUS_CODE) + list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE) + endif() + if(${STATUS_CODE} EQUAL 0) + message(STATUS "Download completed successfully!") + else() + message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}") + endif() +endfunction() +download(tlr_yolox_s.onnx ${PRETRAINED_MODEL_HASH}) +download(tlr_labels.txt ${LAMP_LABEL_HASH}) + +if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) + include_directories( + ${OpenCV_INCLUDE_DIRS} + ${CUDA_INCLUDE_DIRS} + ) + + ament_auto_add_library(traffic_light_fine_detector_nodelet SHARED + src/nodelet.cpp + ) + + target_include_directories(traffic_light_fine_detector_nodelet PUBLIC + lib/include + ) + + target_link_libraries(traffic_light_fine_detector_nodelet + ${NVINFER} + ${NVONNXPARSER} + ${NVINFER_PLUGIN} + ${CUDA_LIBRARIES} + ${CUBLAS_LIBRARIES} + ${CUDNN_LIBRARY} + ${OpenCV_LIB} + stdc++fs + ) + + rclcpp_components_register_node(traffic_light_fine_detector_nodelet + PLUGIN "traffic_light::TrafficLightFineDetectorNodelet" + EXECUTABLE traffic_light_fine_detector_node + ) + + ament_auto_package(INSTALL_TO_SHARE + data + launch + ) + +else() + message(STATUS "TrafficLightFineDetector won't be built, CUDA and/or TensorRT were not found.") + # to avoid launch file missing without a gpu + ament_auto_package(INSTALL_TO_SHARE + launch + ) +endif() diff --git a/perception/traffic_light_fine_detector/README.md b/perception/traffic_light_fine_detector/README.md new file mode 100644 index 0000000000000..1ed6debfeae91 --- /dev/null +++ b/perception/traffic_light_fine_detector/README.md @@ -0,0 +1,66 @@ +# traffic_light_fine_detector + +## Purpose + +It is a package for traffic light detection using YoloX-s. + +## Training Information + +### Pretrained Model + +The model is based on [YOLOX](https://github.com/Megvii-BaseDetection/YOLOX) and the pretrained model could be downloaded from [here](https://github.com/Megvii-BaseDetection/YOLOX/releases/download/0.1.1rc0/yolox_s.pth). + +### Training Data + +The model was fine-tuned on around 17,000 TIER IV internal images of Japanese traffic lights. + +### Trained Onnx model + +- + +## Inner-workings / Algorithms + +Based on the camera image and the global ROI array detected by `map_based_detection` node, a CNN-based detection method enables highly accurate traffic light detection. + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| --------------- | -------------------------------------------------- | ------------------------------------------------------------------- | +| `~/input/image` | `sensor_msgs/Image` | The full size camera image | +| `~/input/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | The array of ROIs detected by map_based_detector | +| `~/expect/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | The array of ROIs detected by map_based_detector without any offset | + +### Output + +| Name | Type | Description | +| --------------------- | -------------------------------------------------- | ---------------------------- | +| `~/output/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | The detected accurate rois | +| `~/debug/exe_time_ms` | `tier4_debug_msgs::msg::Float32Stamped` | The time taken for inference | + +## Parameters + +### Core Parameters + +| Name | Type | Default Value | Description | +| ---------------------------- | ------ | ------------- | ---------------------------------------------------------------------- | +| `fine_detector_score_thresh` | double | 0.3 | If the objectness score is less than this value, the object is ignored | +| `fine_detector_nms_thresh` | double | 0.65 | IoU threshold to perform Non-Maximum Suppression | + +### Node Parameters + +| Name | Type | Default Value | Description | +| -------------------------- | ------ | ------------- | ------------------------------------------------------------------ | +| `fine_detector_model_path` | string | "" | The onnx file name for yolo model | +| `fine_detector_label_path` | string | "" | The label file with label names for detected objects written on it | +| `fine_detector_precision` | string | "fp32" | The inference mode: "fp32", "fp16" | +| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | + +## Assumptions / Known limits + +## Reference repositories + +YOLOX github repository + +- diff --git a/perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp b/perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp new file mode 100644 index 0000000000000..f115596453835 --- /dev/null +++ b/perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp @@ -0,0 +1,172 @@ +// Copyright 2023 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 TRAFFIC_LIGHT_FINE_DETECTOR__NODELET_HPP_ +#define TRAFFIC_LIGHT_FINE_DETECTOR__NODELET_HPP_ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#if __has_include() +#include +#else +#include +#endif +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +typedef struct Detection +{ + float x, y, w, h, prob; +} Detection; + +namespace traffic_light +{ +class TrafficLightFineDetectorNodelet : public rclcpp::Node +{ + using TrafficLightRoi = tier4_perception_msgs::msg::TrafficLightRoi; + using TrafficLightRoiArray = tier4_perception_msgs::msg::TrafficLightRoiArray; + +public: + explicit TrafficLightFineDetectorNodelet(const rclcpp::NodeOptions & options); + void connectCb(); + /** + * @brief main process function. + * + * @param image_msg ros image message + * @param rough_roi_msg rough rois message + * @param expect_roi_msg expect rois message + */ + void callback( + const sensor_msgs::msg::Image::ConstSharedPtr image_msg, + const TrafficLightRoiArray::ConstSharedPtr rough_roi_msg, + const TrafficLightRoiArray::ConstSharedPtr expect_roi_msg); + +private: + /** + * @brief convert the images into data stream ready for gpu process + * + * @param in_imgs cv::Mat images + * @param num_rois number of rois + * @param data output data stream + * @return true succeed + * @return false failed + */ + bool cvMat2CnnInput( + const std::vector & in_imgs, const int num_rois, std::vector & data); + /** + * @brief Calculate the match score. Details will be explained in docs of evalMatchScore + * + * @param id2expectRoi + * @param id2detections + * @param id2bestDetection + * @return float + */ + float evalMatchScore( + std::map & id2expectRoi, + std::map & id2detections, + std::map & id2bestDetection); + /** + * @brief Every traffic light roi might have several possible detections. This function + * is designed to select the best detection for every traffic light by making use of + * the relative positions between the traffic lights projected on the image (expect/rois). + * To be specified, for every detection, all the expect rois will be transfered so that + * this detection will match the corresponding expect roi. Note that the expect rois + * of other traffic lights will also be transfered equally. Then, for every expect roi, + * it will calculate the match score (which is IoU_detection_roi * detection_confidence) + * with every detection. + * The combination of detections that will get highest match score sum will be the selected + * detections + * + * @param id2expectRoi id to expect/roi map + * @param id2detections id to detections map + * @param out_rois output rois converted from the selected detections + */ + void detectionMatch( + std::map & id2expectRoi, + std::map & id2detections, TrafficLightRoiArray & out_rois); + /** + * @brief convert image message to cv::Mat + * + * @param image_msg input image message + * @param image output cv::Mat image + * @param encode image encode + * @return true succeed + * @return false failed + */ + bool rosMsg2CvMat( + const sensor_msgs::msg::Image::ConstSharedPtr image_msg, cv::Mat & image, + std::string encode = "rgb8"); + bool fitInFrame(cv::Point & lt, cv::Point & rb, const cv::Size & size); + /** + * @brief Read the label file to get class number and traffic_light class index of the model + * + * @param filepath path to the label file + * @param tlr_id output traffic light class index + * @param num_class output class number + * @return true succeed + * @return false failed + */ + bool readLabelFile(const std::string & filepath, int & tlr_id, int & num_class); + + // variables + image_transport::SubscriberFilter image_sub_; + message_filters::Subscriber rough_roi_sub_; + message_filters::Subscriber expect_roi_sub_; + std::mutex connect_mutex_; + rclcpp::Publisher::SharedPtr output_roi_pub_; + rclcpp::Publisher::SharedPtr exe_time_pub_; + rclcpp::TimerBase::SharedPtr timer_; + + typedef message_filters::sync_policies::ExactTime< + sensor_msgs::msg::Image, TrafficLightRoiArray, TrafficLightRoiArray> + SyncPolicy; + typedef message_filters::Synchronizer Sync; + std::shared_ptr sync_; + + typedef message_filters::sync_policies::ApproximateTime< + sensor_msgs::msg::Image, TrafficLightRoiArray, TrafficLightRoiArray> + ApproximateSyncPolicy; + typedef message_filters::Synchronizer ApproximateSync; + std::shared_ptr approximate_sync_; + + bool is_approximate_sync_; + double score_thresh_; + int tlr_id_; + + std::unique_ptr trt_yolox_; +}; // TrafficLightFineDetectorNodelet + +} // namespace traffic_light + +#endif // TRAFFIC_LIGHT_FINE_DETECTOR__NODELET_HPP_ diff --git a/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml b/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml new file mode 100644 index 0000000000000..442aa3f45ea88 --- /dev/null +++ b/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/perception/traffic_light_fine_detector/package.xml b/perception/traffic_light_fine_detector/package.xml new file mode 100644 index 0000000000000..960a90379279a --- /dev/null +++ b/perception/traffic_light_fine_detector/package.xml @@ -0,0 +1,29 @@ + + + + traffic_light_fine_detector + 0.1.0 + The traffic_light_fine_detector package + Mingyu Li + Apache License 2.0 + + ament_cmake_auto + + autoware_cmake + + cv_bridge + image_transport + message_filters + rclcpp + rclcpp_components + sensor_msgs + tensorrt_yolox + tier4_debug_msgs + tier4_perception_msgs + + autoware_lint_common + + + ament_cmake + + diff --git a/perception/traffic_light_fine_detector/src/nodelet.cpp b/perception/traffic_light_fine_detector/src/nodelet.cpp new file mode 100644 index 0000000000000..75812a072f4c6 --- /dev/null +++ b/perception/traffic_light_fine_detector/src/nodelet.cpp @@ -0,0 +1,310 @@ +// Copyright 2023 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 "traffic_light_fine_detector/nodelet.hpp" + +#if (defined(_MSC_VER) or (defined(__GNUC__) and (7 <= __GNUC_MAJOR__))) +#include +namespace fs = ::std::filesystem; +#else +#include +namespace fs = ::std::experimental::filesystem; +#endif + +#include +#include +#include +#include + +namespace +{ +float calWeightedIou( + const sensor_msgs::msg::RegionOfInterest & bbox1, const tensorrt_yolox::Object & bbox2) +{ + int x1 = std::max(static_cast(bbox1.x_offset), bbox2.x_offset); + int x2 = std::min(static_cast(bbox1.x_offset + bbox1.width), bbox2.x_offset + bbox2.width); + int y1 = std::max(static_cast(bbox1.y_offset), bbox2.y_offset); + int y2 = std::min(static_cast(bbox1.y_offset + bbox1.height), bbox2.y_offset + bbox2.height); + int area1 = std::max(x2 - x1, 0) * std::max(y2 - y1, 0); + int area2 = bbox1.width * bbox1.height + bbox2.width * bbox2.height - area1; + if (area2 == 0) { + return 0.0; + } + return bbox2.score * area1 / area2; +} + +} // namespace + +namespace traffic_light +{ +inline std::vector toFloatVector(const std::vector double_vector) +{ + return std::vector(double_vector.begin(), double_vector.end()); +} + +TrafficLightFineDetectorNodelet::TrafficLightFineDetectorNodelet( + const rclcpp::NodeOptions & options) +: Node("traffic_light_fine_detector_node", options) +{ + int num_class = 2; + using std::placeholders::_1; + using std::placeholders::_2; + using std::placeholders::_3; + + std::string model_path = declare_parameter("fine_detector_model_path", ""); + std::string label_path = declare_parameter("fine_detector_label_path", ""); + std::string precision = declare_parameter("fine_detector_precision", "fp32"); + // Objects with a score lower than this value will be ignored. + // This threshold will be ignored if specified model contains EfficientNMS_TRT module in it + score_thresh_ = declare_parameter("fine_detector_score_thresh", 0.3); + // Detection results will be ignored if IoU over this value. + // This threshold will be ignored if specified model contains EfficientNMS_TRT module in it + float nms_threshold = declare_parameter("fine_detector_nms_thresh", 0.65); + is_approximate_sync_ = this->declare_parameter("approximate_sync", false); + + if (!readLabelFile(label_path, tlr_id_, num_class)) { + RCLCPP_ERROR(this->get_logger(), "Could not find tlr id"); + } + trt_yolox_ = std::make_unique( + model_path, precision, num_class, score_thresh_, nms_threshold); + + using std::chrono_literals::operator""ms; + timer_ = rclcpp::create_timer( + this, get_clock(), 100ms, std::bind(&TrafficLightFineDetectorNodelet::connectCb, this)); + + std::lock_guard lock(connect_mutex_); + output_roi_pub_ = this->create_publisher("~/output/rois", 1); + exe_time_pub_ = + this->create_publisher("~/debug/exe_time_ms", 1); + if (is_approximate_sync_) { + approximate_sync_.reset( + new ApproximateSync(ApproximateSyncPolicy(10), image_sub_, rough_roi_sub_, expect_roi_sub_)); + approximate_sync_->registerCallback( + std::bind(&TrafficLightFineDetectorNodelet::callback, this, _1, _2, _3)); + } else { + sync_.reset(new Sync(SyncPolicy(10), image_sub_, rough_roi_sub_, expect_roi_sub_)); + sync_->registerCallback( + std::bind(&TrafficLightFineDetectorNodelet::callback, this, _1, _2, _3)); + } + + if (declare_parameter("build_only", false)) { + RCLCPP_INFO(get_logger(), "TensorRT engine is built and shutdown node."); + rclcpp::shutdown(); + } +} + +void TrafficLightFineDetectorNodelet::connectCb() +{ + std::lock_guard lock(connect_mutex_); + if (output_roi_pub_->get_subscription_count() == 0) { + image_sub_.unsubscribe(); + rough_roi_sub_.unsubscribe(); + expect_roi_sub_.unsubscribe(); + } else if (!image_sub_.getSubscriber()) { + image_sub_.subscribe(this, "~/input/image", "raw", rmw_qos_profile_sensor_data); + rough_roi_sub_.subscribe(this, "~/input/rois", rclcpp::QoS{1}.get_rmw_qos_profile()); + expect_roi_sub_.subscribe(this, "~/expect/rois", rclcpp::QoS{1}.get_rmw_qos_profile()); + } +} + +void TrafficLightFineDetectorNodelet::callback( + const sensor_msgs::msg::Image::ConstSharedPtr in_image_msg, + const TrafficLightRoiArray::ConstSharedPtr rough_roi_msg, + const TrafficLightRoiArray::ConstSharedPtr expect_roi_msg) +{ + if (in_image_msg->width < 2 || in_image_msg->height < 2) { + return; + } + + using std::chrono::high_resolution_clock; + using std::chrono::milliseconds; + const auto exe_start_time = high_resolution_clock::now(); + cv::Mat original_image; + TrafficLightRoiArray out_rois; + std::map id2expectRoi; + std::map id2detections; + for (const auto & expect_roi : expect_roi_msg->rois) { + id2expectRoi[expect_roi.traffic_light_id] = expect_roi; + } + + rosMsg2CvMat(in_image_msg, original_image, "bgr8"); + for (const auto & rough_roi : rough_roi_msg->rois) { + cv::Point lt(rough_roi.roi.x_offset, rough_roi.roi.y_offset); + cv::Point rb( + rough_roi.roi.x_offset + rough_roi.roi.width, rough_roi.roi.y_offset + rough_roi.roi.height); + fitInFrame(lt, rb, cv::Size(original_image.size())); + cv::Mat cropped_img = cv::Mat(original_image, cv::Rect(lt, rb)); + tensorrt_yolox::ObjectArrays inference_results; + if (!trt_yolox_->doInference({cropped_img}, inference_results)) { + RCLCPP_WARN(this->get_logger(), "Fail to inference"); + return; + } + for (tensorrt_yolox::Object & detection : inference_results[0]) { + if (detection.score < score_thresh_ || detection.type != tlr_id_) { + continue; + } + cv::Point lt_roi(lt.x + detection.x_offset, lt.y + detection.y_offset); + cv::Point rb_roi(lt_roi.x + detection.width, lt_roi.y + detection.height); + fitInFrame(lt_roi, rb_roi, cv::Size(original_image.size())); + tensorrt_yolox::Object det = detection; + det.x_offset = lt_roi.x; + det.y_offset = lt_roi.y; + det.width = rb_roi.x - lt_roi.x; + det.height = rb_roi.y - lt_roi.y; + id2detections[rough_roi.traffic_light_id].push_back(det); + } + } + detectionMatch(id2expectRoi, id2detections, out_rois); + out_rois.header = rough_roi_msg->header; + output_roi_pub_->publish(out_rois); + const auto exe_end_time = high_resolution_clock::now(); + const double exe_time = + std::chrono::duration_cast(exe_end_time - exe_start_time).count(); + tier4_debug_msgs::msg::Float32Stamped exe_time_msg; + exe_time_msg.data = exe_time; + exe_time_msg.stamp = this->now(); + exe_time_pub_->publish(exe_time_msg); +} + +float TrafficLightFineDetectorNodelet::evalMatchScore( + std::map & id2expectRoi, + std::map & id2detections, + std::map & id2bestDetection) +{ + float score_sum = 0.0f; + id2bestDetection.clear(); + for (const auto & roi_p : id2expectRoi) { + int tlr_id = roi_p.first; + float max_score = 0.0f; + const sensor_msgs::msg::RegionOfInterest & expected_roi = roi_p.second.roi; + for (const tensorrt_yolox::Object & detection : id2detections[tlr_id]) { + float score = ::calWeightedIou(expected_roi, detection); + if (score >= max_score) { + max_score = score; + id2bestDetection[tlr_id] = detection; + } + } + score_sum += max_score; + } + return score_sum; +} + +void TrafficLightFineDetectorNodelet::detectionMatch( + std::map & id2expectRoi, + std::map & id2detections, TrafficLightRoiArray & out_rois) +{ + float max_score = 0.0f; + std::map bestDetections; + for (const auto & roi_pair : id2expectRoi) { + int tlr_id = roi_pair.first; + // the expected roi calculated from tf information + const sensor_msgs::msg::RegionOfInterest & expect_roi = roi_pair.second.roi; + int expect_cx = expect_roi.x_offset + expect_roi.width / 2; + int expect_cy = expect_roi.y_offset + expect_roi.height / 2; + for (const tensorrt_yolox::Object & det : id2detections[tlr_id]) { + // for every detection, calculate the center offset between the detection and the + // corresponding expected roi + int det_cx = det.x_offset + det.width / 2; + int det_cy = det.y_offset + det.height / 2; + int dx = det_cx - expect_cx; + int dy = det_cy - expect_cy; + // transfer all the rough rois by the offset + std::map id2expectRoi_copy = id2expectRoi; + for (auto & p : id2expectRoi_copy) { + p.second.roi.x_offset += dx; + p.second.roi.y_offset += dy; + } + // calculate the "match score" between expected rois and id2detections_copy + std::map id2bestDetection; + float score = evalMatchScore(id2expectRoi_copy, id2detections, id2bestDetection); + if (score > max_score) { + max_score = score; + bestDetections = id2bestDetection; + } + } + } + + out_rois.rois.clear(); + for (const auto & p : bestDetections) { + TrafficLightRoi tlr; + tlr.traffic_light_id = p.first; + tlr.roi.x_offset = p.second.x_offset; + tlr.roi.y_offset = p.second.y_offset; + tlr.roi.width = p.second.width; + tlr.roi.height = p.second.height; + out_rois.rois.push_back(tlr); + } +} + +bool TrafficLightFineDetectorNodelet::rosMsg2CvMat( + const sensor_msgs::msg::Image::ConstSharedPtr image_msg, cv::Mat & image, std::string encode) +{ + try { + cv_bridge::CvImagePtr cv_image = cv_bridge::toCvCopy(image_msg, encode); + image = cv_image->image; + } catch (cv_bridge::Exception & e) { + RCLCPP_ERROR( + this->get_logger(), "Failed to convert sensor_msgs::msg::Image to cv::Mat \n%s", e.what()); + return false; + } + + return true; +} + +bool TrafficLightFineDetectorNodelet::fitInFrame( + cv::Point & lt, cv::Point & rb, const cv::Size & size) +{ + const int width = static_cast(size.width); + const int height = static_cast(size.height); + { + const int x_min = 0, x_max = width - 2; + const int y_min = 0, y_max = height - 2; + lt.x = std::min(std::max(lt.x, x_min), x_max); + lt.y = std::min(std::max(lt.y, y_min), y_max); + } + { + const int x_min = lt.x + 1, x_max = width - 1; + const int y_min = lt.y + 1, y_max = height - 1; + rb.x = std::min(std::max(rb.x, x_min), x_max); + rb.y = std::min(std::max(rb.y, y_min), y_max); + } + + return true; +} + +bool TrafficLightFineDetectorNodelet::readLabelFile( + const std::string & filepath, int & tlr_id, int & num_class) +{ + tlr_id = -1; + std::ifstream labelsFile(filepath); + if (!labelsFile.is_open()) { + RCLCPP_ERROR(this->get_logger(), "Could not open label file. [%s]", filepath.c_str()); + return false; + } + std::string label; + int idx = 0; + while (getline(labelsFile, label)) { + if (label == "traffic_light") { + tlr_id = idx; + } + idx++; + } + num_class = idx; + return tlr_id != -1; +} + +} // namespace traffic_light + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::TrafficLightFineDetectorNodelet) diff --git a/perception/traffic_light_map_based_detector/README.md b/perception/traffic_light_map_based_detector/README.md index 435969e6e98a1..e03a4c6dd8f69 100644 --- a/perception/traffic_light_map_based_detector/README.md +++ b/perception/traffic_light_map_based_detector/README.md @@ -21,17 +21,22 @@ If the node receives no route information, it looks at a radius of 200 meters an ## Output topics -| Name | Type | Description | -| ---------------- | --------------------------------------------------- | -------------------------------------------------------------------- | -| `~output/rois` | autoware_auto_perception_msgs::TrafficLightRoiArray | location of traffic lights in image corresponding to the camera info | -| `~debug/markers` | visualization_msgs::MarkerArray | visualization to debug | +| Name | Type | Description | +| ---------------- | ------------------------------------------- | -------------------------------------------------------------------- | +| `~output/rois` | tier4_perception_msgs::TrafficLightRoiArray | location of traffic lights in image corresponding to the camera info | +| `~expect/rois` | tier4_perception_msgs::TrafficLightRoiArray | location of traffic lights in image without any offset | +| `~debug/markers` | visualization_msgs::MarkerArray | visualization to debug | ## Node parameters -| Parameter | Type | Description | -| ---------------------- | ------ | ----------------------------------------------------------- | -| `max_vibration_pitch` | double | Maximum error in pitch direction. If -5~+5, it will be 10. | -| `max_vibration_yaw` | double | Maximum error in yaw direction. If -5~+5, it will be 10. | -| `max_vibration_height` | double | Maximum error in height direction. If -5~+5, it will be 10. | -| `max_vibration_width` | double | Maximum error in width direction. If -5~+5, it will be 10. | -| `max_vibration_depth` | double | Maximum error in depth direction. If -5~+5, it will be 10. | +| Parameter | Type | Description | +| ---------------------- | ------ | --------------------------------------------------------------------- | +| `max_vibration_pitch` | double | Maximum error in pitch direction. If -5~+5, it will be 10. | +| `max_vibration_yaw` | double | Maximum error in yaw direction. If -5~+5, it will be 10. | +| `max_vibration_height` | double | Maximum error in height direction. If -5~+5, it will be 10. | +| `max_vibration_width` | double | Maximum error in width direction. If -5~+5, it will be 10. | +| `max_vibration_depth` | double | Maximum error in depth direction. If -5~+5, it will be 10. | +| `max_detection_range` | double | Maximum detection range in meters. Must be positive | +| `min_timestamp_offset` | double | Minimum timestamp offset when searching for corresponding tf | +| `max_timestamp_offset` | double | Maximum timestamp offset when searching for corresponding tf | +| `timestamp_sample_len` | double | sampling length between min_timestamp_offset and max_timestamp_offset | diff --git a/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml b/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml index 6acb255a79aa2..2b8ff4aa737b7 100644 --- a/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml +++ b/perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml @@ -1,7 +1,8 @@ /**: ros__parameters: - max_vibration_pitch: 0.00436332312 # -0.5 ~ 0.5 deg - max_vibration_yaw: 0.00436332312 # -0.5 ~ 0.5 deg - max_vibration_height: 0.01 # -0.05 ~ 0.05 m - max_vibration_width: 0.01 # -0.05 ~ 0.05 m - max_vibration_depth: 0.01 # -0.05 ~ 0.05 m + max_vibration_pitch: 0.01745329251 # -0.5 ~ 0.5 deg + max_vibration_yaw: 0.01745329251 # -0.5 ~ 0.5 deg + max_vibration_height: 0.5 # -0.25 ~ 0.25 m + max_vibration_width: 0.5 # -0.25 ~ 0.25 m + max_vibration_depth: 0.5 # -0.25 ~ 0.25 m + max_detection_range: 200.0 diff --git a/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp b/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp index 941e0596bf061..9db8d7242c64d 100644 --- a/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp +++ b/perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2023 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. @@ -11,24 +11,6 @@ // 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. -/* - * Copyright 2019 Autoware Foundation. 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. - * - * Authors: Yukihiro Saito - * - */ #ifndef TRAFFIC_LIGHT_MAP_BASED_DETECTOR__NODE_HPP_ #define TRAFFIC_LIGHT_MAP_BASED_DETECTOR__NODE_HPP_ @@ -38,25 +20,24 @@ #include #include -#include #include #include #include +#include #include -#if __has_include() -#include -#else #include -#endif #include #include #include #include #include +#include +#include #include #include +#include #include namespace traffic_light @@ -74,6 +55,10 @@ class MapBasedDetector : public rclcpp::Node double max_vibration_height; double max_vibration_width; double max_vibration_depth; + double min_timestamp_offset; + double max_timestamp_offset; + double timestamp_sample_len; + double max_detection_range; }; struct IdLessThan @@ -89,8 +74,16 @@ class MapBasedDetector : public rclcpp::Node rclcpp::Subscription::SharedPtr map_sub_; rclcpp::Subscription::SharedPtr camera_info_sub_; rclcpp::Subscription::SharedPtr route_sub_; - - rclcpp::Publisher::SharedPtr roi_pub_; + /** + * @brief publish the rois of traffic lights with angular and distance offset + * + */ + rclcpp::Publisher::SharedPtr roi_pub_; + /** + * @brief publish the rois of traffic lights with zero angular and distance offset + * + */ + rclcpp::Publisher::SharedPtr expect_roi_pub_; rclcpp::Publisher::SharedPtr viz_pub_; tf2_ros::Buffer tf_buffer_; @@ -104,30 +97,92 @@ class MapBasedDetector : public rclcpp::Node lanelet::LaneletMapPtr lanelet_map_ptr_; lanelet::traffic_rules::TrafficRulesPtr traffic_rules_ptr_; lanelet::routing::RoutingGraphPtr routing_graph_ptr_; - Config config_; + Config config_; + /** + * @brief Calculated the transform from map to frame_id at timestamp t + * + * @param t specified timestamp + * @param frame_id specified target frame id + * @param tf calculated transform + * @return true calculation succeed + * @return false calculation failed + */ + bool getTransform( + const rclcpp::Time & t, const std::string & frame_id, tf2::Transform & tf) const; + /** + * @brief callback function for the map message + * + * @param input_msg + */ void mapCallback(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr input_msg); + /** + * @brief callback function for the camera info message. The main process function of the node + * + * @param input_msg + */ void cameraInfoCallback(const sensor_msgs::msg::CameraInfo::ConstSharedPtr input_msg); + /** + * @brief callback function for the route message + * + * @param input_msg + */ void routeCallback(const autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr input_msg); + /** + * @brief Get the Visible Traffic Lights object + * + * @param all_traffic_lights all the traffic lights in the route or in the map + * @param tf_map2camera_vec the transformation sequences from map to camera + * @param pinhole_camera_model pinhole model calculated from camera_info + * @param visible_traffic_lights the visible traffic lights object + */ void getVisibleTrafficLights( - const TrafficLightSet & all_traffic_lights, const geometry_msgs::msg::Pose & camera_pose, + const TrafficLightSet & all_traffic_lights, + const std::vector & tf_map2camera_vec, const image_geometry::PinholeCameraModel & pinhole_camera_model, - std::vector & visible_traffic_lights); - bool isInDistanceRange( - const geometry_msgs::msg::Point & tl_point, const geometry_msgs::msg::Point & camera_point, - const double max_distance_range) const; - bool isInAngleRange( - const double & tl_yaw, const double & camera_yaw, const double max_angle_range) const; - bool isInImageFrame( + std::vector & visible_traffic_lights) const; + /** + * @brief Get the Traffic Light Roi from one tf + * + * @param tf_map2camera the transformation from map to camera + * @param pinhole_camera_model pinhole model calculated from camera_info + * @param traffic_light lanelet traffic light object + * @param config offset configuration + * @param roi computed result result + * @return true the computation succeed + * @return false the computation failed + */ + bool getTrafficLightRoi( + const tf2::Transform & tf_map2camera, const image_geometry::PinholeCameraModel & pinhole_camera_model, - const geometry_msgs::msg::Point & point) const; + const lanelet::ConstLineString3d traffic_light, const Config & config, + tier4_perception_msgs::msg::TrafficLightRoi & roi) const; + /** + * @brief Calculate one traffic light roi for every tf and return the roi containing all of them + * + * @param tf_map2camera_vec the transformation vector + * @param pinhole_camera_model pinhole model calculated from camera_info + * @param traffic_light lanelet traffic light object + * @param config offset configuration + * @param roi computed result result + * @return true the computation succeed + * @return false the computation failed + */ bool getTrafficLightRoi( - const geometry_msgs::msg::Pose & camera_pose, + const std::vector & tf_map2camera_vec, const image_geometry::PinholeCameraModel & pinhole_camera_model, const lanelet::ConstLineString3d traffic_light, const Config & config, - autoware_auto_perception_msgs::msg::TrafficLightRoi & tl_roi); + tier4_perception_msgs::msg::TrafficLightRoi & roi) const; + /** + * @brief Publish the traffic lights for visualization + * + * @param tf_map2camera the transformation from map to camera + * @param cam_info_header header of the camera_info message + * @param visible_traffic_lights the visible traffic light object vector + * @param pub publisher + */ void publishVisibleTrafficLights( - const geometry_msgs::msg::PoseStamped camera_pose_stamped, + const tf2::Transform & tf_map2camera, const std_msgs::msg::Header & cam_info_header, const std::vector & visible_traffic_lights, const rclcpp::Publisher::SharedPtr pub); }; diff --git a/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml b/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml index 465fd4171b9ec..2dc6afa4fa4d5 100644 --- a/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml +++ b/perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml @@ -3,14 +3,26 @@ + + + + + + + + + + + + diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml index 3b19413e5ecd6..1021757e99a07 100644 --- a/perception/traffic_light_map_based_detector/package.xml +++ b/perception/traffic_light_map_based_detector/package.xml @@ -8,10 +8,10 @@ Apache License 2.0 ament_cmake_auto - autoware_cmake + + autoware_cmake autoware_auto_mapping_msgs - autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_planning_msgs geometry_msgs @@ -21,8 +21,10 @@ rclcpp_components sensor_msgs tf2 + tf2_eigen tf2_ros tier4_autoware_utils + tier4_perception_msgs ament_lint_auto autoware_lint_common diff --git a/perception/traffic_light_map_based_detector/src/node.cpp b/perception/traffic_light_map_based_detector/src/node.cpp index d2d54098859c9..99ec2ddb607ad 100644 --- a/perception/traffic_light_map_based_detector/src/node.cpp +++ b/perception/traffic_light_map_based_detector/src/node.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2023 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. @@ -11,49 +11,21 @@ // 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. -/* - * Copyright 2019 Autoware Foundation. 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. - * - * Authors: Yukihiro Saito - * - */ #include "traffic_light_map_based_detector/node.hpp" #include #include #include -#include #include -#include - #include -#include #include #include #include -#include #include #include -#include -#include -#include -#include - #define EIGEN_MPL2_ONLY #include #include @@ -68,11 +40,10 @@ cv::Point2d calcRawImagePointFromPoint3D( } cv::Point2d calcRawImagePointFromPoint3D( - const image_geometry::PinholeCameraModel & pinhole_camera_model, - const geometry_msgs::msg::Point & point3d) + const image_geometry::PinholeCameraModel & pinhole_camera_model, const tf2::Vector3 & point3d) { return calcRawImagePointFromPoint3D( - pinhole_camera_model, cv::Point3d(point3d.x, point3d.y, point3d.z)); + pinhole_camera_model, cv::Point3d(point3d.x(), point3d.y(), point3d.z())); } void roundInImageFrame( @@ -84,6 +55,60 @@ void roundInImageFrame( point.y = std::max(std::min(point.y, static_cast(static_cast(camera_info.height) - 1)), 0.0); } + +bool isInDistanceRange( + const tf2::Vector3 & p1, const tf2::Vector3 & p2, const double max_distance_range) +{ + const double sq_dist = + (p1.x() - p2.x()) * (p1.x() - p2.x()) + (p1.y() - p2.y()) * (p1.y() - p2.y()); + return sq_dist < (max_distance_range * max_distance_range); +} + +bool isInAngleRange(const double & tl_yaw, const double & camera_yaw, const double max_angle_range) +{ + Eigen::Vector2d vec1, vec2; + vec1 << std::cos(tl_yaw), std::sin(tl_yaw); + vec2 << std::cos(camera_yaw), std::sin(camera_yaw); + const double diff_angle = std::acos(vec1.dot(vec2)); + return std::fabs(diff_angle) < max_angle_range; +} + +bool isInImageFrame( + const image_geometry::PinholeCameraModel & pinhole_camera_model, const tf2::Vector3 & point) +{ + if (point.z() <= 0.0) { + return false; + } + + cv::Point2d point2d = calcRawImagePointFromPoint3D(pinhole_camera_model, point); + if (0 <= point2d.x && point2d.x < pinhole_camera_model.cameraInfo().width) { + if (0 <= point2d.y && point2d.y < pinhole_camera_model.cameraInfo().height) { + return true; + } + } + return false; +} + +tf2::Vector3 getTrafficLightTopLeft(const lanelet::ConstLineString3d & traffic_light) +{ + const auto & tl_bl = traffic_light.front(); + const double tl_height = traffic_light.attributeOr("height", 0.0); + return tf2::Vector3(tl_bl.x(), tl_bl.y(), tl_bl.z() + tl_height); +} + +tf2::Vector3 getTrafficLightBottomRight(const lanelet::ConstLineString3d & traffic_light) +{ + const auto & tl_bl = traffic_light.back(); + return tf2::Vector3(tl_bl.x(), tl_bl.y(), tl_bl.z()); +} + +tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_light) +{ + tf2::Vector3 top_left = getTrafficLightTopLeft(traffic_light); + tf2::Vector3 bottom_right = getTrafficLightBottomRight(traffic_light); + return (top_left + bottom_right) / 2; +} + } // namespace namespace traffic_light @@ -95,6 +120,36 @@ MapBasedDetector::MapBasedDetector(const rclcpp::NodeOptions & node_options) { using std::placeholders::_1; + // parameter declaration needs default values: are 0.0 goof defaults for this? + config_.max_vibration_pitch = declare_parameter("max_vibration_pitch", 0.0); + config_.max_vibration_yaw = declare_parameter("max_vibration_yaw", 0.0); + config_.max_vibration_height = declare_parameter("max_vibration_height", 0.0); + config_.max_vibration_width = declare_parameter("max_vibration_width", 0.0); + config_.max_vibration_depth = declare_parameter("max_vibration_depth", 0.0); + config_.min_timestamp_offset = declare_parameter("min_timestamp_offset", 0.0); + config_.max_timestamp_offset = declare_parameter("max_timestamp_offset", 0.0); + config_.timestamp_sample_len = declare_parameter("timestamp_sample_len", 0.01); + config_.max_detection_range = declare_parameter("max_detection_range", 200.0); + + if (config_.max_detection_range <= 0) { + RCLCPP_ERROR_STREAM( + get_logger(), "Invalid param max_detection_range = " << config_.max_detection_range + << ", set to default value = 200"); + config_.max_detection_range = 200.0; + } + if (config_.timestamp_sample_len <= 0) { + RCLCPP_ERROR_STREAM( + get_logger(), "Invalid param timestamp_sample_len = " << config_.timestamp_sample_len + << ", set to default value = 0.01"); + config_.timestamp_sample_len = 200.0; + } + if (config_.max_timestamp_offset <= config_.min_timestamp_offset) { + RCLCPP_ERROR_STREAM( + get_logger(), "max_timestamp_offset <= min_timestamp_offset. Set both to 0"); + config_.max_timestamp_offset = 0.0; + config_.min_timestamp_offset = 0.0; + } + // subscribers map_sub_ = create_subscription( "~/input/vector_map", rclcpp::QoS{1}.transient_local(), @@ -107,16 +162,24 @@ MapBasedDetector::MapBasedDetector(const rclcpp::NodeOptions & node_options) std::bind(&MapBasedDetector::routeCallback, this, _1)); // publishers - roi_pub_ = this->create_publisher( - "~/output/rois", 1); + roi_pub_ = + this->create_publisher("~/output/rois", 1); + expect_roi_pub_ = + this->create_publisher("~/expect/rois", 1); viz_pub_ = this->create_publisher("~/debug/markers", 1); +} - // parameter declaration needs default values: are 0.0 goof defaults for this? - config_.max_vibration_pitch = declare_parameter("max_vibration_pitch", 0.0); - config_.max_vibration_yaw = declare_parameter("max_vibration_yaw", 0.0); - config_.max_vibration_height = declare_parameter("max_vibration_height", 0.0); - config_.max_vibration_width = declare_parameter("max_vibration_width", 0.0); - config_.max_vibration_depth = declare_parameter("max_vibration_depth", 0.0); +bool MapBasedDetector::getTransform( + const rclcpp::Time & t, const std::string & frame_id, tf2::Transform & tf) const +{ + try { + geometry_msgs::msg::TransformStamped transform = + tf_buffer_.lookupTransform("map", frame_id, t, rclcpp::Duration::from_seconds(0.2)); + tf2::fromMsg(transform.transform, tf); + } catch (tf2::TransformException & ex) { + return false; + } + return true; } void MapBasedDetector::cameraInfoCallback( @@ -129,23 +192,35 @@ void MapBasedDetector::cameraInfoCallback( image_geometry::PinholeCameraModel pinhole_camera_model; pinhole_camera_model.fromCameraInfo(*input_msg); - autoware_auto_perception_msgs::msg::TrafficLightRoiArray output_msg; + tier4_perception_msgs::msg::TrafficLightRoiArray output_msg; output_msg.header = input_msg->header; - - /* Camera pose */ - geometry_msgs::msg::PoseStamped camera_pose_stamped; - try { - geometry_msgs::msg::TransformStamped transform; - transform = tf_buffer_.lookupTransform( - "map", input_msg->header.frame_id, input_msg->header.stamp, - rclcpp::Duration::from_seconds(0.2)); - camera_pose_stamped.header = input_msg->header; - camera_pose_stamped.pose = tier4_autoware_utils::transform2pose(transform.transform); - } catch (tf2::TransformException & ex) { + tier4_perception_msgs::msg::TrafficLightRoiArray expect_roi_msg; + expect_roi_msg = output_msg; + + /* Camera pose in the period*/ + std::vector tf_map2camera_vec; + rclcpp::Time t1 = rclcpp::Time(input_msg->header.stamp) + + rclcpp::Duration::from_seconds(config_.min_timestamp_offset); + rclcpp::Time t2 = rclcpp::Time(input_msg->header.stamp) + + rclcpp::Duration::from_seconds(config_.max_timestamp_offset); + rclcpp::Duration interval = rclcpp::Duration::from_seconds(0.01); + for (auto t = t1; t <= t2; t += interval) { + tf2::Transform tf; + if (getTransform(t, input_msg->header.frame_id, tf)) { + tf_map2camera_vec.push_back(tf); + } + } + /* camera pose at the exact moment*/ + tf2::Transform tf_map2camera; + if (!getTransform( + rclcpp::Time(input_msg->header.stamp), input_msg->header.frame_id, tf_map2camera)) { RCLCPP_WARN_THROTTLE( get_logger(), *get_clock(), 5000, "cannot get transform from map frame to camera frame"); return; } + if (tf_map2camera_vec.empty()) { + tf_map2camera_vec.push_back(tf_map2camera); + } /* * visible_traffic_lights : for each traffic light in map check if in range and in view angle of @@ -155,13 +230,11 @@ void MapBasedDetector::cameraInfoCallback( // If get a route, use only traffic lights on the route. if (route_traffic_lights_ptr_ != nullptr) { getVisibleTrafficLights( - *route_traffic_lights_ptr_, camera_pose_stamped.pose, pinhole_camera_model, - visible_traffic_lights); + *route_traffic_lights_ptr_, tf_map2camera_vec, pinhole_camera_model, visible_traffic_lights); // If don't get a route, use the traffic lights around ego vehicle. } else if (all_traffic_lights_ptr_ != nullptr) { getVisibleTrafficLights( - *all_traffic_lights_ptr_, camera_pose_stamped.pose, pinhole_camera_model, - visible_traffic_lights); + *all_traffic_lights_ptr_, tf_map2camera_vec, pinhole_camera_model, visible_traffic_lights); // This shouldn't run. } else { return; @@ -171,100 +244,134 @@ void MapBasedDetector::cameraInfoCallback( * Get the ROI from the lanelet and the intrinsic matrix of camera to determine where it appears * in image. */ + /** + * set all offset to zero when calculating the expect roi + */ + Config expect_roi_cfg = config_; + expect_roi_cfg.max_vibration_depth = 0; + expect_roi_cfg.max_vibration_height = 0; + expect_roi_cfg.max_vibration_width = 0; + expect_roi_cfg.max_vibration_yaw = 0; + expect_roi_cfg.max_vibration_pitch = 0; for (const auto & traffic_light : visible_traffic_lights) { - autoware_auto_perception_msgs::msg::TrafficLightRoi tl_roi; + tier4_perception_msgs::msg::TrafficLightRoi rough_roi, expect_roi; + if (!getTrafficLightRoi( + tf_map2camera, pinhole_camera_model, traffic_light, expect_roi_cfg, expect_roi)) { + continue; + } if (!getTrafficLightRoi( - camera_pose_stamped.pose, pinhole_camera_model, traffic_light, config_, tl_roi)) { + tf_map2camera_vec, pinhole_camera_model, traffic_light, config_, rough_roi)) { continue; } - output_msg.rois.push_back(tl_roi); + output_msg.rois.push_back(rough_roi); + expect_roi_msg.rois.push_back(expect_roi); } + roi_pub_->publish(output_msg); - publishVisibleTrafficLights(camera_pose_stamped, visible_traffic_lights, viz_pub_); + expect_roi_pub_->publish(expect_roi_msg); + publishVisibleTrafficLights( + tf_map2camera_vec[0], input_msg->header, visible_traffic_lights, viz_pub_); } bool MapBasedDetector::getTrafficLightRoi( - const geometry_msgs::msg::Pose & camera_pose, + const tf2::Transform & tf_map2camera, const image_geometry::PinholeCameraModel & pinhole_camera_model, const lanelet::ConstLineString3d traffic_light, const Config & config, - autoware_auto_perception_msgs::msg::TrafficLightRoi & tl_roi) + tier4_perception_msgs::msg::TrafficLightRoi & roi) const { - const double tl_height = traffic_light.attributeOr("height", 0.0); - const auto & tl_left_down_point = traffic_light.front(); - const auto & tl_right_down_point = traffic_light.back(); - - tf2::Transform tf_map2camera( - tf2::Quaternion( - camera_pose.orientation.x, camera_pose.orientation.y, camera_pose.orientation.z, - camera_pose.orientation.w), - tf2::Vector3(camera_pose.position.x, camera_pose.position.y, camera_pose.position.z)); - // id - tl_roi.id = traffic_light.id(); + roi.traffic_light_id = traffic_light.id(); // for roi.x_offset and roi.y_offset { - tf2::Transform tf_map2tl( - tf2::Quaternion(0, 0, 0, 1), - tf2::Vector3( - tl_left_down_point.x(), tl_left_down_point.y(), tl_left_down_point.z() + tl_height)); - tf2::Transform tf_camera2tl; - tf_camera2tl = tf_map2camera.inverse() * tf_map2tl; + tf2::Vector3 map2tl = getTrafficLightTopLeft(traffic_light); + tf2::Vector3 camera2tl = tf_map2camera.inverse() * map2tl; // max vibration const double max_vibration_x = - std::sin(config.max_vibration_yaw * 0.5) * tf_camera2tl.getOrigin().z() + - config.max_vibration_width * 0.5; - const double max_vibration_y = - std::sin(config.max_vibration_pitch * 0.5) * tf_camera2tl.getOrigin().z() + - config.max_vibration_height * 0.5; + std::sin(config.max_vibration_yaw * 0.5) * camera2tl.z() + config.max_vibration_width * 0.5; + const double max_vibration_y = std::sin(config.max_vibration_pitch * 0.5) * camera2tl.z() + + config.max_vibration_height * 0.5; const double max_vibration_z = config.max_vibration_depth * 0.5; - // target position in camera coordinate - geometry_msgs::msg::Point point3d; - point3d.x = tf_camera2tl.getOrigin().x() - max_vibration_x; - point3d.y = tf_camera2tl.getOrigin().y() - max_vibration_y; - point3d.z = tf_camera2tl.getOrigin().z() - max_vibration_z; - if (point3d.z <= 0.0) { - return false; + // enlarged target position in camera coordinate + { + tf2::Vector3 point3d = + camera2tl - tf2::Vector3(max_vibration_x, max_vibration_y, max_vibration_z); + if (point3d.z() <= 0.0) { + return false; + } + cv::Point2d point2d = calcRawImagePointFromPoint3D(pinhole_camera_model, point3d); + roundInImageFrame(pinhole_camera_model, point2d); + roi.roi.x_offset = point2d.x; + roi.roi.y_offset = point2d.y; } - cv::Point2d point2d = calcRawImagePointFromPoint3D(pinhole_camera_model, point3d); - roundInImageFrame(pinhole_camera_model, point2d); - tl_roi.roi.x_offset = point2d.x; - tl_roi.roi.y_offset = point2d.y; } // for roi.width and roi.height { - tf2::Transform tf_map2tl( - tf2::Quaternion(0, 0, 0, 1), - tf2::Vector3(tl_right_down_point.x(), tl_right_down_point.y(), tl_right_down_point.z())); - tf2::Transform tf_camera2tl; - tf_camera2tl = tf_map2camera.inverse() * tf_map2tl; + tf2::Vector3 map2tl = getTrafficLightBottomRight(traffic_light); + tf2::Vector3 camera2tl = tf_map2camera.inverse() * map2tl; // max vibration const double max_vibration_x = - std::sin(config.max_vibration_yaw * 0.5) * tf_camera2tl.getOrigin().z() + - config.max_vibration_width * 0.5; - const double max_vibration_y = - std::sin(config.max_vibration_pitch * 0.5) * tf_camera2tl.getOrigin().z() + - config.max_vibration_height * 0.5; + std::sin(config.max_vibration_yaw * 0.5) * camera2tl.z() + config.max_vibration_width * 0.5; + const double max_vibration_y = std::sin(config.max_vibration_pitch * 0.5) * camera2tl.z() + + config.max_vibration_height * 0.5; const double max_vibration_z = config.max_vibration_depth * 0.5; - // target position in camera coordinate - geometry_msgs::msg::Point point3d; - point3d.x = tf_camera2tl.getOrigin().x() + max_vibration_x; - point3d.y = tf_camera2tl.getOrigin().y() + max_vibration_y; - point3d.z = tf_camera2tl.getOrigin().z() - max_vibration_z; - if (point3d.z <= 0.0) { - return false; + // enlarged target position in camera coordinate + { + tf2::Vector3 point3d = + camera2tl + tf2::Vector3(max_vibration_x, max_vibration_y, -max_vibration_z); + if (point3d.z() <= 0.0) { + return false; + } + cv::Point2d point2d = calcRawImagePointFromPoint3D(pinhole_camera_model, point3d); + roundInImageFrame(pinhole_camera_model, point2d); + roi.roi.width = point2d.x - roi.roi.x_offset; + roi.roi.height = point2d.y - roi.roi.y_offset; } - cv::Point2d point2d = calcRawImagePointFromPoint3D(pinhole_camera_model, point3d); - roundInImageFrame(pinhole_camera_model, point2d); - tl_roi.roi.width = point2d.x - tl_roi.roi.x_offset; - tl_roi.roi.height = point2d.y - tl_roi.roi.y_offset; - if (tl_roi.roi.width < 1 || tl_roi.roi.height < 1) { + + if (roi.roi.width < 1 || roi.roi.height < 1) { return false; } } return true; } +bool MapBasedDetector::getTrafficLightRoi( + const std::vector & tf_map2camera_vec, + const image_geometry::PinholeCameraModel & pinhole_camera_model, + const lanelet::ConstLineString3d traffic_light, const Config & config, + tier4_perception_msgs::msg::TrafficLightRoi & out_roi) const +{ + std::vector rois; + for (const auto & tf_map2camera : tf_map2camera_vec) { + tier4_perception_msgs::msg::TrafficLightRoi roi; + if (getTrafficLightRoi(tf_map2camera, pinhole_camera_model, traffic_light, config, roi)) { + rois.push_back(roi); + } + } + if (rois.empty()) { + return false; + } + out_roi = rois.front(); + /** + * get the maximum possible rough roi among all the tf + */ + uint32_t x1 = pinhole_camera_model.cameraInfo().width - 1; + uint32_t x2 = 0; + uint32_t y1 = pinhole_camera_model.cameraInfo().height - 1; + uint32_t y2 = 0; + for (const auto & roi : rois) { + x1 = std::min(x1, roi.roi.x_offset); + x2 = std::max(x2, roi.roi.x_offset + roi.roi.width); + y1 = std::min(y1, roi.roi.y_offset); + y2 = std::max(y2, roi.roi.y_offset + roi.roi.height); + } + out_roi.roi.x_offset = x1; + out_roi.roi.y_offset = y1; + out_roi.roi.width = x2 - x1; + out_roi.roi.height = y2 - y1; + return true; +} + void MapBasedDetector::mapCallback( const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr input_msg) { @@ -326,9 +433,9 @@ void MapBasedDetector::routeCallback( void MapBasedDetector::getVisibleTrafficLights( const MapBasedDetector::TrafficLightSet & all_traffic_lights, - const geometry_msgs::msg::Pose & camera_pose, + const std::vector & tf_map2camera_vec, const image_geometry::PinholeCameraModel & pinhole_camera_model, - std::vector & visible_traffic_lights) + std::vector & visible_traffic_lights) const { for (const auto & traffic_light : all_traffic_lights) { // some "Traffic Light" are actually not traffic lights @@ -337,132 +444,62 @@ void MapBasedDetector::getVisibleTrafficLights( traffic_light.attribute("subtype").value() == "solid") { continue; } - const auto & tl_left_down_point = traffic_light.front(); - const auto & tl_right_down_point = traffic_light.back(); - const double tl_height = traffic_light.attributeOr("height", 0.0); - + // traffic light bottom left + const auto & tl_bl = traffic_light.front(); + // traffic light bottom right + const auto & tl_br = traffic_light.back(); // check distance range - geometry_msgs::msg::Point tl_central_point; - tl_central_point.x = (tl_right_down_point.x() + tl_left_down_point.x()) / 2.0; - tl_central_point.y = (tl_right_down_point.y() + tl_left_down_point.y()) / 2.0; - tl_central_point.z = (tl_right_down_point.z() + tl_left_down_point.z() + tl_height) / 2.0; - constexpr double max_distance_range = 200.0; - if (!isInDistanceRange(tl_central_point, camera_pose.position, max_distance_range)) { - continue; - } - - // check angle range - const double tl_yaw = tier4_autoware_utils::normalizeRadian( - std::atan2( - tl_right_down_point.y() - tl_left_down_point.y(), - tl_right_down_point.x() - tl_left_down_point.x()) + - M_PI_2); - constexpr double max_angle_range = tier4_autoware_utils::deg2rad(40.0); - - // get direction of z axis - tf2::Vector3 camera_z_dir(0, 0, 1); - tf2::Matrix3x3 camera_rotation_matrix(tf2::Quaternion( - camera_pose.orientation.x, camera_pose.orientation.y, camera_pose.orientation.z, - camera_pose.orientation.w)); - camera_z_dir = camera_rotation_matrix * camera_z_dir; - double camera_yaw = std::atan2(camera_z_dir.y(), camera_z_dir.x()); - camera_yaw = tier4_autoware_utils::normalizeRadian(camera_yaw); - if (!isInAngleRange(tl_yaw, camera_yaw, max_angle_range)) { - continue; - } - - // check within image frame - tf2::Transform tf_map2camera( - tf2::Quaternion( - camera_pose.orientation.x, camera_pose.orientation.y, camera_pose.orientation.z, - camera_pose.orientation.w), - tf2::Vector3(camera_pose.position.x, camera_pose.position.y, camera_pose.position.z)); - tf2::Transform tf_map2tl( - tf2::Quaternion(0, 0, 0, 1), - tf2::Vector3(tl_central_point.x, tl_central_point.y, tl_central_point.z)); - tf2::Transform tf_camera2tl; - tf_camera2tl = tf_map2camera.inverse() * tf_map2tl; - - geometry_msgs::msg::Point camera2tl_point; - camera2tl_point.x = tf_camera2tl.getOrigin().x(); - camera2tl_point.y = tf_camera2tl.getOrigin().y(); - camera2tl_point.z = tf_camera2tl.getOrigin().z(); - if (!isInImageFrame(pinhole_camera_model, camera2tl_point)) { - continue; - } - visible_traffic_lights.push_back(traffic_light); - } -} - -bool MapBasedDetector::isInDistanceRange( - const geometry_msgs::msg::Point & tl_point, const geometry_msgs::msg::Point & camera_point, - const double max_distance_range) const -{ - const double sq_dist = (tl_point.x - camera_point.x) * (tl_point.x - camera_point.x) + - (tl_point.y - camera_point.y) * (tl_point.y - camera_point.y); - return sq_dist < (max_distance_range * max_distance_range); -} - -bool MapBasedDetector::isInAngleRange( - const double & tl_yaw, const double & camera_yaw, const double max_angle_range) const -{ - Eigen::Vector2d vec1, vec2; - vec1 << std::cos(tl_yaw), std::sin(tl_yaw); - vec2 << std::cos(camera_yaw), std::sin(camera_yaw); - const double diff_angle = std::acos(vec1.dot(vec2)); - return std::fabs(diff_angle) < max_angle_range; -} + tf2::Vector3 tl_center = getTrafficLightCenter(traffic_light); + // for every possible transformation, check if the tl is visible. + // If under any tf the tl is visible, keep it + for (const auto & tf_map2camera : tf_map2camera_vec) { + if (!isInDistanceRange(tl_center, tf_map2camera.getOrigin(), config_.max_detection_range)) { + continue; + } -bool MapBasedDetector::isInImageFrame( - const image_geometry::PinholeCameraModel & pinhole_camera_model, - const geometry_msgs::msg::Point & point) const -{ - if (point.z <= 0.0) { - return false; - } + // check angle range + const double tl_yaw = tier4_autoware_utils::normalizeRadian( + std::atan2(tl_br.y() - tl_bl.y(), tl_br.x() - tl_bl.x()) + M_PI_2); + constexpr double max_angle_range = tier4_autoware_utils::deg2rad(40.0); + + // get direction of z axis + tf2::Vector3 camera_z_dir(0, 0, 1); + tf2::Matrix3x3 camera_rotation_matrix(tf_map2camera.getRotation()); + camera_z_dir = camera_rotation_matrix * camera_z_dir; + double camera_yaw = std::atan2(camera_z_dir.y(), camera_z_dir.x()); + camera_yaw = tier4_autoware_utils::normalizeRadian(camera_yaw); + if (!isInAngleRange(tl_yaw, camera_yaw, max_angle_range)) { + continue; + } - cv::Point2d point2d = calcRawImagePointFromPoint3D(pinhole_camera_model, point); - if (0 <= point2d.x && point2d.x < pinhole_camera_model.cameraInfo().width) { - if (0 <= point2d.y && point2d.y < pinhole_camera_model.cameraInfo().height) { - return true; + // check within image frame + tf2::Vector3 tf_camera2tltl = tf_map2camera.inverse() * getTrafficLightTopLeft(traffic_light); + tf2::Vector3 tf_camera2tlbr = + tf_map2camera.inverse() * getTrafficLightBottomRight(traffic_light); + if ( + !isInImageFrame(pinhole_camera_model, tf_camera2tltl) && + !isInImageFrame(pinhole_camera_model, tf_camera2tlbr)) { + continue; + } + visible_traffic_lights.push_back(traffic_light); + break; } } - return false; } void MapBasedDetector::publishVisibleTrafficLights( - const geometry_msgs::msg::PoseStamped camera_pose_stamped, + const tf2::Transform & tf_map2camera, const std_msgs::msg::Header & cam_info_header, const std::vector & visible_traffic_lights, const rclcpp::Publisher::SharedPtr pub) { visualization_msgs::msg::MarkerArray output_msg; for (const auto & traffic_light : visible_traffic_lights) { - const auto & tl_left_down_point = traffic_light.front(); - const auto & tl_right_down_point = traffic_light.back(); - const double tl_height = traffic_light.attributeOr("height", 0.0); const int id = traffic_light.id(); - - geometry_msgs::msg::Point tl_central_point; - tl_central_point.x = (tl_right_down_point.x() + tl_left_down_point.x()) / 2.0; - tl_central_point.y = (tl_right_down_point.y() + tl_left_down_point.y()) / 2.0; - tl_central_point.z = (tl_right_down_point.z() + tl_left_down_point.z() + tl_height) / 2.0; + tf2::Vector3 tl_central_point = getTrafficLightCenter(traffic_light); + tf2::Vector3 camera2tl = tf_map2camera.inverse() * tl_central_point; visualization_msgs::msg::Marker marker; - - tf2::Transform tf_map2camera( - tf2::Quaternion( - camera_pose_stamped.pose.orientation.x, camera_pose_stamped.pose.orientation.y, - camera_pose_stamped.pose.orientation.z, camera_pose_stamped.pose.orientation.w), - tf2::Vector3( - camera_pose_stamped.pose.position.x, camera_pose_stamped.pose.position.y, - camera_pose_stamped.pose.position.z)); - tf2::Transform tf_map2tl( - tf2::Quaternion(0, 0, 0, 1), - tf2::Vector3(tl_central_point.x, tl_central_point.y, tl_central_point.z)); - tf2::Transform tf_camera2tl; - tf_camera2tl = tf_map2camera.inverse() * tf_map2tl; - - marker.header = camera_pose_stamped.header; + marker.header = cam_info_header; marker.id = id; marker.type = visualization_msgs::msg::Marker::LINE_LIST; marker.ns = std::string("beam"); @@ -480,9 +517,9 @@ void MapBasedDetector::publishVisibleTrafficLights( point.y = 0.0; point.z = 0.0; marker.points.push_back(point); - point.x = tf_camera2tl.getOrigin().x(); - point.y = tf_camera2tl.getOrigin().y(); - point.z = tf_camera2tl.getOrigin().z(); + point.x = camera2tl.x(); + point.y = camera2tl.y(); + point.z = camera2tl.z(); marker.points.push_back(point); marker.lifetime = rclcpp::Duration::from_seconds(0.2); diff --git a/perception/traffic_light_multi_camera_fusion/CMakeLists.txt b/perception/traffic_light_multi_camera_fusion/CMakeLists.txt new file mode 100644 index 0000000000000..5765ebf58fd45 --- /dev/null +++ b/perception/traffic_light_multi_camera_fusion/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.14) +project(traffic_light_multi_camera_fusion) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +include_directories( + SYSTEM +) + +ament_auto_add_library(traffic_light_multi_camera_fusion SHARED + src/node.cpp +) + +rclcpp_components_register_node(traffic_light_multi_camera_fusion + PLUGIN "traffic_light::MultiCameraFusion" + EXECUTABLE traffic_light_multi_camera_fusion_node +) + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/perception/traffic_light_multi_camera_fusion/README.md b/perception/traffic_light_multi_camera_fusion/README.md new file mode 100644 index 0000000000000..ded0613a202ad --- /dev/null +++ b/perception/traffic_light_multi_camera_fusion/README.md @@ -0,0 +1,34 @@ +# The `traffic_light_multi_camera_fusion` Package + +## Overview + +`traffic_light_multi_camera_fusion` performs traffic light signal fusion which can be summarized as the following two tasks: + +1. Multi-Camera-Fusion: performed on single traffic light signal detected by different cameras. +2. Group-Fusion: performed on traffic light signals within the same group, which means traffic lights sharing the same regulatory element id defined in lanetlet2 map. + +## Input topics + +For every camera, the following three topics are subscribed: +| Name | Type | | +| ---------------------------------------| -------------------------------------------------------|----------------------------------------------------| +| `~//camera_info` | sensor_msgs::CameraInfo |camera info from traffic_light_map_based_detector | +| `~//rois` | tier4_perception_msgs::TrafficLightRoiArray |detection roi from traffic_light_fine_detector | +| `~//traffic_signals` | tier4_perception_msgs::TrafficLightSignalArray |classification result from traffic_light_classifier | + +You don't need to configure these topics manually. Just provide the `camera_namespaces` parameter and the node will automatically extract the `` and create the subscribers. + +## Output topics + +| Name | Type | Description | +| -------------------------- | ---------------------------------------------- | ---------------------------------- | +| `~/output/traffic_signals` | tier4_perception_msgs::TrafficLightSignalArray | traffic light signal fusion result | + +## Node parameters + +| Parameter | Type | Description | +| ---------------------- | --------------- | ------------------------------------------------ | +| `camera_namespaces` | vector\ | Camera Namespaces to be fused | +| `message_lifespan` | double | The maximum timestamp span to be fused | +| `approximate_sync` | bool | Whether work in Approximate Synchronization Mode | +| `perform_group_fusion` | bool | Whether perform Group Fusion | diff --git a/perception/traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml b/perception/traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml new file mode 100644 index 0000000000000..4e9459ce4a71c --- /dev/null +++ b/perception/traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + camera_namespaces: ["camera6", "camera7"] + message_lifespan: 0.09 + approximate_sync: false + perform_group_fusion: true diff --git a/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp b/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp new file mode 100644 index 0000000000000..bc63f34b191e7 --- /dev/null +++ b/perception/traffic_light_multi_camera_fusion/include/traffic_light_multi_camera_fusion/node.hpp @@ -0,0 +1,131 @@ +// Copyright 2023 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 TRAFFIC_LIGHT_MULTI_CAMERA_FUSION__NODE_HPP_ +#define TRAFFIC_LIGHT_MULTI_CAMERA_FUSION__NODE_HPP_ + +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace traffic_light +{ + +namespace mf = message_filters; + +struct FusionRecord +{ + std_msgs::msg::Header header; + sensor_msgs::msg::CameraInfo cam_info; + tier4_perception_msgs::msg::TrafficLightRoi roi; + tier4_perception_msgs::msg::TrafficSignal signal; +}; + +struct FusionRecordArr +{ + std_msgs::msg::Header header; + sensor_msgs::msg::CameraInfo cam_info; + tier4_perception_msgs::msg::TrafficLightRoiArray rois; + tier4_perception_msgs::msg::TrafficSignalArray signals; +}; + +bool operator<(const FusionRecordArr & r1, const FusionRecordArr & r2) +{ + return rclcpp::Time(r1.header.stamp) < rclcpp::Time(r2.header.stamp); +} + +class MultiCameraFusion : public rclcpp::Node +{ +public: + typedef sensor_msgs::msg::CameraInfo CamInfoType; + typedef tier4_perception_msgs::msg::TrafficLightRoi RoiType; + typedef tier4_perception_msgs::msg::TrafficSignal SignalType; + typedef tier4_perception_msgs::msg::TrafficSignalArray SignalArrayType; + typedef tier4_perception_msgs::msg::TrafficLightRoiArray RoiArrayType; + typedef tier4_perception_msgs::msg::TrafficLightRoi::_traffic_light_id_type IdType; + typedef autoware_perception_msgs::msg::TrafficSignal NewSignalType; + typedef autoware_perception_msgs::msg::TrafficSignalArray NewSignalArrayType; + + typedef std::pair RecordArrayType; + + explicit MultiCameraFusion(const rclcpp::NodeOptions & node_options); + +private: + void trafficSignalRoiCallback( + const CamInfoType::ConstSharedPtr cam_info_msg, const RoiArrayType::ConstSharedPtr roi_msg, + const SignalArrayType::ConstSharedPtr signal_msg); + + void mapCallback(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr input_msg); + + void multiCameraFusion(std::map & fusioned_record_map); + + void convertOutputMsg( + const std::map & grouped_record_map, NewSignalArrayType & msg_out); + + void groupFusion( + std::map & fusioned_record_map, + std::map & grouped_record_map); + + typedef mf::sync_policies::ExactTime ExactSyncPolicy; + typedef mf::Synchronizer ExactSync; + typedef mf::sync_policies::ApproximateTime + ApproSyncPolicy; + typedef mf::Synchronizer ApproSync; + + std::vector>> signal_subs_; + std::vector>> roi_subs_; + std::vector>> cam_info_subs_; + std::vector> exact_sync_subs_; + std::vector> appro_sync_subs_; + rclcpp::Subscription::SharedPtr map_sub_; + + rclcpp::Publisher::SharedPtr signal_pub_; + /* + the mappping from traffic light id (instance id) to regulatory element id (group id) + */ + std::map traffic_light_id_to_regulatory_ele_id_; + /* + save record arrays by increasing timestamp order. + use multiset in case there are multiple cameras publishing images at exactly the same time + */ + std::multiset record_arr_set_; + bool is_approximate_sync_; + /* + for every input message input_m, if the timestamp difference between input_m and the latest + message is smaller than message_lifespan_, then input_m would be used for the fusion. Otherwise, + it would be discarded + */ + double message_lifespan_; +}; +} // namespace traffic_light +#endif // TRAFFIC_LIGHT_MULTI_CAMERA_FUSION__NODE_HPP_ diff --git a/perception/traffic_light_multi_camera_fusion/launch/traffic_light_multi_camera_fusion.launch.xml b/perception/traffic_light_multi_camera_fusion/launch/traffic_light_multi_camera_fusion.launch.xml new file mode 100644 index 0000000000000..9aa4958378c1c --- /dev/null +++ b/perception/traffic_light_multi_camera_fusion/launch/traffic_light_multi_camera_fusion.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/perception/traffic_light_multi_camera_fusion/package.xml b/perception/traffic_light_multi_camera_fusion/package.xml new file mode 100644 index 0000000000000..6dd0bf89bd716 --- /dev/null +++ b/perception/traffic_light_multi_camera_fusion/package.xml @@ -0,0 +1,28 @@ + + + + traffic_light_multi_camera_fusion + 0.1.0 + The traffic_light_multi_camera_fusion package + Mingyu Li + Apache License 2.0 + + ament_cmake_auto + + autoware_cmake + + autoware_auto_mapping_msgs + autoware_perception_msgs + lanelet2_extension + rclcpp + rclcpp_components + sensor_msgs + tier4_perception_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/perception/traffic_light_multi_camera_fusion/src/node.cpp b/perception/traffic_light_multi_camera_fusion/src/node.cpp new file mode 100644 index 0000000000000..7500193a3b643 --- /dev/null +++ b/perception/traffic_light_multi_camera_fusion/src/node.cpp @@ -0,0 +1,322 @@ +// Copyright 2023 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 "traffic_light_multi_camera_fusion/node.hpp" + +#include +#include +#include +#include + +namespace +{ + +bool isUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal) +{ + return signal.elements.size() == 1 && + signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN && + signal.elements[0].shape == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; +} + +/** + * @brief Currently the visible score only considers the truncation. + * If the detection roi is very close to the image boundary, it would be considered as truncated. + * + * @param record fusion record + * @return 0 if traffic light is truncated, otherwise 1 + */ +int calVisibleScore(const traffic_light::FusionRecord & record) +{ + const uint32_t boundary = 5; + uint32_t x1 = record.roi.roi.x_offset; + uint32_t x2 = record.roi.roi.x_offset + record.roi.roi.width; + uint32_t y1 = record.roi.roi.y_offset; + uint32_t y2 = record.roi.roi.y_offset + record.roi.roi.height; + if ( + x1 <= boundary || (record.cam_info.width - x2) <= boundary || y1 <= boundary || + (record.cam_info.height - y2) <= boundary) { + return 0; + } else { + return 1; + } +} + +int compareRecord(const traffic_light::FusionRecord & r1, const traffic_light::FusionRecord & r2) +{ + /* + if both records are from the same sensor but different stamp, trust the latest one + */ + double t1 = rclcpp::Time(r1.header.stamp).seconds(); + double t2 = rclcpp::Time(r2.header.stamp).seconds(); + const double dt_thres = 1e-3; + if (r1.header.frame_id == r2.header.frame_id && std::abs(t1 - t2) >= dt_thres) { + return t1 < t2 ? -1 : 1; + } + bool r1_is_unknown = isUnknown(r1.signal); + bool r2_is_unknown = isUnknown(r2.signal); + /* + if both are unknown, they are of the same priority + */ + if (r1_is_unknown && r2_is_unknown) { + return 0; + } else if (r1_is_unknown ^ r2_is_unknown) { + /* + if either is unknown, the unknown is of lower priority + */ + return r1_is_unknown ? -1 : 1; + } + int visible_score_1 = calVisibleScore(r1); + int visible_score_2 = calVisibleScore(r2); + if (visible_score_1 == visible_score_2) { + int area_1 = r1.roi.roi.width * r1.roi.roi.height; + int area_2 = r2.roi.roi.width * r2.roi.roi.height; + if (area_1 < area_2) { + return -1; + } else { + return static_cast(area_1 > area_2); + } + } else { + return visible_score_1 < visible_score_2 ? -1 : 1; + } +} + +template +V at_or(const std::unordered_map & map, const K & key, const V & value) +{ + return map.count(key) ? map.at(key) : value; +} + +autoware_perception_msgs::msg::TrafficLightElement convert( + const tier4_perception_msgs::msg::TrafficLightElement & input) +{ + typedef tier4_perception_msgs::msg::TrafficLightElement OldElem; + typedef autoware_perception_msgs::msg::TrafficLightElement NewElem; + static const std::unordered_map color_map( + {{OldElem::RED, NewElem::RED}, + {OldElem::AMBER, NewElem::AMBER}, + {OldElem::GREEN, NewElem::GREEN}, + {OldElem::WHITE, NewElem::WHITE}}); + static const std::unordered_map shape_map( + {{OldElem::CIRCLE, NewElem::CIRCLE}, + {OldElem::LEFT_ARROW, NewElem::LEFT_ARROW}, + {OldElem::RIGHT_ARROW, NewElem::RIGHT_ARROW}, + {OldElem::UP_ARROW, NewElem::UP_ARROW}, + {OldElem::UP_LEFT_ARROW, NewElem::UP_LEFT_ARROW}, + {OldElem::UP_RIGHT_ARROW, NewElem::UP_RIGHT_ARROW}, + {OldElem::DOWN_ARROW, NewElem::DOWN_ARROW}, + {OldElem::DOWN_LEFT_ARROW, NewElem::DOWN_LEFT_ARROW}, + {OldElem::DOWN_RIGHT_ARROW, NewElem::DOWN_RIGHT_ARROW}, + {OldElem::CROSS, NewElem::CROSS}}); + static const std::unordered_map status_map( + {{OldElem::SOLID_OFF, NewElem::SOLID_OFF}, + {OldElem::SOLID_ON, NewElem::SOLID_ON}, + {OldElem::FLASHING, NewElem::FLASHING}}); + // clang-format on + + NewElem output; + output.color = at_or(color_map, input.color, NewElem::UNKNOWN); + output.shape = at_or(shape_map, input.shape, NewElem::UNKNOWN); + output.status = at_or(status_map, input.status, NewElem::UNKNOWN); + output.confidence = input.confidence; + return output; +} + +} // namespace + +namespace traffic_light +{ + +MultiCameraFusion::MultiCameraFusion(const rclcpp::NodeOptions & node_options) +: Node("traffic_light_multi_camera_fusion", node_options) +{ + using std::placeholders::_1; + using std::placeholders::_2; + using std::placeholders::_3; + + std::vector camera_namespaces = + this->declare_parameter("camera_namespaces", std::vector{}); + is_approximate_sync_ = this->declare_parameter("approximate_sync", false); + message_lifespan_ = this->declare_parameter("message_lifespan", 0.09); + for (const std::string & camera_ns : camera_namespaces) { + std::string signal_topic = camera_ns + "/traffic_signals"; + std::string roi_topic = camera_ns + "/rois"; + std::string cam_info_topic = camera_ns + "/camera_info"; + roi_subs_.emplace_back( + new mf::Subscriber(this, roi_topic, rclcpp::QoS{1}.get_rmw_qos_profile())); + signal_subs_.emplace_back(new mf::Subscriber( + this, signal_topic, rclcpp::QoS{1}.get_rmw_qos_profile())); + cam_info_subs_.emplace_back(new mf::Subscriber( + this, cam_info_topic, rclcpp::SensorDataQoS().get_rmw_qos_profile())); + if (is_approximate_sync_ == false) { + exact_sync_subs_.emplace_back(new ExactSync( + ExactSyncPolicy(10), *(cam_info_subs_.back()), *(roi_subs_.back()), + *(signal_subs_.back()))); + exact_sync_subs_.back()->registerCallback( + std::bind(&MultiCameraFusion::trafficSignalRoiCallback, this, _1, _2, _3)); + } else { + appro_sync_subs_.emplace_back(new ApproSync( + ApproSyncPolicy(10), *(cam_info_subs_.back()), *(roi_subs_.back()), + *(signal_subs_.back()))); + appro_sync_subs_.back()->registerCallback( + std::bind(&MultiCameraFusion::trafficSignalRoiCallback, this, _1, _2, _3)); + } + } + + map_sub_ = create_subscription( + "~/input/vector_map", rclcpp::QoS{1}.transient_local(), + std::bind(&MultiCameraFusion::mapCallback, this, _1)); + signal_pub_ = create_publisher("~/output/traffic_signals", rclcpp::QoS{1}); +} + +void MultiCameraFusion::trafficSignalRoiCallback( + const CamInfoType::ConstSharedPtr cam_info_msg, const RoiArrayType::ConstSharedPtr roi_msg, + const SignalArrayType::ConstSharedPtr signal_msg) +{ + rclcpp::Time stamp(roi_msg->header.stamp); + /* + Insert the received record array to the table. + Attention should be paied that this record array might not have the newest timestamp + */ + record_arr_set_.insert( + FusionRecordArr{cam_info_msg->header, *cam_info_msg, *roi_msg, *signal_msg}); + + std::map fusioned_record_map, grouped_record_map; + multiCameraFusion(fusioned_record_map); + groupFusion(fusioned_record_map, grouped_record_map); + + NewSignalArrayType msg_out; + convertOutputMsg(grouped_record_map, msg_out); + msg_out.stamp = cam_info_msg->header.stamp; + signal_pub_->publish(msg_out); +} + +void MultiCameraFusion::mapCallback( + const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr input_msg) +{ + lanelet::LaneletMapPtr lanelet_map_ptr = std::make_shared(); + + lanelet::utils::conversion::fromBinMsg(*input_msg, lanelet_map_ptr); + lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr); + std::vector all_lanelet_traffic_lights = + lanelet::utils::query::autowareTrafficLights(all_lanelets); + for (auto tl_itr = all_lanelet_traffic_lights.begin(); tl_itr != all_lanelet_traffic_lights.end(); + ++tl_itr) { + lanelet::AutowareTrafficLightConstPtr tl = *tl_itr; + + auto lights = tl->trafficLights(); + for (const auto & light : lights) { + traffic_light_id_to_regulatory_ele_id_[light.id()] = tl->id(); + } + } +} + +void MultiCameraFusion::convertOutputMsg( + const std::map & grouped_record_map, NewSignalArrayType & msg_out) +{ + msg_out.signals.clear(); + for (const auto & p : grouped_record_map) { + IdType reg_ele_id = p.first; + const SignalType & signal = p.second.signal; + NewSignalType signal_out; + signal_out.traffic_signal_id = reg_ele_id; + for (const auto & ele : signal.elements) { + signal_out.elements.push_back(convert(ele)); + } + msg_out.signals.push_back(signal_out); + } +} + +void MultiCameraFusion::multiCameraFusion(std::map & fusioned_record_map) +{ + fusioned_record_map.clear(); + /* + this should not happen. Just in case + */ + if (record_arr_set_.empty()) { + RCLCPP_ERROR(get_logger(), "record_arr_set_ is empty! This should not happen"); + return; + } + const rclcpp::Time & newest_stamp(record_arr_set_.rbegin()->header.stamp); + for (auto it = record_arr_set_.begin(); it != record_arr_set_.end();) { + /* + remove all old record arrays whose timestamp difference with newest record is larger than + threshold + */ + if ( + (newest_stamp - rclcpp::Time(it->header.stamp)) > + rclcpp::Duration::from_seconds(message_lifespan_)) { + it = record_arr_set_.erase(it); + } else { + /* + generate fusioned record result with the saved records + */ + const FusionRecordArr & record_arr = *it; + for (size_t i = 0; i < record_arr.rois.rois.size(); i++) { + const RoiType & roi = record_arr.rois.rois[i]; + auto signal_it = std::find_if( + record_arr.signals.signals.begin(), record_arr.signals.signals.end(), + [roi](const SignalType & s1) { return roi.traffic_light_id == s1.traffic_light_id; }); + /* + failed to find corresponding signal. skip it + */ + if (signal_it == record_arr.signals.signals.end()) { + continue; + } + FusionRecord record{record_arr.header, record_arr.cam_info, roi, *signal_it}; + /* + if this traffic light is not detected yet or can be updated by higher priority record, + update it + */ + if ( + fusioned_record_map.find(roi.traffic_light_id) == fusioned_record_map.end() || + ::compareRecord(record, fusioned_record_map[roi.traffic_light_id]) >= 0) { + fusioned_record_map[roi.traffic_light_id] = record; + } + } + it++; + } + } +} + +void MultiCameraFusion::groupFusion( + std::map & fusioned_record_map, + std::map & grouped_record_map) +{ + grouped_record_map.clear(); + for (auto & p : fusioned_record_map) { + IdType roi_id = p.second.roi.traffic_light_id; + /* + this should not happen + */ + if (traffic_light_id_to_regulatory_ele_id_.count(roi_id) == 0) { + RCLCPP_WARN_STREAM( + get_logger(), "Found Traffic Light Id = " << roi_id << " which is not defined in Map"); + } else { + /* + keep the best record for every regulatory element id + */ + IdType reg_ele_id = traffic_light_id_to_regulatory_ele_id_[p.second.roi.traffic_light_id]; + if ( + grouped_record_map.count(reg_ele_id) == 0 || + ::compareRecord(p.second, grouped_record_map[reg_ele_id]) >= 0) { + grouped_record_map[reg_ele_id] = p.second; + } + } + } +} + +} // namespace traffic_light + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::MultiCameraFusion) diff --git a/perception/traffic_light_selector/README.md b/perception/traffic_light_selector/README.md index 9e38333c0e345..d20d5dc790e3a 100644 --- a/perception/traffic_light_selector/README.md +++ b/perception/traffic_light_selector/README.md @@ -32,9 +32,9 @@ A temporary node that converts old message type to new message type. #### Input -| Name | Type | Description | -| -------------------- | ---------------------------------------------------- | ------------------------------ | -| ~/sub/traffic_lights | autoware_auto_perception_msgs/msg/TrafficSignalArray | The state in old message type. | +| Name | Type | Description | +| -------------------- | -------------------------------------------- | ------------------------------ | +| ~/sub/traffic_lights | tier4_perception_msgs/msg/TrafficSignalArray | The state in old message type. | #### Output diff --git a/perception/traffic_light_selector/package.xml b/perception/traffic_light_selector/package.xml index 75796ac3cd710..fb696dd54dddd 100644 --- a/perception/traffic_light_selector/package.xml +++ b/perception/traffic_light_selector/package.xml @@ -11,12 +11,12 @@ autoware_cmake autoware_auto_mapping_msgs - autoware_auto_perception_msgs autoware_perception_msgs lanelet2_core lanelet2_extension rclcpp rclcpp_components + tier4_perception_msgs ament_lint_auto autoware_lint_common diff --git a/perception/traffic_light_selector/src/traffic_light_converter.cpp b/perception/traffic_light_selector/src/traffic_light_converter.cpp index d67cfaa53de79..afc8dab72e788 100644 --- a/perception/traffic_light_selector/src/traffic_light_converter.cpp +++ b/perception/traffic_light_selector/src/traffic_light_converter.cpp @@ -20,9 +20,9 @@ namespace converter { -using OldList = autoware_auto_perception_msgs::msg::TrafficSignalArray; -using OldData = autoware_auto_perception_msgs::msg::TrafficSignal; -using OldElem = autoware_auto_perception_msgs::msg::TrafficLight; +using OldList = tier4_perception_msgs::msg::TrafficSignalArray; +using OldData = tier4_perception_msgs::msg::TrafficSignal; +using OldElem = tier4_perception_msgs::msg::TrafficLightElement; using NewList = autoware_perception_msgs::msg::TrafficLightArray; using NewData = autoware_perception_msgs::msg::TrafficLight; using NewElem = autoware_perception_msgs::msg::TrafficLightElement; @@ -53,8 +53,8 @@ NewList convert(const OldList & input) NewData convert(const OldData & input) { NewData output; - output.traffic_light_id = input.map_primitive_id; - output.elements = convert_vector(input.lights); + output.traffic_light_id = input.traffic_light_id; + output.elements = convert_vector(input.elements); return output; } diff --git a/perception/traffic_light_selector/src/traffic_light_converter.hpp b/perception/traffic_light_selector/src/traffic_light_converter.hpp index db6d0a76c9c52..8c6c6545d9dc2 100644 --- a/perception/traffic_light_selector/src/traffic_light_converter.hpp +++ b/perception/traffic_light_selector/src/traffic_light_converter.hpp @@ -17,8 +17,8 @@ #include -#include #include +#include class TrafficLightConverter : public rclcpp::Node { @@ -26,7 +26,7 @@ class TrafficLightConverter : public rclcpp::Node explicit TrafficLightConverter(const rclcpp::NodeOptions & options); private: - using OldMessage = autoware_auto_perception_msgs::msg::TrafficSignalArray; + using OldMessage = tier4_perception_msgs::msg::TrafficSignalArray; using NewMessage = autoware_perception_msgs::msg::TrafficLightArray; rclcpp::Subscription::SharedPtr sub_; rclcpp::Publisher::SharedPtr pub_; diff --git a/perception/traffic_light_ssd_fine_detector/README.md b/perception/traffic_light_ssd_fine_detector/README.md index 01a30fac88fe4..1dd05665709f5 100644 --- a/perception/traffic_light_ssd_fine_detector/README.md +++ b/perception/traffic_light_ssd_fine_detector/README.md @@ -98,17 +98,17 @@ Based on the camera image and the global ROI array detected by `map_based_detect ### Input -| Name | Type | Description | -| --------------- | ---------------------------------------------------------- | ------------------------------------------------ | -| `~/input/image` | `sensor_msgs/Image` | The full size camera image | -| `~/input/rois` | `autoware_auto_perception_msgs::msg::TrafficLightRoiArray` | The array of ROIs detected by map_based_detector | +| Name | Type | Description | +| --------------- | -------------------------------------------------- | ------------------------------------------------ | +| `~/input/image` | `sensor_msgs/Image` | The full size camera image | +| `~/input/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | The array of ROIs detected by map_based_detector | ### Output -| Name | Type | Description | -| --------------------- | ---------------------------------------------------------- | ---------------------------- | -| `~/output/rois` | `autoware_auto_perception_msgs::msg::TrafficLightRoiArray` | The detected accurate rois | -| `~/debug/exe_time_ms` | `tier4_debug_msgs::msg::Float32Stamped` | The time taken for inference | +| Name | Type | Description | +| --------------------- | -------------------------------------------------- | ---------------------------- | +| `~/output/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | The detected accurate rois | +| `~/debug/exe_time_ms` | `tier4_debug_msgs::msg::Float32Stamped` | The time taken for inference | ## Parameters diff --git a/perception/traffic_light_ssd_fine_detector/include/traffic_light_ssd_fine_detector/nodelet.hpp b/perception/traffic_light_ssd_fine_detector/include/traffic_light_ssd_fine_detector/nodelet.hpp index a2fa16de01a25..14aa7fcbd94fe 100644 --- a/perception/traffic_light_ssd_fine_detector/include/traffic_light_ssd_fine_detector/nodelet.hpp +++ b/perception/traffic_light_ssd_fine_detector/include/traffic_light_ssd_fine_detector/nodelet.hpp @@ -22,10 +22,10 @@ #include #include -#include #include #include #include +#include #if __has_include() #include @@ -58,8 +58,7 @@ class TrafficLightSSDFineDetectorNodelet : public rclcpp::Node void connectCb(); void callback( const sensor_msgs::msg::Image::ConstSharedPtr image_msg, - const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr - traffic_light_roi_msg); + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr traffic_light_roi_msg); private: bool cvMat2CnnInput( @@ -70,29 +69,27 @@ class TrafficLightSSDFineDetectorNodelet : public rclcpp::Node bool rosMsg2CvMat(const sensor_msgs::msg::Image::ConstSharedPtr image_msg, cv::Mat & image); bool fitInFrame(cv::Point & lt, cv::Point & rb, const cv::Size & size); void cvRect2TlRoiMsg( - const cv::Rect & rect, const int32_t id, - autoware_auto_perception_msgs::msg::TrafficLightRoi & tl_roi); + const cv::Rect & rect, const int32_t id, tier4_perception_msgs::msg::TrafficLightRoi & tl_roi); bool readLabelFile(std::string filepath, std::vector & labels); bool getTlrIdFromLabel(const std::vector & labels, int & tlr_id); // variables std::shared_ptr image_transport_; image_transport::SubscriberFilter image_sub_; - message_filters::Subscriber roi_sub_; + message_filters::Subscriber roi_sub_; std::mutex connect_mutex_; - rclcpp::Publisher::SharedPtr - output_roi_pub_; + rclcpp::Publisher::SharedPtr output_roi_pub_; rclcpp::Publisher::SharedPtr exe_time_pub_; rclcpp::TimerBase::SharedPtr timer_; typedef message_filters::sync_policies::ExactTime< - sensor_msgs::msg::Image, autoware_auto_perception_msgs::msg::TrafficLightRoiArray> + sensor_msgs::msg::Image, tier4_perception_msgs::msg::TrafficLightRoiArray> SyncPolicy; typedef message_filters::Synchronizer Sync; std::shared_ptr sync_; typedef message_filters::sync_policies::ApproximateTime< - sensor_msgs::msg::Image, autoware_auto_perception_msgs::msg::TrafficLightRoiArray> + sensor_msgs::msg::Image, tier4_perception_msgs::msg::TrafficLightRoiArray> ApproximateSyncPolicy; typedef message_filters::Synchronizer ApproximateSync; std::shared_ptr approximate_sync_; diff --git a/perception/traffic_light_ssd_fine_detector/package.xml b/perception/traffic_light_ssd_fine_detector/package.xml index 49f67d171295a..994f84bacdae4 100644 --- a/perception/traffic_light_ssd_fine_detector/package.xml +++ b/perception/traffic_light_ssd_fine_detector/package.xml @@ -10,7 +10,6 @@ ament_cmake_auto autoware_cmake - autoware_auto_perception_msgs cv_bridge image_transport message_filters @@ -18,6 +17,7 @@ rclcpp_components sensor_msgs tier4_debug_msgs + tier4_perception_msgs autoware_lint_common diff --git a/perception/traffic_light_ssd_fine_detector/src/nodelet.cpp b/perception/traffic_light_ssd_fine_detector/src/nodelet.cpp index 96014800ce842..ffdca742dc918 100644 --- a/perception/traffic_light_ssd_fine_detector/src/nodelet.cpp +++ b/perception/traffic_light_ssd_fine_detector/src/nodelet.cpp @@ -103,8 +103,7 @@ TrafficLightSSDFineDetectorNodelet::TrafficLightSSDFineDetectorNodelet( std::lock_guard lock(connect_mutex_); output_roi_pub_ = - this->create_publisher( - "~/output/rois", 1); + this->create_publisher("~/output/rois", 1); exe_time_pub_ = this->create_publisher("~/debug/exe_time_ms", 1); if (is_approximate_sync_) { @@ -136,7 +135,7 @@ void TrafficLightSSDFineDetectorNodelet::connectCb() void TrafficLightSSDFineDetectorNodelet::callback( const sensor_msgs::msg::Image::ConstSharedPtr in_image_msg, - const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr in_roi_msg) + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr in_roi_msg) { if (in_image_msg->width < 2 || in_image_msg->height < 2) { return; @@ -146,7 +145,7 @@ void TrafficLightSSDFineDetectorNodelet::callback( using std::chrono::milliseconds; const auto exe_start_time = high_resolution_clock::now(); cv::Mat original_image; - autoware_auto_perception_msgs::msg::TrafficLightRoiArray out_rois; + tier4_perception_msgs::msg::TrafficLightRoiArray out_rois; rosMsg2CvMat(in_image_msg, original_image); int num_rois = in_roi_msg->rois.size(); @@ -216,9 +215,10 @@ void TrafficLightSSDFineDetectorNodelet::callback( lts.at(i).x + detections.at(i).x + detections.at(i).w, lts.at(i).y + detections.at(i).y + detections.at(i).h); fitInFrame(lt_roi, rb_roi, cv::Size(original_image.size())); - autoware_auto_perception_msgs::msg::TrafficLightRoi tl_roi; + tier4_perception_msgs::msg::TrafficLightRoi tl_roi; cvRect2TlRoiMsg( - cv::Rect(lt_roi, rb_roi), in_roi_msg->rois.at(i + batch_count * batch_size).id, tl_roi); + cv::Rect(lt_roi, rb_roi), + in_roi_msg->rois.at(i + batch_count * batch_size).traffic_light_id, tl_roi); out_rois.rois.push_back(tl_roi); } } @@ -345,10 +345,9 @@ bool TrafficLightSSDFineDetectorNodelet::fitInFrame( } void TrafficLightSSDFineDetectorNodelet::cvRect2TlRoiMsg( - const cv::Rect & rect, const int32_t id, - autoware_auto_perception_msgs::msg::TrafficLightRoi & tl_roi) + const cv::Rect & rect, const int32_t id, tier4_perception_msgs::msg::TrafficLightRoi & tl_roi) { - tl_roi.id = id; + tl_roi.traffic_light_id = id; tl_roi.roi.x_offset = rect.x; tl_roi.roi.y_offset = rect.y; tl_roi.roi.width = rect.width; diff --git a/perception/traffic_light_visualization/README.md b/perception/traffic_light_visualization/README.md index f675d42aaf089..5d99d6614a1ae 100644 --- a/perception/traffic_light_visualization/README.md +++ b/perception/traffic_light_visualization/README.md @@ -17,10 +17,10 @@ The `traffic_light_visualization` is a package that includes two visualizing nod #### Input -| Name | Type | Description | -| -------------------- | -------------------------------------------------------- | ------------------------ | -| `~/input/tl_state` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | status of traffic lights | -| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map | +| Name | Type | Description | +| -------------------- | ------------------------------------------------ | ------------------------ | +| `~/input/tl_state` | `tier4_perception_msgs::msg::TrafficSignalArray` | status of traffic lights | +| `~/input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map | #### Output @@ -32,12 +32,12 @@ The `traffic_light_visualization` is a package that includes two visualizing nod #### Input -| Name | Type | Description | -| ----------------------------- | ---------------------------------------------------------- | ------------------------------------------------------- | -| `~/input/tl_state` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | status of traffic lights | -| `~/input/image` | `sensor_msgs::msg::Image` | the image captured by perception cameras | -| `~/input/rois` | `autoware_auto_perception_msgs::msg::TrafficLightRoiArray` | the ROIs detected by `traffic_light_ssd_fine_detector` | -| `~/input/rough/rois` (option) | `autoware_auto_perception_msgs::msg::TrafficLightRoiArray` | the ROIs detected by `traffic_light_map_based_detector` | +| Name | Type | Description | +| ----------------------------- | -------------------------------------------------- | ------------------------------------------------------- | +| `~/input/tl_state` | `tier4_perception_msgs::msg::TrafficSignalArray` | status of traffic lights | +| `~/input/image` | `sensor_msgs::msg::Image` | the image captured by perception cameras | +| `~/input/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | the ROIs detected by `traffic_light_ssd_fine_detector` | +| `~/input/rough/rois` (option) | `tier4_perception_msgs::msg::TrafficLightRoiArray` | the ROIs detected by `traffic_light_map_based_detector` | #### Output diff --git a/perception/traffic_light_visualization/include/traffic_light_map_visualizer/node.hpp b/perception/traffic_light_visualization/include/traffic_light_map_visualizer/node.hpp index 3f82712538a76..07cb21e60b137 100644 --- a/perception/traffic_light_visualization/include/traffic_light_map_visualizer/node.hpp +++ b/perception/traffic_light_visualization/include/traffic_light_map_visualizer/node.hpp @@ -20,7 +20,7 @@ #include #include -#include +#include #include #include @@ -35,15 +35,14 @@ class TrafficLightMapVisualizerNode : public rclcpp::Node TrafficLightMapVisualizerNode(const std::string & node_name, const rclcpp::NodeOptions & options); ~TrafficLightMapVisualizerNode() = default; void trafficSignalsCallback( - const autoware_auto_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr + const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr input_traffic_signals_msg); void binMapCallback( const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr input_map_msg); private: rclcpp::Publisher::SharedPtr light_marker_pub_; - rclcpp::Subscription::SharedPtr - tl_state_sub_; + rclcpp::Subscription::SharedPtr tl_state_sub_; rclcpp::Subscription::SharedPtr vector_map_sub_; std::vector aw_tl_reg_elems_; diff --git a/perception/traffic_light_visualization/include/traffic_light_roi_visualizer/nodelet.hpp b/perception/traffic_light_visualization/include/traffic_light_roi_visualizer/nodelet.hpp index dfffde9018108..1c64eb2f9e82b 100644 --- a/perception/traffic_light_visualization/include/traffic_light_roi_visualizer/nodelet.hpp +++ b/perception/traffic_light_visualization/include/traffic_light_roi_visualizer/nodelet.hpp @@ -19,15 +19,11 @@ #include #include -#include -#include #include +#include +#include -#if __has_include() -#include -#else #include -#endif #include #include #include @@ -54,75 +50,70 @@ class TrafficLightRoiVisualizerNodelet : public rclcpp::Node void imageRoiCallback( const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg, - const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & - input_tl_roi_msg, - const autoware_auto_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg, + const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & input_traffic_signals_msg); void imageRoughRoiCallback( const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg, - const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & - input_tl_roi_msg, - const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & - input_tl_rough_roi_msg, - const autoware_auto_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg, + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_rough_roi_msg, + const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & input_traffic_signals_msg); private: std::map state2label_{ // color - {autoware_auto_perception_msgs::msg::TrafficLight::RED, "red"}, - {autoware_auto_perception_msgs::msg::TrafficLight::AMBER, "yellow"}, - {autoware_auto_perception_msgs::msg::TrafficLight::GREEN, "green"}, - {autoware_auto_perception_msgs::msg::TrafficLight::WHITE, "white"}, + {tier4_perception_msgs::msg::TrafficLightElement::RED, "red"}, + {tier4_perception_msgs::msg::TrafficLightElement::AMBER, "yellow"}, + {tier4_perception_msgs::msg::TrafficLightElement::GREEN, "green"}, + {tier4_perception_msgs::msg::TrafficLightElement::WHITE, "white"}, // shape - {autoware_auto_perception_msgs::msg::TrafficLight::CIRCLE, "circle"}, - {autoware_auto_perception_msgs::msg::TrafficLight::LEFT_ARROW, "left"}, - {autoware_auto_perception_msgs::msg::TrafficLight::RIGHT_ARROW, "right"}, - {autoware_auto_perception_msgs::msg::TrafficLight::UP_ARROW, "straight"}, - {autoware_auto_perception_msgs::msg::TrafficLight::DOWN_ARROW, "down"}, - {autoware_auto_perception_msgs::msg::TrafficLight::DOWN_LEFT_ARROW, "down_left"}, - {autoware_auto_perception_msgs::msg::TrafficLight::DOWN_RIGHT_ARROW, "down_right"}, - {autoware_auto_perception_msgs::msg::TrafficLight::CROSS, "cross"}, + {tier4_perception_msgs::msg::TrafficLightElement::CIRCLE, "circle"}, + {tier4_perception_msgs::msg::TrafficLightElement::LEFT_ARROW, "left"}, + {tier4_perception_msgs::msg::TrafficLightElement::RIGHT_ARROW, "right"}, + {tier4_perception_msgs::msg::TrafficLightElement::UP_ARROW, "straight"}, + {tier4_perception_msgs::msg::TrafficLightElement::DOWN_ARROW, "down"}, + {tier4_perception_msgs::msg::TrafficLightElement::DOWN_LEFT_ARROW, "down_left"}, + {tier4_perception_msgs::msg::TrafficLightElement::DOWN_RIGHT_ARROW, "down_right"}, + {tier4_perception_msgs::msg::TrafficLightElement::CROSS, "cross"}, // other - {autoware_auto_perception_msgs::msg::TrafficLight::UNKNOWN, "unknown"}, + {tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN, "unknown"}, }; bool createRect( - cv::Mat & image, const autoware_auto_perception_msgs::msg::TrafficLightRoi & tl_roi, + cv::Mat & image, const tier4_perception_msgs::msg::TrafficLightRoi & tl_roi, const cv::Scalar & color); bool createRect( - cv::Mat & image, const autoware_auto_perception_msgs::msg::TrafficLightRoi & tl_roi, + cv::Mat & image, const tier4_perception_msgs::msg::TrafficLightRoi & tl_roi, const ClassificationResult & result); bool getClassificationResult( - int id, const autoware_auto_perception_msgs::msg::TrafficSignalArray & traffic_signals, + int id, const tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals, ClassificationResult & result); bool getRoiFromId( - int id, const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & rois, - autoware_auto_perception_msgs::msg::TrafficLightRoi & correspond_roi); + int id, const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & rois, + tier4_perception_msgs::msg::TrafficLightRoi & correspond_roi); rclcpp::TimerBase::SharedPtr timer_; image_transport::SubscriberFilter image_sub_; - message_filters::Subscriber roi_sub_; - message_filters::Subscriber - rough_roi_sub_; - message_filters::Subscriber - traffic_signals_sub_; + message_filters::Subscriber roi_sub_; + message_filters::Subscriber rough_roi_sub_; + message_filters::Subscriber traffic_signals_sub_; image_transport::Publisher image_pub_; typedef message_filters::sync_policies::ApproximateTime< - sensor_msgs::msg::Image, autoware_auto_perception_msgs::msg::TrafficLightRoiArray, - autoware_auto_perception_msgs::msg::TrafficSignalArray> + sensor_msgs::msg::Image, tier4_perception_msgs::msg::TrafficLightRoiArray, + tier4_perception_msgs::msg::TrafficSignalArray> SyncPolicy; typedef message_filters::Synchronizer Sync; std::shared_ptr sync_; typedef message_filters::sync_policies::ApproximateTime< - sensor_msgs::msg::Image, autoware_auto_perception_msgs::msg::TrafficLightRoiArray, - autoware_auto_perception_msgs::msg::TrafficLightRoiArray, - autoware_auto_perception_msgs::msg::TrafficSignalArray> + sensor_msgs::msg::Image, tier4_perception_msgs::msg::TrafficLightRoiArray, + tier4_perception_msgs::msg::TrafficLightRoiArray, + tier4_perception_msgs::msg::TrafficSignalArray> SyncPolicyWithRoughRoi; typedef message_filters::Synchronizer SyncWithRoughRoi; std::shared_ptr sync_with_rough_roi_; diff --git a/perception/traffic_light_visualization/package.xml b/perception/traffic_light_visualization/package.xml index d90cf992b96be..276f04762cdea 100644 --- a/perception/traffic_light_visualization/package.xml +++ b/perception/traffic_light_visualization/package.xml @@ -10,7 +10,7 @@ ament_cmake_auto autoware_cmake - autoware_auto_perception_msgs + autoware_perception_msgs cv_bridge image_transport lanelet2_extension @@ -18,6 +18,7 @@ rclcpp rclcpp_components sensor_msgs + tier4_perception_msgs ament_lint_auto autoware_lint_common diff --git a/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp b/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp index 31f7e88a02c7f..ced36476e00ef 100644 --- a/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp +++ b/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp @@ -47,16 +47,6 @@ bool isAttributeValue( return false; } -bool isAttributeValue( - const lanelet::ConstLineString3d l, const std::string attr_str, const int value) -{ - lanelet::Attribute attr = l.attribute(attr_str); - if (std::stoi(attr.value()) == value) { - return true; - } - return false; -} - void lightAsMarker( const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr & node_logging, lanelet::ConstPoint3d p, visualization_msgs::msg::Marker * marker, const std::string ns, @@ -121,7 +111,7 @@ TrafficLightMapVisualizerNode::TrafficLightMapVisualizerNode( { light_marker_pub_ = create_publisher("~/output/traffic_light", 1); - tl_state_sub_ = create_subscription( + tl_state_sub_ = create_subscription( "~/input/tl_state", 1, std::bind(&TrafficLightMapVisualizerNode::trafficSignalsCallback, this, _1)); vector_map_sub_ = create_subscription( @@ -129,8 +119,7 @@ TrafficLightMapVisualizerNode::TrafficLightMapVisualizerNode( std::bind(&TrafficLightMapVisualizerNode::binMapCallback, this, _1)); } void TrafficLightMapVisualizerNode::trafficSignalsCallback( - const autoware_auto_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr - input_traffic_signals) + const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr input_traffic_signals) { visualization_msgs::msg::MarkerArray output_msg; const auto current_time = now(); @@ -167,28 +156,29 @@ void TrafficLightMapVisualizerNode::trafficSignalsCallback( continue; } for (const auto & input_traffic_signal : input_traffic_signals->signals) { - if (isAttributeValue(ls, "traffic_light_id", input_traffic_signal.map_primitive_id)) { + if ((*tli)->id() == input_traffic_signal.traffic_signal_id) { + // if (isAttributeValue(ls, "traffic_light_id", input_traffic_signal.map_primitive_id)) { for (auto pt : ls) { if (!pt.hasAttribute("color")) { continue; } - for (const auto & light : input_traffic_signal.lights) { + for (const auto & elem : input_traffic_signal.elements) { visualization_msgs::msg::Marker marker; if ( isAttributeValue(pt, "color", "red") && - light.color == autoware_auto_perception_msgs::msg::TrafficLight::RED) { + elem.color == autoware_perception_msgs::msg::TrafficLightElement::RED) { lightAsMarker( get_node_logging_interface(), pt, &marker, "traffic_light", current_time); } else if ( // NOLINT isAttributeValue(pt, "color", "green") && - light.color == autoware_auto_perception_msgs::msg::TrafficLight::GREEN) { + elem.color == autoware_perception_msgs::msg::TrafficLightElement::GREEN) { lightAsMarker( get_node_logging_interface(), pt, &marker, "traffic_light", current_time); } else if ( // NOLINT isAttributeValue(pt, "color", "yellow") && - light.color == autoware_auto_perception_msgs::msg::TrafficLight::AMBER) { + elem.color == autoware_perception_msgs::msg::TrafficLightElement::AMBER) { lightAsMarker( get_node_logging_interface(), pt, &marker, "traffic_light", current_time); } else { diff --git a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp index 5ebf4f9a61c50..a3b1a2b16a743 100644 --- a/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp +++ b/perception/traffic_light_visualization/src/traffic_light_roi_visualizer/nodelet.cpp @@ -72,7 +72,7 @@ void TrafficLightRoiVisualizerNodelet::connectCb() } bool TrafficLightRoiVisualizerNodelet::createRect( - cv::Mat & image, const autoware_auto_perception_msgs::msg::TrafficLightRoi & tl_roi, + cv::Mat & image, const tier4_perception_msgs::msg::TrafficLightRoi & tl_roi, const cv::Scalar & color) { cv::rectangle( @@ -80,13 +80,14 @@ bool TrafficLightRoiVisualizerNodelet::createRect( cv::Point(tl_roi.roi.x_offset + tl_roi.roi.width, tl_roi.roi.y_offset + tl_roi.roi.height), color, 3); cv::putText( - image, std::to_string(tl_roi.id), cv::Point(tl_roi.roi.x_offset, tl_roi.roi.y_offset), - cv::FONT_HERSHEY_COMPLEX, 1.0, color, 1, CV_AA); + image, std::to_string(tl_roi.traffic_light_id), + cv::Point(tl_roi.roi.x_offset, tl_roi.roi.y_offset), cv::FONT_HERSHEY_COMPLEX, 1.0, color, 1, + CV_AA); return true; } bool TrafficLightRoiVisualizerNodelet::createRect( - cv::Mat & image, const autoware_auto_perception_msgs::msg::TrafficLightRoi & tl_roi, + cv::Mat & image, const tier4_perception_msgs::msg::TrafficLightRoi & tl_roi, const ClassificationResult & result) { cv::Scalar color; @@ -120,8 +121,8 @@ bool TrafficLightRoiVisualizerNodelet::createRect( void TrafficLightRoiVisualizerNodelet::imageRoiCallback( const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg, - const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg, - [[maybe_unused]] const autoware_auto_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg, + [[maybe_unused]] const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & input_traffic_signals_msg) { cv_bridge::CvImagePtr cv_ptr; @@ -138,21 +139,21 @@ void TrafficLightRoiVisualizerNodelet::imageRoiCallback( } bool TrafficLightRoiVisualizerNodelet::getClassificationResult( - int id, const autoware_auto_perception_msgs::msg::TrafficSignalArray & traffic_signals, + int id, const tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals, ClassificationResult & result) { bool has_correspond_traffic_signal = false; for (const auto & traffic_signal : traffic_signals.signals) { - if (id != traffic_signal.map_primitive_id) { + if (id != traffic_signal.traffic_light_id) { continue; } has_correspond_traffic_signal = true; - for (size_t i = 0; i < traffic_signal.lights.size(); i++) { - auto light = traffic_signal.lights.at(i); + for (size_t i = 0; i < traffic_signal.elements.size(); i++) { + auto element = traffic_signal.elements.at(i); // all lamp confidence are the same - result.prob = light.confidence; - result.label += (state2label_[light.color] + "-" + state2label_[light.shape]); - if (i < traffic_signal.lights.size() - 1) { + result.prob = element.confidence; + result.label += (state2label_[element.color] + "-" + state2label_[element.shape]); + if (i < traffic_signal.elements.size() - 1) { result.label += ","; } } @@ -161,11 +162,11 @@ bool TrafficLightRoiVisualizerNodelet::getClassificationResult( } bool TrafficLightRoiVisualizerNodelet::getRoiFromId( - int id, const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & rois, - autoware_auto_perception_msgs::msg::TrafficLightRoi & correspond_roi) + int id, const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & rois, + tier4_perception_msgs::msg::TrafficLightRoi & correspond_roi) { for (const auto roi : rois->rois) { - if (roi.id == id) { + if (roi.traffic_light_id == id) { correspond_roi = roi; return true; } @@ -175,11 +176,9 @@ bool TrafficLightRoiVisualizerNodelet::getRoiFromId( void TrafficLightRoiVisualizerNodelet::imageRoughRoiCallback( const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg, - const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg, - const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & - input_tl_rough_roi_msg, - const autoware_auto_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & - input_traffic_signals_msg) + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_roi_msg, + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & input_tl_rough_roi_msg, + const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & input_traffic_signals_msg) { cv_bridge::CvImagePtr cv_ptr; try { @@ -190,9 +189,10 @@ void TrafficLightRoiVisualizerNodelet::imageRoughRoiCallback( ClassificationResult result; bool has_correspond_traffic_signal = - getClassificationResult(tl_rough_roi.id, *input_traffic_signals_msg, result); - autoware_auto_perception_msgs::msg::TrafficLightRoi tl_roi; - bool has_correspond_roi = getRoiFromId(tl_rough_roi.id, input_tl_roi_msg, tl_roi); + getClassificationResult(tl_rough_roi.traffic_light_id, *input_traffic_signals_msg, result); + tier4_perception_msgs::msg::TrafficLightRoi tl_roi; + bool has_correspond_roi = + getRoiFromId(tl_rough_roi.traffic_light_id, input_tl_roi_msg, tl_roi); if (has_correspond_roi && has_correspond_traffic_signal) { // has fine detection and classification results From f5b40539ed153f98c71ae8e25f4a51240589edc0 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 30 Jun 2023 10:32:12 +0900 Subject: [PATCH 058/118] fix(velocity_smoother): add acc limit on manual driving (#4113) Signed-off-by: Takamasa Horibe --- .../src/motion_velocity_smoother_node.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp index 057308e4329d1..b77af629ad7c3 100644 --- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp +++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp @@ -786,8 +786,10 @@ MotionVelocitySmootherNode::calcInitialMotion( // We should plan from the current vehicle speed, but if the initial value is greater than the // velocity limit, the current planning algorithm decelerates with a very high deceleration. // To avoid this, we set the initial value of the vehicle speed to be below the speed limit. + const auto p = smoother_->getBaseParam(); const auto v0 = std::min(target_vel, vehicle_speed); - const Motion initial_motion = {v0, vehicle_acceleration}; + const auto a0 = std::clamp(vehicle_acceleration, p.min_decel, p.max_accel); + const Motion initial_motion = {v0, a0}; return {initial_motion, InitializeType::EGO_VELOCITY}; } } From 8381f8e8463abd3d72e1d4851ce41261eb075c7f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 30 Jun 2023 13:21:43 +0900 Subject: [PATCH 059/118] feat(start_planner): add offset to not finish before engage (#4121) Signed-off-by: kosuke55 --- .../src/scene_module/start_planner/start_planner_module.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index e9e28b8e62f9b..3540b616aa78f 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -682,7 +682,9 @@ bool StartPlannerModule::hasFinishedPullOut() const const auto arclength_pull_out_end = lanelet::utils::getArcCoordinates(status_.current_lanes, status_.pull_out_path.end_pose); - const bool has_finished = arclength_current.length - arclength_pull_out_end.length > 0.0; + // offset to not finish the module before engage + constexpr double offset = 0.1; + const bool has_finished = arclength_current.length - arclength_pull_out_end.length > offset; return has_finished; } From 00dfda5229a006041f084c7b9bbb40b96c2387b3 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 30 Jun 2023 14:01:06 +0900 Subject: [PATCH 060/118] refactor(behavior_path_planner): move parameter declaration from node.cpp to manager (#4124) * refactor(behavior_path_planner): move parameter declare Signed-off-by: satoshi-ota * refactor(start_planner): move parameter declare Signed-off-by: satoshi-ota * refactor(side_shift): move parameter declare Signed-off-by: satoshi-ota * refactor(goal_planner): move parameter declare Signed-off-by: satoshi-ota * refactor(dynamic_avoidance): move parameter declare Signed-off-by: satoshi-ota * refactor(lane_change): move parameter declare Signed-off-by: satoshi-ota * refactor(avoidance): move parameter declare Signed-off-by: satoshi-ota * refactor(avoidance_by_lane_change): move parameter declare Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_path_planner_node.hpp | 24 - .../scene_module/avoidance/manager.hpp | 3 +- .../dynamic_avoidance/manager.hpp | 3 +- .../scene_module/goal_planner/manager.hpp | 3 +- .../lane_change/avoidance_by_lane_change.hpp | 4 +- .../scene_module/lane_change/interface.hpp | 1 - .../scene_module/lane_change/manager.hpp | 11 +- .../scene_module/side_shift/manager.hpp | 3 +- .../scene_module/start_planner/manager.hpp | 3 +- .../lane_change/lane_change_module_data.hpp | 5 +- .../src/behavior_path_planner_node.cpp | 688 +----------------- .../src/scene_module/avoidance/manager.cpp | 204 +++++- .../dynamic_avoidance/manager.cpp | 45 +- .../src/scene_module/goal_planner/manager.cpp | 213 +++++- .../lane_change/avoidance_by_lane_change.cpp | 45 +- .../scene_module/lane_change/interface.cpp | 4 +- .../src/scene_module/lane_change/manager.cpp | 219 +++++- .../src/scene_module/side_shift/manager.cpp | 17 +- .../scene_module/start_planner/manager.cpp | 63 +- 19 files changed, 784 insertions(+), 774 deletions(-) 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 454106e4e6811..0ec1fe0ca493a 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 @@ -25,12 +25,6 @@ #include "behavior_path_planner/scene_module/side_shift/manager.hpp" #include "behavior_path_planner/scene_module/start_planner/manager.hpp" #include "behavior_path_planner/steering_factor_interface.hpp" -#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp" -#include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp" -#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp" -#include "behavior_path_planner/utils/lane_following/module_data.hpp" -#include "behavior_path_planner/utils/side_shift/side_shift_parameters.hpp" -#include "behavior_path_planner/utils/start_planner/start_planner_parameters.hpp" #include "tier4_planning_msgs/msg/detail/lane_change_debug_msg_array__struct.hpp" #include @@ -134,26 +128,8 @@ class BehaviorPathPlannerNode : public rclcpp::Node bool isDataReady(); // parameters - std::shared_ptr avoidance_param_ptr_; - std::shared_ptr avoidance_by_lc_param_ptr_; - std::shared_ptr dynamic_avoidance_param_ptr_; - std::shared_ptr side_shift_param_ptr_; - std::shared_ptr lane_change_param_ptr_; - std::shared_ptr start_planner_param_ptr_; - std::shared_ptr goal_planner_param_ptr_; - BehaviorPathPlannerParameters getCommonParam(); - AvoidanceParameters getAvoidanceParam(); - DynamicAvoidanceParameters getDynamicAvoidanceParam(); - LaneChangeParameters getLaneChangeParam(); - SideShiftParameters getSideShiftParam(); - GoalPlannerParameters getGoalPlannerParam(); - StartPlannerParameters getStartPlannerParam(); - AvoidanceByLCParameters getAvoidanceByLCParam( - const std::shared_ptr & avoidance_param, - const std::shared_ptr & lane_change_param); - // callback void onOdometry(const Odometry::ConstSharedPtr msg); void onAcceleration(const AccelWithCovarianceStamped::ConstSharedPtr msg); diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/manager.hpp index 517057f8d6ac8..e4421459e61fd 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/manager.hpp @@ -33,8 +33,7 @@ class AvoidanceModuleManager : public SceneModuleManagerInterface { public: AvoidanceModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters); + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config); std::shared_ptr createNewSceneModuleInstance() override { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp index 51fe30c8dc7ee..d2b1deb36bd30 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp @@ -32,8 +32,7 @@ class DynamicAvoidanceModuleManager : public SceneModuleManagerInterface { public: DynamicAvoidanceModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters); + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config); std::shared_ptr createNewSceneModuleInstance() override { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/manager.hpp index 31920ecd640f0..d836f73df22bc 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/manager.hpp @@ -31,8 +31,7 @@ class GoalPlannerModuleManager : public SceneModuleManagerInterface { public: GoalPlannerModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters); + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config); std::shared_ptr createNewSceneModuleInstance() override { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/avoidance_by_lane_change.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/avoidance_by_lane_change.hpp index e58a8c07850cf..9af413d48b5c2 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/avoidance_by_lane_change.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/avoidance_by_lane_change.hpp @@ -34,7 +34,6 @@ class AvoidanceByLaneChange : public NormalLaneChange public: AvoidanceByLaneChange( const std::shared_ptr & parameters, - std::shared_ptr avoidance_parameters, std::shared_ptr avoidance_by_lane_change_parameters); void updateSpecialData() override; @@ -42,8 +41,7 @@ class AvoidanceByLaneChange : public NormalLaneChange std::pair getSafePath(LaneChangePath & safe_path) const override; private: - std::shared_ptr avoidance_parameters_; - std::shared_ptr avoidance_by_lane_change_parameters_; + std::shared_ptr avoidance_parameters_; AvoidancePlanningData calcAvoidancePlanningData(AvoidanceDebugData & debug) const; AvoidancePlanningData avoidance_data_; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp index fa7011bcdce27..1171b92343e30 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp @@ -130,7 +130,6 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface AvoidanceByLaneChangeInterface( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, - const std::shared_ptr & avoidance_parameters, const std::shared_ptr & avoidance_by_lane_change_parameters, const std::unordered_map > & rtc_interface_ptr_map); diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp index ebee8f3d3a07a..9dabd3d0004fb 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp @@ -35,8 +35,7 @@ class LaneChangeModuleManager : public SceneModuleManagerInterface public: LaneChangeModuleManager( rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - std::shared_ptr parameters, const Direction direction, - const LaneChangeModuleType type); + const Direction direction, const LaneChangeModuleType type); std::shared_ptr createNewSceneModuleInstance() override; @@ -56,18 +55,14 @@ class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager { public: AvoidanceByLaneChangeModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - std::shared_ptr parameters, - std::shared_ptr avoidance_parameters, - std::shared_ptr avoidance_by_lane_change_parameters); + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config); std::shared_ptr createNewSceneModuleInstance() override; // void updateModuleParams(const std::vector & parameters) override; private: - std::shared_ptr avoidance_parameters_; - std::shared_ptr avoidance_by_lane_change_parameters_; + std::shared_ptr avoidance_parameters_; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/manager.hpp index 71a3691b88748..f35f497df0e4a 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/manager.hpp @@ -32,8 +32,7 @@ class SideShiftModuleManager : public SceneModuleManagerInterface { public: SideShiftModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters); + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config); std::shared_ptr createNewSceneModuleInstance() override { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/manager.hpp index 09c201b0b38ce..103e7dc375233 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/manager.hpp @@ -31,8 +31,7 @@ class StartPlannerModuleManager : public SceneModuleManagerInterface { public: StartPlannerModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters); + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config); std::shared_ptr createNewSceneModuleInstance() override { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp index 006040d8eaa4a..106263cc66ebd 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp @@ -114,11 +114,8 @@ enum class LaneChangeModuleType { AVOIDANCE_BY_LANE_CHANGE, }; -struct AvoidanceByLCParameters +struct AvoidanceByLCParameters : public AvoidanceParameters { - std::shared_ptr avoidance{}; - std::shared_ptr lane_change{}; - // execute if the target object number is larger than this param. size_t execute_object_num{1}; 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 410c443b94ed9..7857c2962d001 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -121,22 +121,6 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod "~/input/route", qos_transient_local, std::bind(&BehaviorPathPlannerNode::onRoute, this, _1), createSubscriptionOptions(this)); - // set parameters - { - avoidance_param_ptr_ = std::make_shared(getAvoidanceParam()); - dynamic_avoidance_param_ptr_ = - std::make_shared(getDynamicAvoidanceParam()); - lane_change_param_ptr_ = std::make_shared(getLaneChangeParam()); - start_planner_param_ptr_ = std::make_shared(getStartPlannerParam()); - goal_planner_param_ptr_ = std::make_shared(getGoalPlannerParam()); - side_shift_param_ptr_ = std::make_shared(getSideShiftParam()); - avoidance_by_lc_param_ptr_ = std::make_shared( - getAvoidanceByLCParam(avoidance_param_ptr_, lane_change_param_ptr_)); - } - - m_set_param_res = this->add_on_set_parameters_callback( - std::bind(&BehaviorPathPlannerNode::onSetParam, this, std::placeholders::_1)); - { RCLCPP_INFO(get_logger(), "not use behavior tree."); @@ -158,8 +142,8 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod }; if (p.config_start_planner.enable_module) { - auto manager = std::make_shared( - this, "start_planner", p.config_start_planner, start_planner_param_ptr_); + auto manager = + std::make_shared(this, "start_planner", p.config_start_planner); planner_manager_->registerSceneModuleManager(manager); path_candidate_publishers_.emplace( "start_planner", create_publisher(path_candidate_name_space + "start_planner", 1)); @@ -168,8 +152,8 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod } if (p.config_goal_planner.enable_module) { - auto manager = std::make_shared( - this, "goal_planner", p.config_goal_planner, goal_planner_param_ptr_); + auto manager = + std::make_shared(this, "goal_planner", p.config_goal_planner); planner_manager_->registerSceneModuleManager(manager); path_candidate_publishers_.emplace( "goal_planner", create_publisher(path_candidate_name_space + "goal_planner", 1)); @@ -178,8 +162,8 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod } if (p.config_side_shift.enable_module) { - auto manager = std::make_shared( - this, "side_shift", p.config_side_shift, side_shift_param_ptr_); + auto manager = + std::make_shared(this, "side_shift", p.config_side_shift); planner_manager_->registerSceneModuleManager(manager); path_candidate_publishers_.emplace( "side_shift", create_publisher(path_candidate_name_space + "side_shift", 1)); @@ -190,38 +174,38 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod if (p.config_lane_change_left.enable_module) { const std::string module_topic = "lane_change_left"; auto manager = std::make_shared( - this, module_topic, p.config_lane_change_left, lane_change_param_ptr_, - route_handler::Direction::LEFT, LaneChangeModuleType::NORMAL); + this, module_topic, p.config_lane_change_left, route_handler::Direction::LEFT, + LaneChangeModuleType::NORMAL); register_and_create_publisher(manager); } if (p.config_lane_change_right.enable_module) { const std::string module_topic = "lane_change_right"; auto manager = std::make_shared( - this, module_topic, p.config_lane_change_right, lane_change_param_ptr_, - route_handler::Direction::RIGHT, LaneChangeModuleType::NORMAL); + this, module_topic, p.config_lane_change_right, route_handler::Direction::RIGHT, + LaneChangeModuleType::NORMAL); register_and_create_publisher(manager); } if (p.config_ext_request_lane_change_right.enable_module) { const std::string module_topic = "external_request_lane_change_right"; auto manager = std::make_shared( - this, module_topic, p.config_ext_request_lane_change_right, lane_change_param_ptr_, - route_handler::Direction::RIGHT, LaneChangeModuleType::EXTERNAL_REQUEST); + this, module_topic, p.config_ext_request_lane_change_right, route_handler::Direction::RIGHT, + LaneChangeModuleType::EXTERNAL_REQUEST); register_and_create_publisher(manager); } if (p.config_ext_request_lane_change_left.enable_module) { const std::string module_topic = "external_request_lane_change_left"; auto manager = std::make_shared( - this, module_topic, p.config_ext_request_lane_change_left, lane_change_param_ptr_, - route_handler::Direction::LEFT, LaneChangeModuleType::EXTERNAL_REQUEST); + this, module_topic, p.config_ext_request_lane_change_left, route_handler::Direction::LEFT, + LaneChangeModuleType::EXTERNAL_REQUEST); register_and_create_publisher(manager); } if (p.config_avoidance.enable_module) { - auto manager = std::make_shared( - this, "avoidance", p.config_avoidance, avoidance_param_ptr_); + auto manager = + std::make_shared(this, "avoidance", p.config_avoidance); planner_manager_->registerSceneModuleManager(manager); path_candidate_publishers_.emplace( "avoidance", create_publisher(path_candidate_name_space + "avoidance", 1)); @@ -231,8 +215,7 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod if (p.config_avoidance_by_lc.enable_module) { auto manager = std::make_shared( - this, "avoidance_by_lane_change", p.config_avoidance_by_lc, lane_change_param_ptr_, - avoidance_param_ptr_, avoidance_by_lc_param_ptr_); + this, "avoidance_by_lane_change", p.config_avoidance_by_lc); planner_manager_->registerSceneModuleManager(manager); path_candidate_publishers_.emplace( "avoidance_by_lane_change", @@ -244,11 +227,14 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod if (p.config_dynamic_avoidance.enable_module) { auto manager = std::make_shared( - this, "dynamic_avoidance", p.config_dynamic_avoidance, dynamic_avoidance_param_ptr_); + this, "dynamic_avoidance", p.config_dynamic_avoidance); planner_manager_->registerSceneModuleManager(manager); } } + m_set_param_res = this->add_on_set_parameters_callback( + std::bind(&BehaviorPathPlannerNode::onSetParam, this, std::placeholders::_1)); + // turn signal decider { const double turn_signal_intersection_search_distance = @@ -433,630 +419,6 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam() return p; } -SideShiftParameters BehaviorPathPlannerNode::getSideShiftParam() -{ - SideShiftParameters p{}; - - std::string ns = "side_shift."; - - p.min_distance_to_start_shifting = - declare_parameter(ns + "min_distance_to_start_shifting"); - p.time_to_start_shifting = declare_parameter(ns + "time_to_start_shifting"); - p.shifting_lateral_jerk = declare_parameter(ns + "shifting_lateral_jerk"); - p.min_shifting_distance = declare_parameter(ns + "min_shifting_distance"); - p.min_shifting_speed = declare_parameter(ns + "min_shifting_speed"); - p.shift_request_time_limit = declare_parameter(ns + "shift_request_time_limit"); - p.publish_debug_marker = declare_parameter(ns + "publish_debug_marker"); - - return p; -} - -AvoidanceByLCParameters BehaviorPathPlannerNode::getAvoidanceByLCParam( - const std::shared_ptr & avoidance_param, - const std::shared_ptr & lane_change_param) -{ - AvoidanceByLCParameters p{}; - p.avoidance = avoidance_param; - p.lane_change = lane_change_param; - - { - std::string ns = "avoidance_by_lane_change."; - p.execute_object_num = declare_parameter(ns + "execute_object_num"); - p.execute_object_longitudinal_margin = - declare_parameter(ns + "execute_object_longitudinal_margin"); - p.execute_only_when_lane_change_finish_before_object = - declare_parameter(ns + "execute_only_when_lane_change_finish_before_object"); - } - - if (p.execute_object_num < 1) { - RCLCPP_WARN_STREAM(get_logger(), "execute_object_num cannot be lesser than 1."); - } - return p; -} - -AvoidanceParameters BehaviorPathPlannerNode::getAvoidanceParam() -{ - using autoware_auto_perception_msgs::msg::ObjectClassification; - - AvoidanceParameters p{}; - // general params - { - std::string ns = "avoidance."; - p.resample_interval_for_planning = - declare_parameter(ns + "resample_interval_for_planning"); - p.resample_interval_for_output = declare_parameter(ns + "resample_interval_for_output"); - p.detection_area_right_expand_dist = - declare_parameter(ns + "detection_area_right_expand_dist"); - p.detection_area_left_expand_dist = - declare_parameter(ns + "detection_area_left_expand_dist"); - p.enable_bound_clipping = declare_parameter(ns + "enable_bound_clipping"); - p.enable_avoidance_over_same_direction = - declare_parameter(ns + "enable_avoidance_over_same_direction"); - p.enable_avoidance_over_opposite_direction = - declare_parameter(ns + "enable_avoidance_over_opposite_direction"); - p.enable_update_path_when_object_is_gone = - declare_parameter(ns + "enable_update_path_when_object_is_gone"); - p.enable_force_avoidance_for_stopped_vehicle = - declare_parameter(ns + "enable_force_avoidance_for_stopped_vehicle"); - p.enable_safety_check = declare_parameter(ns + "enable_safety_check"); - p.enable_yield_maneuver = declare_parameter(ns + "enable_yield_maneuver"); - p.enable_yield_maneuver_during_shifting = - declare_parameter(ns + "enable_yield_maneuver_during_shifting"); - p.disable_path_update = declare_parameter(ns + "disable_path_update"); - p.use_hatched_road_markings = declare_parameter(ns + "use_hatched_road_markings"); - p.publish_debug_marker = declare_parameter(ns + "publish_debug_marker"); - p.print_debug_info = declare_parameter(ns + "print_debug_info"); - } - - // target object - { - const auto get_object_param = [&](std::string && ns) { - ObjectParameter param{}; - param.is_target = declare_parameter(ns + "is_target"); - param.moving_speed_threshold = declare_parameter(ns + "moving_speed_threshold"); - param.moving_time_threshold = declare_parameter(ns + "moving_time_threshold"); - param.max_expand_ratio = declare_parameter(ns + "max_expand_ratio"); - param.envelope_buffer_margin = declare_parameter(ns + "envelope_buffer_margin"); - param.avoid_margin_lateral = declare_parameter(ns + "avoid_margin_lateral"); - param.safety_buffer_lateral = declare_parameter(ns + "safety_buffer_lateral"); - param.safety_buffer_longitudinal = - declare_parameter(ns + "safety_buffer_longitudinal"); - return param; - }; - - const std::string ns = "avoidance.target_object."; - p.object_parameters.emplace( - ObjectClassification::MOTORCYCLE, get_object_param(ns + "motorcycle.")); - p.object_parameters.emplace(ObjectClassification::CAR, get_object_param(ns + "car.")); - p.object_parameters.emplace(ObjectClassification::TRUCK, get_object_param(ns + "truck.")); - p.object_parameters.emplace(ObjectClassification::TRAILER, get_object_param(ns + "trailer.")); - p.object_parameters.emplace(ObjectClassification::BUS, get_object_param(ns + "bus.")); - p.object_parameters.emplace( - ObjectClassification::PEDESTRIAN, get_object_param(ns + "pedestrian.")); - p.object_parameters.emplace(ObjectClassification::BICYCLE, get_object_param(ns + "bicycle.")); - p.object_parameters.emplace(ObjectClassification::UNKNOWN, get_object_param(ns + "unknown.")); - - p.lower_distance_for_polygon_expansion = - declare_parameter(ns + "lower_distance_for_polygon_expansion"); - p.upper_distance_for_polygon_expansion = - declare_parameter(ns + "upper_distance_for_polygon_expansion"); - } - - // target filtering - { - std::string ns = "avoidance.target_filtering."; - p.threshold_time_force_avoidance_for_stopped_vehicle = - declare_parameter(ns + "threshold_time_force_avoidance_for_stopped_vehicle"); - p.object_ignore_section_traffic_light_in_front_distance = - declare_parameter(ns + "object_ignore_section_traffic_light_in_front_distance"); - p.object_ignore_section_crosswalk_in_front_distance = - declare_parameter(ns + "object_ignore_section_crosswalk_in_front_distance"); - p.object_ignore_section_crosswalk_behind_distance = - declare_parameter(ns + "object_ignore_section_crosswalk_behind_distance"); - p.object_check_forward_distance = - declare_parameter(ns + "object_check_forward_distance"); - p.object_check_backward_distance = - declare_parameter(ns + "object_check_backward_distance"); - p.object_check_goal_distance = declare_parameter(ns + "object_check_goal_distance"); - p.threshold_distance_object_is_on_center = - declare_parameter(ns + "threshold_distance_object_is_on_center"); - p.object_check_shiftable_ratio = declare_parameter(ns + "object_check_shiftable_ratio"); - p.object_check_min_road_shoulder_width = - declare_parameter(ns + "object_check_min_road_shoulder_width"); - p.object_last_seen_threshold = declare_parameter(ns + "object_last_seen_threshold"); - } - - // safety check - { - std::string ns = "avoidance.safety_check."; - p.safety_check_backward_distance = - declare_parameter(ns + "safety_check_backward_distance"); - p.safety_check_time_horizon = declare_parameter(ns + "safety_check_time_horizon"); - p.safety_check_idling_time = declare_parameter(ns + "safety_check_idling_time"); - p.safety_check_accel_for_rss = declare_parameter(ns + "safety_check_accel_for_rss"); - p.safety_check_hysteresis_factor = - declare_parameter(ns + "safety_check_hysteresis_factor"); - } - - // avoidance maneuver (lateral) - { - std::string ns = "avoidance.avoidance.lateral."; - p.road_shoulder_safety_margin = declare_parameter(ns + "road_shoulder_safety_margin"); - p.lateral_execution_threshold = declare_parameter(ns + "lateral_execution_threshold"); - p.lateral_small_shift_threshold = - declare_parameter(ns + "lateral_small_shift_threshold"); - p.max_right_shift_length = declare_parameter(ns + "max_right_shift_length"); - p.max_left_shift_length = declare_parameter(ns + "max_left_shift_length"); - } - - // avoidance maneuver (longitudinal) - { - std::string ns = "avoidance.avoidance.longitudinal."; - p.prepare_time = declare_parameter(ns + "prepare_time"); - p.min_prepare_distance = declare_parameter(ns + "min_prepare_distance"); - p.min_avoidance_distance = declare_parameter(ns + "min_avoidance_distance"); - p.min_nominal_avoidance_speed = declare_parameter(ns + "min_nominal_avoidance_speed"); - p.min_sharp_avoidance_speed = declare_parameter(ns + "min_sharp_avoidance_speed"); - } - - // yield - { - std::string ns = "avoidance.yield."; - p.yield_velocity = declare_parameter(ns + "yield_velocity"); - } - - // stop - { - std::string ns = "avoidance.stop."; - p.stop_min_distance = declare_parameter(ns + "min_distance"); - p.stop_max_distance = declare_parameter(ns + "max_distance"); - } - - // constraints - { - std::string ns = "avoidance.constraints."; - p.use_constraints_for_decel = declare_parameter(ns + "use_constraints_for_decel"); - } - - // constraints (longitudinal) - { - std::string ns = "avoidance.constraints.longitudinal."; - p.nominal_deceleration = declare_parameter(ns + "nominal_deceleration"); - p.nominal_jerk = declare_parameter(ns + "nominal_jerk"); - p.max_deceleration = declare_parameter(ns + "max_deceleration"); - p.max_jerk = declare_parameter(ns + "max_jerk"); - p.min_avoidance_speed_for_acc_prevention = - declare_parameter(ns + "min_avoidance_speed_for_acc_prevention"); - p.max_avoidance_acceleration = declare_parameter(ns + "max_avoidance_acceleration"); - } - - // constraints (lateral) - { - std::string ns = "avoidance.constraints.lateral."; - p.nominal_lateral_jerk = declare_parameter(ns + "nominal_lateral_jerk"); - p.max_lateral_jerk = declare_parameter(ns + "max_lateral_jerk"); - } - - // velocity matrix - { - std::string ns = "avoidance.target_velocity_matrix."; - p.col_size = declare_parameter(ns + "col_size"); - p.target_velocity_matrix = declare_parameter>(ns + "matrix"); - } - - // shift line pipeline - { - std::string ns = "avoidance.shift_line_pipeline."; - p.quantize_filter_threshold = declare_parameter(ns + "trim.quantize_filter_threshold"); - p.same_grad_filter_1_threshold = - declare_parameter(ns + "trim.same_grad_filter_1_threshold"); - p.same_grad_filter_2_threshold = - declare_parameter(ns + "trim.same_grad_filter_2_threshold"); - p.same_grad_filter_3_threshold = - declare_parameter(ns + "trim.same_grad_filter_3_threshold"); - p.sharp_shift_filter_threshold = - declare_parameter(ns + "trim.sharp_shift_filter_threshold"); - } - - return p; -} - -DynamicAvoidanceParameters BehaviorPathPlannerNode::getDynamicAvoidanceParam() -{ - DynamicAvoidanceParameters p{}; - - { // target object - std::string ns = "dynamic_avoidance.target_object."; - p.avoid_car = declare_parameter(ns + "car"); - p.avoid_truck = declare_parameter(ns + "truck"); - p.avoid_bus = declare_parameter(ns + "bus"); - p.avoid_trailer = declare_parameter(ns + "trailer"); - p.avoid_unknown = declare_parameter(ns + "unknown"); - p.avoid_bicycle = declare_parameter(ns + "bicycle"); - p.avoid_motorcycle = declare_parameter(ns + "motorcycle"); - p.avoid_pedestrian = declare_parameter(ns + "pedestrian"); - p.min_obstacle_vel = declare_parameter(ns + "min_obstacle_vel"); - p.successive_num_to_entry_dynamic_avoidance_condition = - declare_parameter(ns + "successive_num_to_entry_dynamic_avoidance_condition"); - } - - { // drivable_area_generation - std::string ns = "dynamic_avoidance.drivable_area_generation."; - p.lat_offset_from_obstacle = declare_parameter(ns + "lat_offset_from_obstacle"); - p.max_lat_offset_to_avoid = declare_parameter(ns + "max_lat_offset_to_avoid"); - - p.max_time_to_collision_overtaking_object = - declare_parameter(ns + "overtaking_object.max_time_to_collision"); - p.start_duration_to_avoid_overtaking_object = - declare_parameter(ns + "overtaking_object.start_duration_to_avoid"); - p.end_duration_to_avoid_overtaking_object = - declare_parameter(ns + "overtaking_object.end_duration_to_avoid"); - p.duration_to_hold_avoidance_overtaking_object = - declare_parameter(ns + "overtaking_object.duration_to_hold_avoidance"); - - p.max_time_to_collision_oncoming_object = - declare_parameter(ns + "oncoming_object.max_time_to_collision"); - p.start_duration_to_avoid_oncoming_object = - declare_parameter(ns + "oncoming_object.start_duration_to_avoid"); - p.end_duration_to_avoid_oncoming_object = - declare_parameter(ns + "oncoming_object.end_duration_to_avoid"); - } - - return p; -} - -LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam() -{ - LaneChangeParameters p{}; - const auto parameter = [](std::string && name) { return "lane_change." + name; }; - - // trajectory generation - p.backward_lane_length = declare_parameter(parameter("backward_lane_length")); - p.prediction_time_resolution = declare_parameter(parameter("prediction_time_resolution")); - p.longitudinal_acc_sampling_num = - declare_parameter(parameter("longitudinal_acceleration_sampling_num")); - p.lateral_acc_sampling_num = - declare_parameter(parameter("lateral_acceleration_sampling_num")); - - // parked vehicle detection - p.object_check_min_road_shoulder_width = - declare_parameter(parameter("object_check_min_road_shoulder_width")); - p.object_shiftable_ratio_threshold = - declare_parameter(parameter("object_shiftable_ratio_threshold")); - - // turn signal - p.min_length_for_turn_signal_activation = - declare_parameter(parameter("min_length_for_turn_signal_activation")); - p.length_ratio_for_turn_signal_deactivation = - declare_parameter(parameter("length_ratio_for_turn_signal_deactivation")); - - // acceleration - p.min_longitudinal_acc = declare_parameter(parameter("min_longitudinal_acc")); - p.max_longitudinal_acc = declare_parameter(parameter("max_longitudinal_acc")); - - // collision check - p.enable_prepare_segment_collision_check = - declare_parameter(parameter("enable_prepare_segment_collision_check")); - p.prepare_segment_ignore_object_velocity_thresh = - declare_parameter(parameter("prepare_segment_ignore_object_velocity_thresh")); - p.use_predicted_path_outside_lanelet = - declare_parameter(parameter("use_predicted_path_outside_lanelet")); - p.use_all_predicted_path = declare_parameter(parameter("use_all_predicted_path")); - - // target object - { - std::string ns = "lane_change.target_object."; - p.check_car = declare_parameter(ns + "car"); - p.check_truck = declare_parameter(ns + "truck"); - p.check_bus = declare_parameter(ns + "bus"); - p.check_trailer = declare_parameter(ns + "trailer"); - p.check_unknown = declare_parameter(ns + "unknown"); - p.check_bicycle = declare_parameter(ns + "bicycle"); - p.check_motorcycle = declare_parameter(ns + "motorcycle"); - p.check_pedestrian = declare_parameter(ns + "pedestrian"); - } - - // lane change cancel - p.cancel.enable_on_prepare_phase = - declare_parameter(parameter("cancel.enable_on_prepare_phase")); - p.cancel.enable_on_lane_changing_phase = - declare_parameter(parameter("cancel.enable_on_lane_changing_phase")); - p.cancel.delta_time = declare_parameter(parameter("cancel.delta_time")); - p.cancel.duration = declare_parameter(parameter("cancel.duration")); - p.cancel.max_lateral_jerk = declare_parameter(parameter("cancel.max_lateral_jerk")); - p.cancel.overhang_tolerance = declare_parameter(parameter("cancel.overhang_tolerance")); - - p.finish_judge_lateral_threshold = - declare_parameter("lane_change.finish_judge_lateral_threshold"); - - // debug marker - p.publish_debug_marker = declare_parameter(parameter("publish_debug_marker")); - - // validation of parameters - if (p.longitudinal_acc_sampling_num < 1 || p.lateral_acc_sampling_num < 1) { - RCLCPP_FATAL_STREAM( - get_logger(), - "lane_change_sampling_num must be positive integer. Given longitudinal parameter: " - << p.longitudinal_acc_sampling_num - << "Given lateral parameter: " << p.lateral_acc_sampling_num << std::endl - << "Terminating the program..."); - exit(EXIT_FAILURE); - } - - if (p.cancel.delta_time < 1.0) { - RCLCPP_WARN_STREAM( - get_logger(), "cancel.delta_time: " << p.cancel.delta_time - << ", is too short. This could cause a danger behavior."); - } - - return p; -} - -GoalPlannerParameters BehaviorPathPlannerNode::getGoalPlannerParam() -{ - GoalPlannerParameters p; - - // general params - { - std::string ns = "goal_planner."; - p.minimum_request_length = declare_parameter(ns + "minimum_request_length"); - p.th_stopped_velocity = declare_parameter(ns + "th_stopped_velocity"); - p.th_arrived_distance = declare_parameter(ns + "th_arrived_distance"); - p.th_stopped_time = declare_parameter(ns + "th_stopped_time"); - } - - // goal search - { - std::string ns = "goal_planner.goal_search."; - p.search_priority = declare_parameter(ns + "search_priority"); - p.forward_goal_search_length = declare_parameter(ns + "forward_goal_search_length"); - p.backward_goal_search_length = declare_parameter(ns + "backward_goal_search_length"); - p.goal_search_interval = declare_parameter(ns + "goal_search_interval"); - p.longitudinal_margin = declare_parameter(ns + "longitudinal_margin"); - p.max_lateral_offset = declare_parameter(ns + "max_lateral_offset"); - p.lateral_offset_interval = declare_parameter(ns + "lateral_offset_interval"); - p.ignore_distance_from_lane_start = - declare_parameter(ns + "ignore_distance_from_lane_start"); - p.margin_from_boundary = declare_parameter(ns + "margin_from_boundary"); - - const std::string parking_policy_name = declare_parameter(ns + "parking_policy"); - if (parking_policy_name == "left_side") { - p.parking_policy = ParkingPolicy::LEFT_SIDE; - } else if (parking_policy_name == "right_side") { - p.parking_policy = ParkingPolicy::RIGHT_SIDE; - } else { - RCLCPP_ERROR_STREAM( - get_logger(), - "[goal_planner] invalid parking_policy: " << parking_policy_name << std::endl); - exit(EXIT_FAILURE); - } - } - - // occupancy grid map - { - std::string ns = "goal_planner.occupancy_grid."; - p.use_occupancy_grid = declare_parameter(ns + "use_occupancy_grid"); - p.use_occupancy_grid_for_longitudinal_margin = - declare_parameter(ns + "use_occupancy_grid_for_longitudinal_margin"); - p.occupancy_grid_collision_check_margin = - declare_parameter(ns + "occupancy_grid_collision_check_margin"); - p.theta_size = declare_parameter(ns + "theta_size"); - p.obstacle_threshold = declare_parameter(ns + "obstacle_threshold"); - } - - // object recognition - { - std::string ns = "goal_planner.object_recognition."; - p.use_object_recognition = declare_parameter(ns + "use_object_recognition"); - p.object_recognition_collision_check_margin = - declare_parameter(ns + "object_recognition_collision_check_margin"); - } - - // pull over general params - { - std::string ns = "goal_planner.pull_over."; - p.pull_over_velocity = declare_parameter(ns + "pull_over_velocity"); - p.pull_over_minimum_velocity = declare_parameter(ns + "pull_over_minimum_velocity"); - p.decide_path_distance = declare_parameter(ns + "decide_path_distance"); - p.maximum_deceleration = declare_parameter(ns + "maximum_deceleration"); - p.maximum_jerk = declare_parameter(ns + "maximum_jerk"); - } - - // shift parking - { - std::string ns = "goal_planner.pull_over.shift_parking."; - p.enable_shift_parking = declare_parameter(ns + "enable_shift_parking"); - p.shift_sampling_num = declare_parameter(ns + "shift_sampling_num"); - p.maximum_lateral_jerk = declare_parameter(ns + "maximum_lateral_jerk"); - p.minimum_lateral_jerk = declare_parameter(ns + "minimum_lateral_jerk"); - p.deceleration_interval = declare_parameter(ns + "deceleration_interval"); - p.after_shift_straight_distance = - declare_parameter(ns + "after_shift_straight_distance"); - } - - // forward parallel parking forward - { - std::string ns = "goal_planner.pull_over.parallel_parking.forward."; - p.enable_arc_forward_parking = declare_parameter(ns + "enable_arc_forward_parking"); - p.parallel_parking_parameters.after_forward_parking_straight_distance = - declare_parameter(ns + "after_forward_parking_straight_distance"); - p.parallel_parking_parameters.forward_parking_velocity = - declare_parameter(ns + "forward_parking_velocity"); - p.parallel_parking_parameters.forward_parking_lane_departure_margin = - declare_parameter(ns + "forward_parking_lane_departure_margin"); - p.parallel_parking_parameters.forward_parking_path_interval = - declare_parameter(ns + "forward_parking_path_interval"); - p.parallel_parking_parameters.forward_parking_max_steer_angle = - declare_parameter(ns + "forward_parking_max_steer_angle"); // 20deg - } - - // forward parallel parking backward - { - std::string ns = "goal_planner.pull_over.parallel_parking.backward."; - p.enable_arc_backward_parking = declare_parameter(ns + "enable_arc_backward_parking"); - p.parallel_parking_parameters.after_backward_parking_straight_distance = - declare_parameter(ns + "after_backward_parking_straight_distance"); - p.parallel_parking_parameters.backward_parking_velocity = - declare_parameter(ns + "backward_parking_velocity"); - p.parallel_parking_parameters.backward_parking_lane_departure_margin = - declare_parameter(ns + "backward_parking_lane_departure_margin"); - p.parallel_parking_parameters.backward_parking_path_interval = - declare_parameter(ns + "backward_parking_path_interval"); - p.parallel_parking_parameters.backward_parking_max_steer_angle = - declare_parameter(ns + "backward_parking_max_steer_angle"); // 20deg - } - - // freespace parking general params - { - std::string ns = "goal_planner.pull_over.freespace_parking."; - p.enable_freespace_parking = declare_parameter(ns + "enable_freespace_parking"); - p.freespace_parking_algorithm = - declare_parameter(ns + "freespace_parking_algorithm"); - p.freespace_parking_velocity = declare_parameter(ns + "velocity"); - p.vehicle_shape_margin = declare_parameter(ns + "vehicle_shape_margin"); - p.freespace_parking_common_parameters.time_limit = declare_parameter(ns + "time_limit"); - p.freespace_parking_common_parameters.minimum_turning_radius = - declare_parameter(ns + "minimum_turning_radius"); - p.freespace_parking_common_parameters.maximum_turning_radius = - declare_parameter(ns + "maximum_turning_radius"); - p.freespace_parking_common_parameters.turning_radius_size = - declare_parameter(ns + "turning_radius_size"); - p.freespace_parking_common_parameters.maximum_turning_radius = std::max( - p.freespace_parking_common_parameters.maximum_turning_radius, - p.freespace_parking_common_parameters.minimum_turning_radius); - p.freespace_parking_common_parameters.turning_radius_size = - std::max(p.freespace_parking_common_parameters.turning_radius_size, 1); - } - - // freespace parking search config - { - std::string ns = "goal_planner.pull_over.freespace_parking.search_configs."; - p.freespace_parking_common_parameters.theta_size = declare_parameter(ns + "theta_size"); - p.freespace_parking_common_parameters.angle_goal_range = - declare_parameter(ns + "angle_goal_range"); - p.freespace_parking_common_parameters.curve_weight = - declare_parameter(ns + "curve_weight"); - p.freespace_parking_common_parameters.reverse_weight = - declare_parameter(ns + "reverse_weight"); - p.freespace_parking_common_parameters.lateral_goal_range = - declare_parameter(ns + "lateral_goal_range"); - p.freespace_parking_common_parameters.longitudinal_goal_range = - declare_parameter(ns + "longitudinal_goal_range"); - } - - // freespace parking costmap configs - { - std::string ns = "goal_planner.pull_over.freespace_parking.costmap_configs."; - p.freespace_parking_common_parameters.obstacle_threshold = - declare_parameter(ns + "obstacle_threshold"); - } - - // freespace parking astar - { - std::string ns = "goal_planner.pull_over.freespace_parking.astar."; - p.astar_parameters.only_behind_solutions = - declare_parameter(ns + "only_behind_solutions"); - p.astar_parameters.use_back = declare_parameter(ns + "use_back"); - p.astar_parameters.distance_heuristic_weight = - declare_parameter(ns + "distance_heuristic_weight"); - } - - // freespace parking rrtstar - { - std::string ns = "goal_planner.pull_over.freespace_parking.rrtstar."; - p.rrt_star_parameters.enable_update = declare_parameter(ns + "enable_update"); - p.rrt_star_parameters.use_informed_sampling = - declare_parameter(ns + "use_informed_sampling"); - p.rrt_star_parameters.max_planning_time = declare_parameter(ns + "max_planning_time"); - p.rrt_star_parameters.neighbor_radius = declare_parameter(ns + "neighbor_radius"); - p.rrt_star_parameters.margin = declare_parameter(ns + "margin"); - } - - // debug - { - std::string ns = "goal_planner.debug."; - p.print_debug_info = declare_parameter(ns + "print_debug_info"); - } - - // validation of parameters - if (p.shift_sampling_num < 1) { - RCLCPP_FATAL_STREAM( - get_logger(), "shift_sampling_num must be positive integer. Given parameter: " - << p.shift_sampling_num << std::endl - << "Terminating the program..."); - exit(EXIT_FAILURE); - } - if (p.maximum_deceleration < 0.0) { - RCLCPP_FATAL_STREAM( - get_logger(), "maximum_deceleration cannot be negative value. Given parameter: " - << p.maximum_deceleration << std::endl - << "Terminating the program..."); - exit(EXIT_FAILURE); - } - - return p; -} - -StartPlannerParameters BehaviorPathPlannerNode::getStartPlannerParam() -{ - StartPlannerParameters p; - - std::string ns = "start_planner."; - - p.th_arrived_distance = declare_parameter(ns + "th_arrived_distance"); - p.th_stopped_velocity = declare_parameter(ns + "th_stopped_velocity"); - p.th_stopped_time = declare_parameter(ns + "th_stopped_time"); - p.th_turn_signal_on_lateral_offset = - declare_parameter(ns + "th_turn_signal_on_lateral_offset"); - p.intersection_search_length = declare_parameter(ns + "intersection_search_length"); - p.length_ratio_for_turn_signal_deactivation_near_intersection = - declare_parameter(ns + "length_ratio_for_turn_signal_deactivation_near_intersection"); - p.collision_check_margin = declare_parameter(ns + "collision_check_margin"); - p.collision_check_distance_from_end = - declare_parameter(ns + "collision_check_distance_from_end"); - // shift pull out - p.enable_shift_pull_out = declare_parameter(ns + "enable_shift_pull_out"); - p.minimum_shift_pull_out_distance = - declare_parameter(ns + "minimum_shift_pull_out_distance"); - p.lateral_acceleration_sampling_num = - declare_parameter(ns + "lateral_acceleration_sampling_num"); - p.lateral_jerk = declare_parameter(ns + "lateral_jerk"); - p.maximum_lateral_acc = declare_parameter(ns + "maximum_lateral_acc"); - p.minimum_lateral_acc = declare_parameter(ns + "minimum_lateral_acc"); - p.deceleration_interval = declare_parameter(ns + "deceleration_interval"); - // geometric pull out - p.enable_geometric_pull_out = declare_parameter(ns + "enable_geometric_pull_out"); - p.divide_pull_out_path = declare_parameter(ns + "divide_pull_out_path"); - p.parallel_parking_parameters.pull_out_velocity = - declare_parameter(ns + "geometric_pull_out_velocity"); - p.parallel_parking_parameters.pull_out_path_interval = - declare_parameter(ns + "arc_path_interval"); - p.parallel_parking_parameters.pull_out_lane_departure_margin = - declare_parameter(ns + "lane_departure_margin"); - p.parallel_parking_parameters.pull_out_max_steer_angle = - declare_parameter(ns + "pull_out_max_steer_angle"); // 15deg - // search start pose backward - p.search_priority = declare_parameter( - ns + "search_priority"); // "efficient_path" or "short_back_distance" - p.enable_back = declare_parameter(ns + "enable_back"); - p.backward_velocity = declare_parameter(ns + "backward_velocity"); - p.max_back_distance = declare_parameter(ns + "max_back_distance"); - p.backward_search_resolution = declare_parameter(ns + "backward_search_resolution"); - p.backward_path_update_duration = declare_parameter(ns + "backward_path_update_duration"); - p.ignore_distance_from_lane_end = declare_parameter(ns + "ignore_distance_from_lane_end"); - - // validation of parameters - if (p.lateral_acceleration_sampling_num < 1) { - RCLCPP_FATAL_STREAM( - get_logger(), "lateral_acceleration_sampling_num must be positive integer. Given parameter: " - << p.lateral_acceleration_sampling_num << std::endl - << "Terminating the program..."); - exit(EXIT_FAILURE); - } - - return p; -} - // wait until mandatory data is ready bool BehaviorPathPlannerNode::isDataReady() { @@ -1603,12 +965,6 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam( rcl_interfaces::msg::SetParametersResult result; - if (!lane_change_param_ptr_ && !avoidance_param_ptr_) { - result.successful = false; - result.reason = "param not initialized"; - return result; - } - { const std::lock_guard lock(mutex_manager_); // for planner_manager_ planner_manager_->updateModuleParams(parameters); @@ -1618,8 +974,6 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam( result.reason = "success"; try { - updateParam( - parameters, "lane_change.publish_debug_marker", lane_change_param_ptr_->publish_debug_marker); // Drivable area expansion parameters using drivable_area_expansion::DrivableAreaExpansionParameters; const std::lock_guard lock(mutex_pd_); // for planner_data_ diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp index 816ed94e5b822..f9a652a4cec27 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp @@ -23,11 +23,209 @@ namespace behavior_path_planner { +namespace +{ +template +T get_parameter(rclcpp::Node * node, const std::string & ns) +{ + if (node->has_parameter(ns)) { + return node->get_parameter(ns).get_value(); + } + + return node->declare_parameter(ns); +} +} // namespace + AvoidanceModuleManager::AvoidanceModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters) -: SceneModuleManagerInterface(node, name, config, {"left", "right"}), parameters_{parameters} + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config) +: SceneModuleManagerInterface(node, name, config, {"left", "right"}) { + using autoware_auto_perception_msgs::msg::ObjectClassification; + + AvoidanceParameters p{}; + // general params + { + std::string ns = "avoidance."; + p.resample_interval_for_planning = + get_parameter(node, ns + "resample_interval_for_planning"); + p.resample_interval_for_output = + get_parameter(node, ns + "resample_interval_for_output"); + p.detection_area_right_expand_dist = + get_parameter(node, ns + "detection_area_right_expand_dist"); + p.detection_area_left_expand_dist = + get_parameter(node, ns + "detection_area_left_expand_dist"); + p.enable_bound_clipping = get_parameter(node, ns + "enable_bound_clipping"); + p.enable_avoidance_over_same_direction = + get_parameter(node, ns + "enable_avoidance_over_same_direction"); + p.enable_avoidance_over_opposite_direction = + get_parameter(node, ns + "enable_avoidance_over_opposite_direction"); + p.enable_update_path_when_object_is_gone = + get_parameter(node, ns + "enable_update_path_when_object_is_gone"); + p.enable_force_avoidance_for_stopped_vehicle = + get_parameter(node, ns + "enable_force_avoidance_for_stopped_vehicle"); + p.enable_safety_check = get_parameter(node, ns + "enable_safety_check"); + p.enable_yield_maneuver = get_parameter(node, ns + "enable_yield_maneuver"); + p.enable_yield_maneuver_during_shifting = + get_parameter(node, ns + "enable_yield_maneuver_during_shifting"); + p.disable_path_update = get_parameter(node, ns + "disable_path_update"); + p.use_hatched_road_markings = get_parameter(node, ns + "use_hatched_road_markings"); + p.publish_debug_marker = get_parameter(node, ns + "publish_debug_marker"); + p.print_debug_info = get_parameter(node, ns + "print_debug_info"); + } + + // target object + { + const auto get_object_param = [&](std::string && ns) { + ObjectParameter param{}; + param.is_target = get_parameter(node, ns + "is_target"); + param.moving_speed_threshold = get_parameter(node, ns + "moving_speed_threshold"); + param.moving_time_threshold = get_parameter(node, ns + "moving_time_threshold"); + param.max_expand_ratio = get_parameter(node, ns + "max_expand_ratio"); + param.envelope_buffer_margin = get_parameter(node, ns + "envelope_buffer_margin"); + param.avoid_margin_lateral = get_parameter(node, ns + "avoid_margin_lateral"); + param.safety_buffer_lateral = get_parameter(node, ns + "safety_buffer_lateral"); + param.safety_buffer_longitudinal = + get_parameter(node, ns + "safety_buffer_longitudinal"); + return param; + }; + + const std::string ns = "avoidance.target_object."; + p.object_parameters.emplace( + ObjectClassification::MOTORCYCLE, get_object_param(ns + "motorcycle.")); + p.object_parameters.emplace(ObjectClassification::CAR, get_object_param(ns + "car.")); + p.object_parameters.emplace(ObjectClassification::TRUCK, get_object_param(ns + "truck.")); + p.object_parameters.emplace(ObjectClassification::TRAILER, get_object_param(ns + "trailer.")); + p.object_parameters.emplace(ObjectClassification::BUS, get_object_param(ns + "bus.")); + p.object_parameters.emplace( + ObjectClassification::PEDESTRIAN, get_object_param(ns + "pedestrian.")); + p.object_parameters.emplace(ObjectClassification::BICYCLE, get_object_param(ns + "bicycle.")); + p.object_parameters.emplace(ObjectClassification::UNKNOWN, get_object_param(ns + "unknown.")); + + p.lower_distance_for_polygon_expansion = + get_parameter(node, ns + "lower_distance_for_polygon_expansion"); + p.upper_distance_for_polygon_expansion = + get_parameter(node, ns + "upper_distance_for_polygon_expansion"); + } + + // target filtering + { + std::string ns = "avoidance.target_filtering."; + p.threshold_time_force_avoidance_for_stopped_vehicle = + get_parameter(node, ns + "threshold_time_force_avoidance_for_stopped_vehicle"); + p.object_ignore_section_traffic_light_in_front_distance = + get_parameter(node, ns + "object_ignore_section_traffic_light_in_front_distance"); + p.object_ignore_section_crosswalk_in_front_distance = + get_parameter(node, ns + "object_ignore_section_crosswalk_in_front_distance"); + p.object_ignore_section_crosswalk_behind_distance = + get_parameter(node, ns + "object_ignore_section_crosswalk_behind_distance"); + p.object_check_forward_distance = + get_parameter(node, ns + "object_check_forward_distance"); + p.object_check_backward_distance = + get_parameter(node, ns + "object_check_backward_distance"); + p.object_check_goal_distance = get_parameter(node, ns + "object_check_goal_distance"); + p.threshold_distance_object_is_on_center = + get_parameter(node, ns + "threshold_distance_object_is_on_center"); + p.object_check_shiftable_ratio = + get_parameter(node, ns + "object_check_shiftable_ratio"); + p.object_check_min_road_shoulder_width = + get_parameter(node, ns + "object_check_min_road_shoulder_width"); + p.object_last_seen_threshold = get_parameter(node, ns + "object_last_seen_threshold"); + } + + // safety check + { + std::string ns = "avoidance.safety_check."; + p.safety_check_backward_distance = + get_parameter(node, ns + "safety_check_backward_distance"); + p.safety_check_time_horizon = get_parameter(node, ns + "safety_check_time_horizon"); + p.safety_check_idling_time = get_parameter(node, ns + "safety_check_idling_time"); + p.safety_check_accel_for_rss = get_parameter(node, ns + "safety_check_accel_for_rss"); + p.safety_check_hysteresis_factor = + get_parameter(node, ns + "safety_check_hysteresis_factor"); + } + + // avoidance maneuver (lateral) + { + std::string ns = "avoidance.avoidance.lateral."; + p.road_shoulder_safety_margin = get_parameter(node, ns + "road_shoulder_safety_margin"); + p.lateral_execution_threshold = get_parameter(node, ns + "lateral_execution_threshold"); + p.lateral_small_shift_threshold = + get_parameter(node, ns + "lateral_small_shift_threshold"); + p.max_right_shift_length = get_parameter(node, ns + "max_right_shift_length"); + p.max_left_shift_length = get_parameter(node, ns + "max_left_shift_length"); + } + + // avoidance maneuver (longitudinal) + { + std::string ns = "avoidance.avoidance.longitudinal."; + p.prepare_time = get_parameter(node, ns + "prepare_time"); + p.min_prepare_distance = get_parameter(node, ns + "min_prepare_distance"); + p.min_avoidance_distance = get_parameter(node, ns + "min_avoidance_distance"); + p.min_nominal_avoidance_speed = get_parameter(node, ns + "min_nominal_avoidance_speed"); + p.min_sharp_avoidance_speed = get_parameter(node, ns + "min_sharp_avoidance_speed"); + } + + // yield + { + std::string ns = "avoidance.yield."; + p.yield_velocity = get_parameter(node, ns + "yield_velocity"); + } + + // stop + { + std::string ns = "avoidance.stop."; + p.stop_min_distance = get_parameter(node, ns + "min_distance"); + p.stop_max_distance = get_parameter(node, ns + "max_distance"); + } + + // constraints + { + std::string ns = "avoidance.constraints."; + p.use_constraints_for_decel = get_parameter(node, ns + "use_constraints_for_decel"); + } + + // constraints (longitudinal) + { + std::string ns = "avoidance.constraints.longitudinal."; + p.nominal_deceleration = get_parameter(node, ns + "nominal_deceleration"); + p.nominal_jerk = get_parameter(node, ns + "nominal_jerk"); + p.max_deceleration = get_parameter(node, ns + "max_deceleration"); + p.max_jerk = get_parameter(node, ns + "max_jerk"); + p.min_avoidance_speed_for_acc_prevention = + get_parameter(node, ns + "min_avoidance_speed_for_acc_prevention"); + p.max_avoidance_acceleration = get_parameter(node, ns + "max_avoidance_acceleration"); + } + + // constraints (lateral) + { + std::string ns = "avoidance.constraints.lateral."; + p.nominal_lateral_jerk = get_parameter(node, ns + "nominal_lateral_jerk"); + p.max_lateral_jerk = get_parameter(node, ns + "max_lateral_jerk"); + } + + // velocity matrix + { + std::string ns = "avoidance.target_velocity_matrix."; + p.col_size = get_parameter(node, ns + "col_size"); + p.target_velocity_matrix = get_parameter>(node, ns + "matrix"); + } + + // shift line pipeline + { + std::string ns = "avoidance.shift_line_pipeline."; + p.quantize_filter_threshold = + get_parameter(node, ns + "trim.quantize_filter_threshold"); + p.same_grad_filter_1_threshold = + get_parameter(node, ns + "trim.same_grad_filter_1_threshold"); + p.same_grad_filter_2_threshold = + get_parameter(node, ns + "trim.same_grad_filter_2_threshold"); + p.same_grad_filter_3_threshold = + get_parameter(node, ns + "trim.same_grad_filter_3_threshold"); + p.sharp_shift_filter_threshold = + get_parameter(node, ns + "trim.sharp_shift_filter_threshold"); + } + + parameters_ = std::make_shared(p); } void AvoidanceModuleManager::updateModuleParams(const std::vector & parameters) diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp index b9ca4ffa964f7..08188343f1d64 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp @@ -24,10 +24,49 @@ namespace behavior_path_planner { DynamicAvoidanceModuleManager::DynamicAvoidanceModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters) -: SceneModuleManagerInterface(node, name, config, {""}), parameters_{parameters} + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config) +: SceneModuleManagerInterface(node, name, config, {""}) { + DynamicAvoidanceParameters p{}; + + { // target object + std::string ns = "dynamic_avoidance.target_object."; + p.avoid_car = node->declare_parameter(ns + "car"); + p.avoid_truck = node->declare_parameter(ns + "truck"); + p.avoid_bus = node->declare_parameter(ns + "bus"); + p.avoid_trailer = node->declare_parameter(ns + "trailer"); + p.avoid_unknown = node->declare_parameter(ns + "unknown"); + p.avoid_bicycle = node->declare_parameter(ns + "bicycle"); + p.avoid_motorcycle = node->declare_parameter(ns + "motorcycle"); + p.avoid_pedestrian = node->declare_parameter(ns + "pedestrian"); + p.min_obstacle_vel = node->declare_parameter(ns + "min_obstacle_vel"); + p.successive_num_to_entry_dynamic_avoidance_condition = + node->declare_parameter(ns + "successive_num_to_entry_dynamic_avoidance_condition"); + } + + { // drivable_area_generation + std::string ns = "dynamic_avoidance.drivable_area_generation."; + p.lat_offset_from_obstacle = node->declare_parameter(ns + "lat_offset_from_obstacle"); + p.max_lat_offset_to_avoid = node->declare_parameter(ns + "max_lat_offset_to_avoid"); + + p.max_time_to_collision_overtaking_object = + node->declare_parameter(ns + "overtaking_object.max_time_to_collision"); + p.start_duration_to_avoid_overtaking_object = + node->declare_parameter(ns + "overtaking_object.start_duration_to_avoid"); + p.end_duration_to_avoid_overtaking_object = + node->declare_parameter(ns + "overtaking_object.end_duration_to_avoid"); + p.duration_to_hold_avoidance_overtaking_object = + node->declare_parameter(ns + "overtaking_object.duration_to_hold_avoidance"); + + p.max_time_to_collision_oncoming_object = + node->declare_parameter(ns + "oncoming_object.max_time_to_collision"); + p.start_duration_to_avoid_oncoming_object = + node->declare_parameter(ns + "oncoming_object.start_duration_to_avoid"); + p.end_duration_to_avoid_oncoming_object = + node->declare_parameter(ns + "oncoming_object.end_duration_to_avoid"); + } + + parameters_ = std::make_shared(p); } void DynamicAvoidanceModuleManager::updateModuleParams( diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp index af96313aa0c19..caa75927f4062 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp @@ -24,10 +24,217 @@ namespace behavior_path_planner { GoalPlannerModuleManager::GoalPlannerModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters) -: SceneModuleManagerInterface(node, name, config, {""}), parameters_{parameters} + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config) +: SceneModuleManagerInterface(node, name, config, {""}) { + GoalPlannerParameters p; + + // general params + { + std::string ns = "goal_planner."; + p.minimum_request_length = node->declare_parameter(ns + "minimum_request_length"); + p.th_stopped_velocity = node->declare_parameter(ns + "th_stopped_velocity"); + p.th_arrived_distance = node->declare_parameter(ns + "th_arrived_distance"); + p.th_stopped_time = node->declare_parameter(ns + "th_stopped_time"); + } + + // goal search + { + std::string ns = "goal_planner.goal_search."; + p.search_priority = node->declare_parameter(ns + "search_priority"); + p.forward_goal_search_length = + node->declare_parameter(ns + "forward_goal_search_length"); + p.backward_goal_search_length = + node->declare_parameter(ns + "backward_goal_search_length"); + p.goal_search_interval = node->declare_parameter(ns + "goal_search_interval"); + p.longitudinal_margin = node->declare_parameter(ns + "longitudinal_margin"); + p.max_lateral_offset = node->declare_parameter(ns + "max_lateral_offset"); + p.lateral_offset_interval = node->declare_parameter(ns + "lateral_offset_interval"); + p.ignore_distance_from_lane_start = + node->declare_parameter(ns + "ignore_distance_from_lane_start"); + p.margin_from_boundary = node->declare_parameter(ns + "margin_from_boundary"); + + const std::string parking_policy_name = + node->declare_parameter(ns + "parking_policy"); + if (parking_policy_name == "left_side") { + p.parking_policy = ParkingPolicy::LEFT_SIDE; + } else if (parking_policy_name == "right_side") { + p.parking_policy = ParkingPolicy::RIGHT_SIDE; + } else { + RCLCPP_ERROR_STREAM( + logger_, "[goal_planner] invalid parking_policy: " << parking_policy_name << std::endl); + exit(EXIT_FAILURE); + } + } + + // occupancy grid map + { + std::string ns = "goal_planner.occupancy_grid."; + p.use_occupancy_grid = node->declare_parameter(ns + "use_occupancy_grid"); + p.use_occupancy_grid_for_longitudinal_margin = + node->declare_parameter(ns + "use_occupancy_grid_for_longitudinal_margin"); + p.occupancy_grid_collision_check_margin = + node->declare_parameter(ns + "occupancy_grid_collision_check_margin"); + p.theta_size = node->declare_parameter(ns + "theta_size"); + p.obstacle_threshold = node->declare_parameter(ns + "obstacle_threshold"); + } + + // object recognition + { + std::string ns = "goal_planner.object_recognition."; + p.use_object_recognition = node->declare_parameter(ns + "use_object_recognition"); + p.object_recognition_collision_check_margin = + node->declare_parameter(ns + "object_recognition_collision_check_margin"); + } + + // pull over general params + { + std::string ns = "goal_planner.pull_over."; + p.pull_over_velocity = node->declare_parameter(ns + "pull_over_velocity"); + p.pull_over_minimum_velocity = + node->declare_parameter(ns + "pull_over_minimum_velocity"); + p.decide_path_distance = node->declare_parameter(ns + "decide_path_distance"); + p.maximum_deceleration = node->declare_parameter(ns + "maximum_deceleration"); + p.maximum_jerk = node->declare_parameter(ns + "maximum_jerk"); + } + + // shift parking + { + std::string ns = "goal_planner.pull_over.shift_parking."; + p.enable_shift_parking = node->declare_parameter(ns + "enable_shift_parking"); + p.shift_sampling_num = node->declare_parameter(ns + "shift_sampling_num"); + p.maximum_lateral_jerk = node->declare_parameter(ns + "maximum_lateral_jerk"); + p.minimum_lateral_jerk = node->declare_parameter(ns + "minimum_lateral_jerk"); + p.deceleration_interval = node->declare_parameter(ns + "deceleration_interval"); + p.after_shift_straight_distance = + node->declare_parameter(ns + "after_shift_straight_distance"); + } + + // forward parallel parking forward + { + std::string ns = "goal_planner.pull_over.parallel_parking.forward."; + p.enable_arc_forward_parking = node->declare_parameter(ns + "enable_arc_forward_parking"); + p.parallel_parking_parameters.after_forward_parking_straight_distance = + node->declare_parameter(ns + "after_forward_parking_straight_distance"); + p.parallel_parking_parameters.forward_parking_velocity = + node->declare_parameter(ns + "forward_parking_velocity"); + p.parallel_parking_parameters.forward_parking_lane_departure_margin = + node->declare_parameter(ns + "forward_parking_lane_departure_margin"); + p.parallel_parking_parameters.forward_parking_path_interval = + node->declare_parameter(ns + "forward_parking_path_interval"); + p.parallel_parking_parameters.forward_parking_max_steer_angle = + node->declare_parameter(ns + "forward_parking_max_steer_angle"); // 20deg + } + + // forward parallel parking backward + { + std::string ns = "goal_planner.pull_over.parallel_parking.backward."; + p.enable_arc_backward_parking = + node->declare_parameter(ns + "enable_arc_backward_parking"); + p.parallel_parking_parameters.after_backward_parking_straight_distance = + node->declare_parameter(ns + "after_backward_parking_straight_distance"); + p.parallel_parking_parameters.backward_parking_velocity = + node->declare_parameter(ns + "backward_parking_velocity"); + p.parallel_parking_parameters.backward_parking_lane_departure_margin = + node->declare_parameter(ns + "backward_parking_lane_departure_margin"); + p.parallel_parking_parameters.backward_parking_path_interval = + node->declare_parameter(ns + "backward_parking_path_interval"); + p.parallel_parking_parameters.backward_parking_max_steer_angle = + node->declare_parameter(ns + "backward_parking_max_steer_angle"); // 20deg + } + + // freespace parking general params + { + std::string ns = "goal_planner.pull_over.freespace_parking."; + p.enable_freespace_parking = node->declare_parameter(ns + "enable_freespace_parking"); + p.freespace_parking_algorithm = + node->declare_parameter(ns + "freespace_parking_algorithm"); + p.freespace_parking_velocity = node->declare_parameter(ns + "velocity"); + p.vehicle_shape_margin = node->declare_parameter(ns + "vehicle_shape_margin"); + p.freespace_parking_common_parameters.time_limit = + node->declare_parameter(ns + "time_limit"); + p.freespace_parking_common_parameters.minimum_turning_radius = + node->declare_parameter(ns + "minimum_turning_radius"); + p.freespace_parking_common_parameters.maximum_turning_radius = + node->declare_parameter(ns + "maximum_turning_radius"); + p.freespace_parking_common_parameters.turning_radius_size = + node->declare_parameter(ns + "turning_radius_size"); + p.freespace_parking_common_parameters.maximum_turning_radius = std::max( + p.freespace_parking_common_parameters.maximum_turning_radius, + p.freespace_parking_common_parameters.minimum_turning_radius); + p.freespace_parking_common_parameters.turning_radius_size = + std::max(p.freespace_parking_common_parameters.turning_radius_size, 1); + } + + // freespace parking search config + { + std::string ns = "goal_planner.pull_over.freespace_parking.search_configs."; + p.freespace_parking_common_parameters.theta_size = + node->declare_parameter(ns + "theta_size"); + p.freespace_parking_common_parameters.angle_goal_range = + node->declare_parameter(ns + "angle_goal_range"); + p.freespace_parking_common_parameters.curve_weight = + node->declare_parameter(ns + "curve_weight"); + p.freespace_parking_common_parameters.reverse_weight = + node->declare_parameter(ns + "reverse_weight"); + p.freespace_parking_common_parameters.lateral_goal_range = + node->declare_parameter(ns + "lateral_goal_range"); + p.freespace_parking_common_parameters.longitudinal_goal_range = + node->declare_parameter(ns + "longitudinal_goal_range"); + } + + // freespace parking costmap configs + { + std::string ns = "goal_planner.pull_over.freespace_parking.costmap_configs."; + p.freespace_parking_common_parameters.obstacle_threshold = + node->declare_parameter(ns + "obstacle_threshold"); + } + + // freespace parking astar + { + std::string ns = "goal_planner.pull_over.freespace_parking.astar."; + p.astar_parameters.only_behind_solutions = + node->declare_parameter(ns + "only_behind_solutions"); + p.astar_parameters.use_back = node->declare_parameter(ns + "use_back"); + p.astar_parameters.distance_heuristic_weight = + node->declare_parameter(ns + "distance_heuristic_weight"); + } + + // freespace parking rrtstar + { + std::string ns = "goal_planner.pull_over.freespace_parking.rrtstar."; + p.rrt_star_parameters.enable_update = node->declare_parameter(ns + "enable_update"); + p.rrt_star_parameters.use_informed_sampling = + node->declare_parameter(ns + "use_informed_sampling"); + p.rrt_star_parameters.max_planning_time = + node->declare_parameter(ns + "max_planning_time"); + p.rrt_star_parameters.neighbor_radius = node->declare_parameter(ns + "neighbor_radius"); + p.rrt_star_parameters.margin = node->declare_parameter(ns + "margin"); + } + + // debug + { + std::string ns = "goal_planner.debug."; + p.print_debug_info = node->declare_parameter(ns + "print_debug_info"); + } + + // validation of parameters + if (p.shift_sampling_num < 1) { + RCLCPP_FATAL_STREAM( + logger_, "shift_sampling_num must be positive integer. Given parameter: " + << p.shift_sampling_num << std::endl + << "Terminating the program..."); + exit(EXIT_FAILURE); + } + if (p.maximum_deceleration < 0.0) { + RCLCPP_FATAL_STREAM( + logger_, "maximum_deceleration cannot be negative value. Given parameter: " + << p.maximum_deceleration << std::endl + << "Terminating the program..."); + exit(EXIT_FAILURE); + } + + parameters_ = std::make_shared(p); } void GoalPlannerModuleManager::updateModuleParams( diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp index 1a1d680a99805..c808703b8f961 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp @@ -25,18 +25,16 @@ namespace behavior_path_planner { AvoidanceByLaneChange::AvoidanceByLaneChange( const std::shared_ptr & parameters, - std::shared_ptr avoidance_parameters, - std::shared_ptr avoidance_by_lane_change_parameters) + std::shared_ptr avoidance_parameters) : NormalLaneChange(parameters, LaneChangeModuleType::AVOIDANCE_BY_LANE_CHANGE, Direction::NONE), - avoidance_parameters_(std::move(avoidance_parameters)), - avoidance_by_lane_change_parameters_(std::move(avoidance_by_lane_change_parameters)) + avoidance_parameters_(std::move(avoidance_parameters)) { } std::pair AvoidanceByLaneChange::getSafePath(LaneChangePath & safe_path) const { const auto & avoidance_objects = avoidance_data_.target_objects; - const auto execute_object_num = avoidance_by_lane_change_parameters_->execute_object_num; + const auto execute_object_num = avoidance_parameters_->execute_object_num; if (avoidance_objects.size() < execute_object_num) { return {false, false}; @@ -52,7 +50,7 @@ std::pair AvoidanceByLaneChange::getSafePath(LaneChangePath & safe_p // check distance from ego to o_front vs acceptable longitudinal margin const auto execute_object_longitudinal_margin = - avoidance_by_lane_change_parameters_->execute_object_longitudinal_margin; + avoidance_parameters_->execute_object_longitudinal_margin; if (execute_object_longitudinal_margin > o_front.longitudinal) { return {false, false}; } @@ -84,7 +82,7 @@ std::pair AvoidanceByLaneChange::getSafePath(LaneChangePath & safe_p safe_path.path.points, getEgoPose().position, safe_path.shift_line.end.position); const auto lane_change_finish_before_object = o_front.longitudinal > to_lane_change_end_distance; const auto execute_only_when_lane_change_finish_before_object = - avoidance_by_lane_change_parameters_->execute_only_when_lane_change_finish_before_object; + avoidance_parameters_->execute_only_when_lane_change_finish_before_object; if (!lane_change_finish_before_object && execute_only_when_lane_change_finish_before_object) { return {false, found_safe_path}; } @@ -93,12 +91,12 @@ std::pair AvoidanceByLaneChange::getSafePath(LaneChangePath & safe_p void AvoidanceByLaneChange::updateSpecialData() { + const auto p = std::dynamic_pointer_cast(avoidance_parameters_); + avoidance_debug_data_ = DebugData(); avoidance_data_ = calcAvoidancePlanningData(avoidance_debug_data_); - utils::avoidance::updateRegisteredObject( - registered_objects_, avoidance_data_.target_objects, - avoidance_by_lane_change_parameters_->avoidance); + utils::avoidance::updateRegisteredObject(registered_objects_, avoidance_data_.target_objects, p); utils::avoidance::compensateDetectionLost( registered_objects_, avoidance_data_.target_objects, avoidance_data_.other_objects); @@ -117,8 +115,7 @@ AvoidancePlanningData AvoidanceByLaneChange::calcAvoidancePlanningData( data.reference_path_rough = prev_module_path_; - const auto resample_interval = - avoidance_by_lane_change_parameters_->avoidance->resample_interval_for_planning; + const auto resample_interval = avoidance_parameters_->resample_interval_for_planning; data.reference_path = utils::resamplePathWithSpline(data.reference_path_rough, resample_interval); data.current_lanelets = getCurrentLanes(); @@ -133,8 +130,10 @@ AvoidancePlanningData AvoidanceByLaneChange::calcAvoidancePlanningData( void AvoidanceByLaneChange::fillAvoidanceTargetObjects( AvoidancePlanningData & data, DebugData & debug) const { - const auto left_expand_dist = avoidance_parameters_->detection_area_left_expand_dist; - const auto right_expand_dist = avoidance_parameters_->detection_area_right_expand_dist; + const auto p = std::dynamic_pointer_cast(avoidance_parameters_); + + const auto left_expand_dist = p->detection_area_left_expand_dist; + const auto right_expand_dist = p->detection_area_right_expand_dist; const auto expanded_lanelets = lanelet::utils::getExpandedLanelets( data.current_lanelets, left_expand_dist, right_expand_dist * (-1.0)); @@ -173,8 +172,7 @@ void AvoidanceByLaneChange::fillAvoidanceTargetObjects( [&](const auto & object) { return createObjectData(data, object); }); } - utils::avoidance::filterTargetObjects( - target_lane_objects, data, debug, planner_data_, avoidance_parameters_); + utils::avoidance::filterTargetObjects(target_lane_objects, data, debug, planner_data_, p); } ObjectData AvoidanceByLaneChange::createObjectData( @@ -184,32 +182,34 @@ ObjectData AvoidanceByLaneChange::createObjectData( using motion_utils::findNearestIndex; using tier4_autoware_utils::calcDistance2d; + const auto p = std::dynamic_pointer_cast(avoidance_parameters_); + const auto & path_points = data.reference_path.points; const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; const auto object_closest_index = findNearestIndex(path_points, object_pose.position); const auto object_closest_pose = path_points.at(object_closest_index).point.pose; const auto t = utils::getHighestProbLabel(object.classification); - const auto object_parameter = avoidance_parameters_->object_parameters.at(t); + const auto object_parameter = p->object_parameters.at(t); ObjectData object_data{}; object_data.object = object; - const auto lower = avoidance_parameters_->lower_distance_for_polygon_expansion; - const auto upper = avoidance_parameters_->upper_distance_for_polygon_expansion; + const auto lower = p->lower_distance_for_polygon_expansion; + const auto upper = p->upper_distance_for_polygon_expansion; const auto clamp = std::clamp(calcDistance2d(getEgoPose(), object_pose) - lower, 0.0, upper) / upper; object_data.distance_factor = object_parameter.max_expand_ratio * clamp + 1.0; // Calc envelop polygon. utils::avoidance::fillObjectEnvelopePolygon( - object_data, registered_objects_, object_closest_pose, avoidance_parameters_); + object_data, registered_objects_, object_closest_pose, p); // calc object centroid. object_data.centroid = return_centroid(object_data.envelope_poly); // Calc moving time. - utils::avoidance::fillObjectMovingTime(object_data, stopped_objects_, avoidance_parameters_); + utils::avoidance::fillObjectMovingTime(object_data, stopped_objects_, p); // Calc lateral deviation from path to target object. object_data.lateral = @@ -221,8 +221,7 @@ ObjectData AvoidanceByLaneChange::createObjectData( // Check whether the the ego should avoid the object. const auto & vehicle_width = planner_data_->parameters.vehicle_width; - utils::avoidance::fillAvoidanceNecessity( - object_data, registered_objects_, vehicle_width, avoidance_parameters_); + utils::avoidance::fillAvoidanceNecessity(object_data, registered_objects_, vehicle_width, p); return object_data; } diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index 713188afb7f0b..721c7fa6fd390 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -487,13 +487,11 @@ void SceneModuleVisitor::visitLaneChangeInterface(const LaneChangeInterface * in AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, - const std::shared_ptr & avoidance_parameters, const std::shared_ptr & avoidance_by_lane_change_parameters, const std::unordered_map > & rtc_interface_ptr_map) : LaneChangeInterface{ name, node, parameters, rtc_interface_ptr_map, - std::make_unique( - parameters, avoidance_parameters, avoidance_by_lane_change_parameters)} + std::make_unique(parameters, avoidance_by_lane_change_parameters)} { } diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp index b410d4d75840b..f336d1325b688 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp @@ -23,17 +23,112 @@ namespace behavior_path_planner { + using route_handler::Direction; using utils::convertToSnakeCase; + +namespace +{ +template +T get_parameter(rclcpp::Node * node, const std::string & ns) +{ + if (node->has_parameter(ns)) { + return node->get_parameter(ns).get_value(); + } + + return node->declare_parameter(ns); +} +} // namespace + LaneChangeModuleManager::LaneChangeModuleManager( rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - std::shared_ptr parameters, const Direction direction, - const LaneChangeModuleType type) -: SceneModuleManagerInterface(node, name, config, {""}), - parameters_{std::move(parameters)}, - direction_{direction}, - type_{type} + const Direction direction, const LaneChangeModuleType type) +: SceneModuleManagerInterface(node, name, config, {""}), direction_{direction}, type_{type} { + LaneChangeParameters p{}; + + const auto parameter = [](std::string && name) { return "lane_change." + name; }; + + // trajectory generation + p.backward_lane_length = get_parameter(node, parameter("backward_lane_length")); + p.prediction_time_resolution = + get_parameter(node, parameter("prediction_time_resolution")); + p.longitudinal_acc_sampling_num = + get_parameter(node, parameter("longitudinal_acceleration_sampling_num")); + p.lateral_acc_sampling_num = + get_parameter(node, parameter("lateral_acceleration_sampling_num")); + + // parked vehicle detection + p.object_check_min_road_shoulder_width = + get_parameter(node, parameter("object_check_min_road_shoulder_width")); + p.object_shiftable_ratio_threshold = + get_parameter(node, parameter("object_shiftable_ratio_threshold")); + + // turn signal + p.min_length_for_turn_signal_activation = + get_parameter(node, parameter("min_length_for_turn_signal_activation")); + p.length_ratio_for_turn_signal_deactivation = + get_parameter(node, parameter("length_ratio_for_turn_signal_deactivation")); + + // acceleration + p.min_longitudinal_acc = get_parameter(node, parameter("min_longitudinal_acc")); + p.max_longitudinal_acc = get_parameter(node, parameter("max_longitudinal_acc")); + + // collision check + p.enable_prepare_segment_collision_check = + get_parameter(node, parameter("enable_prepare_segment_collision_check")); + p.prepare_segment_ignore_object_velocity_thresh = + get_parameter(node, parameter("prepare_segment_ignore_object_velocity_thresh")); + p.use_predicted_path_outside_lanelet = + get_parameter(node, parameter("use_predicted_path_outside_lanelet")); + p.use_all_predicted_path = get_parameter(node, parameter("use_all_predicted_path")); + + // target object + { + std::string ns = "lane_change.target_object."; + p.check_car = get_parameter(node, ns + "car"); + p.check_truck = get_parameter(node, ns + "truck"); + p.check_bus = get_parameter(node, ns + "bus"); + p.check_trailer = get_parameter(node, ns + "trailer"); + p.check_unknown = get_parameter(node, ns + "unknown"); + p.check_bicycle = get_parameter(node, ns + "bicycle"); + p.check_motorcycle = get_parameter(node, ns + "motorcycle"); + p.check_pedestrian = get_parameter(node, ns + "pedestrian"); + } + + // lane change cancel + p.cancel.enable_on_prepare_phase = + get_parameter(node, parameter("cancel.enable_on_prepare_phase")); + p.cancel.enable_on_lane_changing_phase = + get_parameter(node, parameter("cancel.enable_on_lane_changing_phase")); + p.cancel.delta_time = get_parameter(node, parameter("cancel.delta_time")); + p.cancel.duration = get_parameter(node, parameter("cancel.duration")); + p.cancel.max_lateral_jerk = get_parameter(node, parameter("cancel.max_lateral_jerk")); + p.cancel.overhang_tolerance = get_parameter(node, parameter("cancel.overhang_tolerance")); + + p.finish_judge_lateral_threshold = + get_parameter(node, parameter("finish_judge_lateral_threshold")); + + // debug marker + p.publish_debug_marker = get_parameter(node, parameter("publish_debug_marker")); + + // validation of parameters + if (p.longitudinal_acc_sampling_num < 1 || p.lateral_acc_sampling_num < 1) { + RCLCPP_FATAL_STREAM( + logger_, "lane_change_sampling_num must be positive integer. Given longitudinal parameter: " + << p.longitudinal_acc_sampling_num + << "Given lateral parameter: " << p.lateral_acc_sampling_num << std::endl + << "Terminating the program..."); + exit(EXIT_FAILURE); + } + + if (p.cancel.delta_time < 1.0) { + RCLCPP_WARN_STREAM( + logger_, "cancel.delta_time: " << p.cancel.delta_time + << ", is too short. This could cause a danger behavior."); + } + + parameters_ = std::make_shared(p); } std::shared_ptr LaneChangeModuleManager::createNewSceneModuleInstance() @@ -64,16 +159,12 @@ void LaneChangeModuleManager::updateModuleParams(const std::vector parameters, - std::shared_ptr avoidance_parameters, - std::shared_ptr avoidance_by_lane_change_parameters) + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config) : LaneChangeModuleManager( - node, name, config, std::move(parameters), Direction::NONE, - LaneChangeModuleType::AVOIDANCE_BY_LANE_CHANGE), - avoidance_parameters_(std::move(avoidance_parameters)), - avoidance_by_lane_change_parameters_(std::move(avoidance_by_lane_change_parameters)) + node, name, config, Direction::NONE, LaneChangeModuleType::AVOIDANCE_BY_LANE_CHANGE) { + using autoware_auto_perception_msgs::msg::ObjectClassification; + rtc_interface_ptr_map_.clear(); const std::vector rtc_types = {"left", "right"}; for (const auto & rtc_type : rtc_types) { @@ -82,14 +173,110 @@ AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager( rtc_interface_ptr_map_.emplace( rtc_type, std::make_shared(node, rtc_interface_name)); } + + AvoidanceByLCParameters p{}; + // unique parameters + { + std::string ns = "avoidance_by_lane_change."; + p.execute_object_num = get_parameter(node, ns + "execute_object_num"); + p.execute_object_longitudinal_margin = + get_parameter(node, ns + "execute_object_longitudinal_margin"); + p.execute_only_when_lane_change_finish_before_object = + get_parameter(node, ns + "execute_only_when_lane_change_finish_before_object"); + } + + if (p.execute_object_num < 1) { + RCLCPP_WARN_STREAM(logger_, "execute_object_num cannot be lesser than 1."); + } + + // general params + { + std::string ns = "avoidance."; + p.resample_interval_for_planning = + get_parameter(node, ns + "resample_interval_for_planning"); + p.resample_interval_for_output = + get_parameter(node, ns + "resample_interval_for_output"); + p.detection_area_right_expand_dist = + get_parameter(node, ns + "detection_area_right_expand_dist"); + p.detection_area_left_expand_dist = + get_parameter(node, ns + "detection_area_left_expand_dist"); + p.enable_avoidance_over_same_direction = + get_parameter(node, ns + "enable_avoidance_over_same_direction"); + p.enable_avoidance_over_opposite_direction = + get_parameter(node, ns + "enable_avoidance_over_opposite_direction"); + p.enable_update_path_when_object_is_gone = + get_parameter(node, ns + "enable_update_path_when_object_is_gone"); + p.enable_force_avoidance_for_stopped_vehicle = + get_parameter(node, ns + "enable_force_avoidance_for_stopped_vehicle"); + } + + // target object + { + const auto get_object_param = [&](std::string && ns) { + ObjectParameter param{}; + param.is_target = get_parameter(node, ns + "is_target"); + param.moving_speed_threshold = get_parameter(node, ns + "moving_speed_threshold"); + param.moving_time_threshold = get_parameter(node, ns + "moving_time_threshold"); + param.max_expand_ratio = get_parameter(node, ns + "max_expand_ratio"); + param.envelope_buffer_margin = get_parameter(node, ns + "envelope_buffer_margin"); + param.avoid_margin_lateral = get_parameter(node, ns + "avoid_margin_lateral"); + param.safety_buffer_lateral = get_parameter(node, ns + "safety_buffer_lateral"); + param.safety_buffer_longitudinal = + get_parameter(node, ns + "safety_buffer_longitudinal"); + return param; + }; + + const std::string ns = "avoidance.target_object."; + p.object_parameters.emplace( + ObjectClassification::MOTORCYCLE, get_object_param(ns + "motorcycle.")); + p.object_parameters.emplace(ObjectClassification::CAR, get_object_param(ns + "car.")); + p.object_parameters.emplace(ObjectClassification::TRUCK, get_object_param(ns + "truck.")); + p.object_parameters.emplace(ObjectClassification::TRAILER, get_object_param(ns + "trailer.")); + p.object_parameters.emplace(ObjectClassification::BUS, get_object_param(ns + "bus.")); + p.object_parameters.emplace( + ObjectClassification::PEDESTRIAN, get_object_param(ns + "pedestrian.")); + p.object_parameters.emplace(ObjectClassification::BICYCLE, get_object_param(ns + "bicycle.")); + p.object_parameters.emplace(ObjectClassification::UNKNOWN, get_object_param(ns + "unknown.")); + + p.lower_distance_for_polygon_expansion = + get_parameter(node, ns + "lower_distance_for_polygon_expansion"); + p.upper_distance_for_polygon_expansion = + get_parameter(node, ns + "upper_distance_for_polygon_expansion"); + } + + // target filtering + { + std::string ns = "avoidance.target_filtering."; + p.threshold_time_force_avoidance_for_stopped_vehicle = + get_parameter(node, ns + "threshold_time_force_avoidance_for_stopped_vehicle"); + p.object_ignore_section_traffic_light_in_front_distance = + get_parameter(node, ns + "object_ignore_section_traffic_light_in_front_distance"); + p.object_ignore_section_crosswalk_in_front_distance = + get_parameter(node, ns + "object_ignore_section_crosswalk_in_front_distance"); + p.object_ignore_section_crosswalk_behind_distance = + get_parameter(node, ns + "object_ignore_section_crosswalk_behind_distance"); + p.object_check_forward_distance = + get_parameter(node, ns + "object_check_forward_distance"); + p.object_check_backward_distance = + get_parameter(node, ns + "object_check_backward_distance"); + p.object_check_goal_distance = get_parameter(node, ns + "object_check_goal_distance"); + p.threshold_distance_object_is_on_center = + get_parameter(node, ns + "threshold_distance_object_is_on_center"); + p.object_check_shiftable_ratio = + get_parameter(node, ns + "object_check_shiftable_ratio"); + p.object_check_min_road_shoulder_width = + get_parameter(node, ns + "object_check_min_road_shoulder_width"); + p.object_last_seen_threshold = get_parameter(node, ns + "object_last_seen_threshold"); + } + + avoidance_parameters_ = std::make_shared(p); } std::shared_ptr AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance() { return std::make_shared( - name_, *node_, parameters_, avoidance_parameters_, avoidance_by_lane_change_parameters_, - rtc_interface_ptr_map_); + name_, *node_, parameters_, avoidance_parameters_, rtc_interface_ptr_map_); } } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp index 91ae50e196b0a..5c92d7ced6036 100644 --- a/planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp @@ -24,10 +24,21 @@ namespace behavior_path_planner { SideShiftModuleManager::SideShiftModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters) -: SceneModuleManagerInterface(node, name, config, {}), parameters_{parameters} + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config) +: SceneModuleManagerInterface(node, name, config, {}) { + SideShiftParameters p{}; + + p.min_distance_to_start_shifting = + node->declare_parameter(name + ".min_distance_to_start_shifting"); + p.time_to_start_shifting = node->declare_parameter(name + ".time_to_start_shifting"); + p.shifting_lateral_jerk = node->declare_parameter(name + ".shifting_lateral_jerk"); + p.min_shifting_distance = node->declare_parameter(name + ".min_shifting_distance"); + p.min_shifting_speed = node->declare_parameter(name + ".min_shifting_speed"); + p.shift_request_time_limit = node->declare_parameter(name + ".shift_request_time_limit"); + p.publish_debug_marker = node->declare_parameter(name + ".publish_debug_marker"); + + parameters_ = std::make_shared(p); } void SideShiftModuleManager::updateModuleParams( diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp index 3b2917c94c8e1..bba6f2b7b0da3 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp @@ -24,10 +24,67 @@ namespace behavior_path_planner { StartPlannerModuleManager::StartPlannerModuleManager( - rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - const std::shared_ptr & parameters) -: SceneModuleManagerInterface(node, name, config, {""}), parameters_{parameters} + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config) +: SceneModuleManagerInterface(node, name, config, {""}) { + StartPlannerParameters p; + + std::string ns = "start_planner."; + + p.th_arrived_distance = node->declare_parameter(ns + "th_arrived_distance"); + p.th_stopped_velocity = node->declare_parameter(ns + "th_stopped_velocity"); + p.th_stopped_time = node->declare_parameter(ns + "th_stopped_time"); + p.th_turn_signal_on_lateral_offset = + node->declare_parameter(ns + "th_turn_signal_on_lateral_offset"); + p.intersection_search_length = node->declare_parameter(ns + "intersection_search_length"); + p.length_ratio_for_turn_signal_deactivation_near_intersection = node->declare_parameter( + ns + "length_ratio_for_turn_signal_deactivation_near_intersection"); + p.collision_check_margin = node->declare_parameter(ns + "collision_check_margin"); + p.collision_check_distance_from_end = + node->declare_parameter(ns + "collision_check_distance_from_end"); + // shift pull out + p.enable_shift_pull_out = node->declare_parameter(ns + "enable_shift_pull_out"); + p.minimum_shift_pull_out_distance = + node->declare_parameter(ns + "minimum_shift_pull_out_distance"); + p.lateral_acceleration_sampling_num = + node->declare_parameter(ns + "lateral_acceleration_sampling_num"); + p.lateral_jerk = node->declare_parameter(ns + "lateral_jerk"); + p.maximum_lateral_acc = node->declare_parameter(ns + "maximum_lateral_acc"); + p.minimum_lateral_acc = node->declare_parameter(ns + "minimum_lateral_acc"); + p.deceleration_interval = node->declare_parameter(ns + "deceleration_interval"); + // geometric pull out + p.enable_geometric_pull_out = node->declare_parameter(ns + "enable_geometric_pull_out"); + p.divide_pull_out_path = node->declare_parameter(ns + "divide_pull_out_path"); + p.parallel_parking_parameters.pull_out_velocity = + node->declare_parameter(ns + "geometric_pull_out_velocity"); + p.parallel_parking_parameters.pull_out_path_interval = + node->declare_parameter(ns + "arc_path_interval"); + p.parallel_parking_parameters.pull_out_lane_departure_margin = + node->declare_parameter(ns + "lane_departure_margin"); + p.parallel_parking_parameters.pull_out_max_steer_angle = + node->declare_parameter(ns + "pull_out_max_steer_angle"); // 15deg + // search start pose backward + p.search_priority = node->declare_parameter( + ns + "search_priority"); // "efficient_path" or "short_back_distance" + p.enable_back = node->declare_parameter(ns + "enable_back"); + p.backward_velocity = node->declare_parameter(ns + "backward_velocity"); + p.max_back_distance = node->declare_parameter(ns + "max_back_distance"); + p.backward_search_resolution = node->declare_parameter(ns + "backward_search_resolution"); + p.backward_path_update_duration = + node->declare_parameter(ns + "backward_path_update_duration"); + p.ignore_distance_from_lane_end = + node->declare_parameter(ns + "ignore_distance_from_lane_end"); + + // validation of parameters + if (p.lateral_acceleration_sampling_num < 1) { + RCLCPP_FATAL_STREAM( + logger_, "lateral_acceleration_sampling_num must be positive integer. Given parameter: " + << p.lateral_acceleration_sampling_num << std::endl + << "Terminating the program..."); + exit(EXIT_FAILURE); + } + + parameters_ = std::make_shared(p); } void StartPlannerModuleManager::updateModuleParams( From 6744206515d4db4f92352c494353de5d65b9d3e4 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 30 Jun 2023 18:00:23 +0900 Subject: [PATCH 061/118] fix(behavior_path_planner): copy z in dynamic drivable area expansion (#4120) Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.cpp | 35 +++++++++++++++++-- 1 file changed, 32 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp index a27010e4f8d15..819265b70abbe 100644 --- a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp @@ -19,6 +19,7 @@ #include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp" #include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp" #include "behavior_path_planner/utils/drivable_area_expansion/types.hpp" +#include "interpolation/linear_interpolation.hpp" #include @@ -68,9 +69,7 @@ polygon_t createExpandedDrivableAreaPolygon( for (const auto & p : expansion_polygons) { unions.clear(); boost::geometry::union_(expanded_da_poly, p, unions); - if (unions.size() != 1) // union of overlapping polygons should produce a single polygon - continue; - else + if (unions.size() == 1) // union of overlapping polygons should produce a single polygon expanded_da_poly = unions[0]; } return expanded_da_poly; @@ -129,8 +128,36 @@ std::array findLeftRightRanges( return {left_start, left_end, right_start, right_end}; } +void copy_z_over_arc_length( + const std::vector & from, std::vector & to) +{ + if (from.empty() || to.empty()) return; + to.front().z = from.front().z; + if (from.size() < 2 || to.size() < 2) return; + to.back().z = from.back().z; + auto i_from = 1lu; + auto s_from = tier4_autoware_utils::calcDistance2d(from[0], from[1]); + auto s_to = 0.0; + auto s_from_prev = 0.0; + for (auto i_to = 1lu; i_to + 1 < to.size(); ++i_to) { + s_to += tier4_autoware_utils::calcDistance2d(to[i_to - 1], to[i_to]); + for (; s_from < s_to && i_from + 1 < from.size(); ++i_from) { + s_from_prev = s_from; + s_from += tier4_autoware_utils::calcDistance2d(from[i_from], from[i_from + 1]); + } + if (s_from - s_from_prev != 0.0) { + const auto ratio = (s_to - s_from_prev) / (s_from - s_from_prev); + to[i_to].z = interpolation::lerp(from[i_from - 1].z, from[i_from].z, ratio); + } else { + to[i_to].z = to[i_to - 1].z; + } + } +} + void updateDrivableAreaBounds(PathWithLaneId & path, const polygon_t & expanded_drivable_area) { + const auto original_left_bound = path.left_bound; + const auto original_right_bound = path.right_bound; path.left_bound.clear(); path.right_bound.clear(); const auto begin = expanded_drivable_area.outer().begin(); @@ -155,6 +182,8 @@ void updateDrivableAreaBounds(PathWithLaneId & path, const polygon_t & expanded_ for (auto it = right_start; it >= begin; --it) path.right_bound.push_back(convert_point(*it)); for (auto it = end - 1; it >= right_end; --it) path.right_bound.push_back(convert_point(*it)); } + copy_z_over_arc_length(original_left_bound, path.left_bound); + copy_z_over_arc_length(original_right_bound, path.right_bound); } } // namespace drivable_area_expansion From 27c5a106f29702d0e55cff744ca004800b1495e7 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 30 Jun 2023 18:08:16 +0900 Subject: [PATCH 062/118] ci: remove global codeowners (#4131) Signed-off-by: Takagi, Isamu --- .github/workflows/update-codeowners-from-packages.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml index 7c4132ef0c746..055d2b02a799a 100644 --- a/.github/workflows/update-codeowners-from-packages.yaml +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -27,7 +27,6 @@ jobs: uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1 with: token: ${{ steps.generate-token.outputs.token }} - global-codeowners: "@autowarefoundation/autoware-global-codeowners" pr-labels: | bot update-codeowners-from-packages From 1e6449502bca25dcaf6a84f5728766312c28d7c0 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Fri, 30 Jun 2023 09:27:23 +0000 Subject: [PATCH 063/118] chore: update CODEOWNERS (#4052) Signed-off-by: GitHub Co-authored-by: isamu-takagi --- .github/CODEOWNERS | 407 +++++++++++++++++++++++---------------------- 1 file changed, 207 insertions(+), 200 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index dcf9c92f50442..98dc5c47506d2 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,203 +1,210 @@ ### Copied from .github/CODEOWNERS-manual ### ### Automatically generated from package.xml ### -common/autoware_ad_api_specs/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp @autowarefoundation/autoware-global-codeowners -common/autoware_auto_common/** opensource@apex.ai @autowarefoundation/autoware-global-codeowners -common/autoware_auto_geometry/** satoshi.ota@tier4.jp @autowarefoundation/autoware-global-codeowners -common/autoware_auto_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp @autowarefoundation/autoware-global-codeowners -common/autoware_auto_tf2/** jit.ray.c@gmail.com @autowarefoundation/autoware-global-codeowners -common/autoware_point_types/** taichi.higashide@tier4.jp @autowarefoundation/autoware-global-codeowners -common/autoware_testing/** adam.dabrowski@robotec.ai @autowarefoundation/autoware-global-codeowners -common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners -common/component_interface_specs/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -common/component_interface_tools/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners -common/component_interface_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -common/cuda_utils/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners -common/fake_test_node/** opensource@apex.ai @autowarefoundation/autoware-global-codeowners -common/global_parameter_loader/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners -common/goal_distance_calculator/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners -common/grid_map_utils/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners -common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -common/motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -common/path_distance_calculator/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners -common/perception_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yusuke.muramatsu@tier4.jp @autowarefoundation/autoware-global-codeowners -common/polar_grid/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tensorrt_common/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_api_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_automatic_goal_rviz_plugin/** dawid.moszynski@robotec.ai shumpei.wakabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_autoware_utils/** kenji.miyake@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_calibration_rviz_plugin/** tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_control_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_debug_rviz_plugin/** takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_debug_tools/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_perception_rviz_plugin/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_screen_capture_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_simulated_clock_rviz_plugin/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -common/time_utils/** christopherj.ho@gmail.com @autowarefoundation/autoware-global-codeowners -common/trtexec_vendor/** daisuke.nishimatsu@tier4.jp yusuke.muramatsu@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp @autowarefoundation/autoware-global-codeowners -control/autonomous_emergency_braking/** takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -control/external_cmd_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -control/joy_controller/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -control/lane_departure_checker/** kyoichi.sugahara@tier4.jp @autowarefoundation/autoware-global-codeowners -control/mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -control/pid_longitudinal_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -control/pure_pursuit/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners -control/shift_decider/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners -control/trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -control/trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -control/vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners -evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai @autowarefoundation/autoware-global-codeowners -evaluator/localization_evaluator/** dominik.jargot@robotec.ai @autowarefoundation/autoware-global-codeowners -evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/map4_localization_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryohei.sasaki@map.jp ryu.yamamoto@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_localization_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryu.yamamoto@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_map_launch/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_simulator_launch/** keisuke.shima@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_system_launch/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -localization/ekf_localizer/** koji.minoda@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -localization/gyro_odometer/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -localization/initial_pose_button_panel/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -localization/localization_error_monitor/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -localization/ndt_scan_matcher/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -localization/pose2twist/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -localization/pose_initializer/** isamu.takagi@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -localization/stop_filter/** koji.minoda@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -localization/twist2accel/** koji.minoda@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -map/map_height_fitter/** isamu.takagi@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -map/map_loader/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners -map/map_tf_generator/** azumi.suzuki@tier4.jp @autowarefoundation/autoware-global-codeowners -map/util/lanelet2_map_preprocessor/** ryohsuke.mitsudome@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/bytetrack/** manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/detected_object_feature_remover/** tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/detected_object_validation/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/detection_by_tracker/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp taichi.higashide@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/euclidean_cluster/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/front_vehicle_velocity_estimator/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/heatmap_visualizer/** kotaro.uetake@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/image_projection_based_fusion/** yukihiro.saito@tier4.jp yusuke.muramatsu@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/lidar_centerpoint/** kenzo.lobos@tier4.jp yusuke.muramatsu@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/lidar_centerpoint_tvm/** carl.liu@autocore.ai xinyu.wang@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/map_based_prediction/** shunsuke.miura@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/multi_object_tracker/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/object_merger/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/object_range_splitter/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/probabilistic_occupancy_grid_map/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/tensorrt_yolo/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/tensorrt_yolox/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/traffic_light_classifier/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/traffic_light_selector/** isamu.takagi@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners -perception/traffic_light_visualization/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_crosswalk_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_intersection_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_planner_common/** isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_run_out_module/** makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_stop_line_module/** shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_traffic_light_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/obstacle_cruise_planner/** takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/obstacle_stop_planner/** berkay@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/planning_debug_tools/** taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/planning_test_utils/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/planning_validator/** takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/route_handler/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/rtc_auto_mode_manager/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/rtc_interface/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/rtc_replayer/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/sampling_based_planner/bezier_sampler/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/sampling_based_planner/path_sampler/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/sampling_based_planner/sampler_common/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/scenario_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/static_centerline_optimizer/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/surround_obstacle_checker/** satoshi.ota@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/geo_pos_conv/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/gnss_poser/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/image_diagnostics/** dai.nguyen@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/image_transport_decompressor/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/imu_corrector/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/livox/livox_tag_filter/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/tier4_pcl_extensions/** ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners -sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners -simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -simulator/fault_injection/** keisuke.shima@tier4.jp @autowarefoundation/autoware-global-codeowners -simulator/simple_planning_simulator/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -system/autoware_auto_msgs_adapter/** isamu.takagi@tier4.jp mfc@leodrive.ai @autowarefoundation/autoware-global-codeowners -system/bluetooth_monitor/** fumihito.ito@tier4.jp @autowarefoundation/autoware-global-codeowners -system/component_state_monitor/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners -system/default_ad_api/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -system/dummy_diag_publisher/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners -system/dummy_infrastructure/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners -system/emergency_handler/** kenji.miyake@tier4.jp makoto.kurihara@tier4.jp @autowarefoundation/autoware-global-codeowners -system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp @autowarefoundation/autoware-global-codeowners -system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp @autowarefoundation/autoware-global-codeowners -system/system_error_monitor/** fumihito.ito@tier4.jp kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners -system/system_monitor/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp @autowarefoundation/autoware-global-codeowners -system/topic_state_monitor/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners -system/velodyne_monitor/** fumihito.ito@tier4.jp @autowarefoundation/autoware-global-codeowners -tools/simulator_test/simulator_compatibility_test/** shpark@morai.ai @autowarefoundation/autoware-global-codeowners -vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners -vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners -vehicle/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners -vehicle/steer_offset_estimator/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners -vehicle/vehicle_info_util/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners +common/autoware_ad_api_specs/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp +common/autoware_auto_common/** opensource@apex.ai +common/autoware_auto_geometry/** satoshi.ota@tier4.jp +common/autoware_auto_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp +common/autoware_auto_tf2/** jit.ray.c@gmail.com +common/autoware_point_types/** taichi.higashide@tier4.jp +common/autoware_testing/** adam.dabrowski@robotec.ai +common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp +common/component_interface_specs/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp yukihiro.saito@tier4.jp +common/component_interface_tools/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp +common/component_interface_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp yukihiro.saito@tier4.jp +common/cuda_utils/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp +common/fake_test_node/** opensource@apex.ai +common/global_parameter_loader/** kenji.miyake@tier4.jp +common/goal_distance_calculator/** taiki.tanaka@tier4.jp +common/grid_map_utils/** maxime.clement@tier4.jp +common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp +common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp +common/motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp +common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp +common/path_distance_calculator/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp +common/perception_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yusuke.muramatsu@tier4.jp +common/polar_grid/** yukihiro.saito@tier4.jp +common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp +common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp +common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +common/tensorrt_common/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp +common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp +common/tier4_api_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp +common/tier4_automatic_goal_rviz_plugin/** dawid.moszynski@robotec.ai shumpei.wakabayashi@tier4.jp +common/tier4_autoware_utils/** kenji.miyake@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp +common/tier4_calibration_rviz_plugin/** tomoya.kimura@tier4.jp +common/tier4_control_rviz_plugin/** taiki.tanaka@tier4.jp +common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp +common/tier4_debug_rviz_plugin/** takayuki.murooka@tier4.jp +common/tier4_debug_tools/** kenji.miyake@tier4.jp +common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp takamasa.horibe@tier4.jp +common/tier4_perception_rviz_plugin/** yukihiro.saito@tier4.jp +common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp yutaka.shimizu@tier4.jp +common/tier4_screen_capture_rviz_plugin/** taiki.tanaka@tier4.jp +common/tier4_simulated_clock_rviz_plugin/** maxime.clement@tier4.jp +common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp +common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp +common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp +common/time_utils/** christopherj.ho@gmail.com +common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp +common/trtexec_vendor/** daisuke.nishimatsu@tier4.jp yusuke.muramatsu@tier4.jp +common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp +control/autonomous_emergency_braking/** takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp +control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +control/external_cmd_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +control/joy_controller/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +control/lane_departure_checker/** kyoichi.sugahara@tier4.jp +control/mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +control/pid_longitudinal_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/pure_pursuit/** takamasa.horibe@tier4.jp +control/shift_decider/** takamasa.horibe@tier4.jp +control/trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp +evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai +evaluator/localization_evaluator/** dominik.jargot@robotec.ai +evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp +launch/map4_localization_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryohei.sasaki@map.jp ryu.yamamoto@tier4.jp yamato.ando@tier4.jp +launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp +launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +launch/tier4_localization_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryu.yamamoto@tier4.jp yamato.ando@tier4.jp +launch/tier4_map_launch/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp +launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp +launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp +launch/tier4_simulator_launch/** keisuke.shima@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +launch/tier4_system_launch/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp kenji.miyake@tier4.jp +launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp +localization/ekf_localizer/** koji.minoda@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp +localization/gyro_odometer/** yamato.ando@tier4.jp +localization/initial_pose_button_panel/** yamato.ando@tier4.jp +localization/localization_error_monitor/** yamato.ando@tier4.jp +localization/ndt_scan_matcher/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp yamato.ando@tier4.jp +localization/pose2twist/** yamato.ando@tier4.jp +localization/pose_initializer/** isamu.takagi@tier4.jp yamato.ando@tier4.jp +localization/stop_filter/** koji.minoda@tier4.jp yamato.ando@tier4.jp +localization/twist2accel/** koji.minoda@tier4.jp yamato.ando@tier4.jp +localization/yabloc/yabloc_common/** kento.yabuuchi.2@tier4.jp +localization/yabloc/yabloc_image_processing/** kento.yabuuchi.2@tier4.jp +localization/yabloc/yabloc_particle_filter/** kento.yabuuchi.2@tier4.jp +localization/yabloc/yabloc_pose_initializer/** kento.yabuuchi.2@tier4.jp +map/map_height_fitter/** isamu.takagi@tier4.jp yamato.ando@tier4.jp +map/map_loader/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp +map/map_tf_generator/** azumi.suzuki@tier4.jp +map/util/lanelet2_map_preprocessor/** ryohsuke.mitsudome@tier4.jp +perception/bytetrack/** manato.hirabayashi@tier4.jp +perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp +perception/crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp +perception/detected_object_feature_remover/** tomoya.kimura@tier4.jp +perception/detected_object_validation/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp +perception/detection_by_tracker/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp taichi.higashide@tier4.jp +perception/euclidean_cluster/** yukihiro.saito@tier4.jp +perception/front_vehicle_velocity_estimator/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp +perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp +perception/heatmap_visualizer/** kotaro.uetake@tier4.jp +perception/image_projection_based_fusion/** yukihiro.saito@tier4.jp yusuke.muramatsu@tier4.jp +perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp +perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp +perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp +perception/lidar_centerpoint/** kenzo.lobos@tier4.jp yusuke.muramatsu@tier4.jp +perception/lidar_centerpoint_tvm/** carl.liu@autocore.ai xinyu.wang@tier4.jp +perception/map_based_prediction/** shunsuke.miura@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp yutaka.shimizu@tier4.jp +perception/multi_object_tracker/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/object_merger/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/object_range_splitter/** yukihiro.saito@tier4.jp +perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/probabilistic_occupancy_grid_map/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp +perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp +perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/tensorrt_yolo/** daisuke.nishimatsu@tier4.jp +perception/tensorrt_yolox/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp +perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp +perception/traffic_light_classifier/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp +perception/traffic_light_fine_detector/** mingyu.li@tier4.jp +perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp +perception/traffic_light_multi_camera_fusion/** mingyu.li@tier4.jp +perception/traffic_light_selector/** isamu.takagi@tier4.jp +perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp +perception/traffic_light_visualization/** yukihiro.saito@tier4.jp +planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_crosswalk_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_intersection_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai +planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp +planning/behavior_velocity_planner_common/** isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_run_out_module/** makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_stop_line_module/** shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp +planning/behavior_velocity_traffic_light_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp +planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp +planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp +planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp +planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp +planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp +planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +planning/obstacle_cruise_planner/** takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp +planning/obstacle_stop_planner/** berkay@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp +planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp +planning/planning_debug_tools/** taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp +planning/planning_test_utils/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp +planning/planning_validator/** takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp +planning/route_handler/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp +planning/rtc_auto_mode_manager/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp +planning/rtc_interface/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp +planning/rtc_replayer/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp +planning/sampling_based_planner/bezier_sampler/** maxime.clement@tier4.jp +planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp +planning/sampling_based_planner/path_sampler/** maxime.clement@tier4.jp +planning/sampling_based_planner/sampler_common/** maxime.clement@tier4.jp +planning/scenario_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +planning/static_centerline_optimizer/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp +planning/surround_obstacle_checker/** satoshi.ota@tier4.jp +sensing/geo_pos_conv/** yamato.ando@tier4.jp +sensing/gnss_poser/** yamato.ando@tier4.jp +sensing/image_diagnostics/** dai.nguyen@tier4.jp +sensing/image_transport_decompressor/** yukihiro.saito@tier4.jp +sensing/imu_corrector/** yamato.ando@tier4.jp +sensing/livox/livox_tag_filter/** kenji.miyake@tier4.jp +sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp +sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp +sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp +sensing/radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp +sensing/tier4_pcl_extensions/** ryu.yamamoto@tier4.jp +sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp +simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp +simulator/fault_injection/** keisuke.shima@tier4.jp +simulator/simple_planning_simulator/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +system/autoware_auto_msgs_adapter/** isamu.takagi@tier4.jp mfc@leodrive.ai +system/bluetooth_monitor/** fumihito.ito@tier4.jp +system/component_state_monitor/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp +system/default_ad_api/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/dummy_diag_publisher/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp kenji.miyake@tier4.jp +system/dummy_infrastructure/** kenji.miyake@tier4.jp +system/emergency_handler/** kenji.miyake@tier4.jp makoto.kurihara@tier4.jp +system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp +system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp +system/system_error_monitor/** fumihito.ito@tier4.jp kenji.miyake@tier4.jp +system/system_monitor/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp +system/topic_state_monitor/** kenji.miyake@tier4.jp +system/velodyne_monitor/** fumihito.ito@tier4.jp +tools/simulator_test/simulator_compatibility_test/** shpark@morai.ai +vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp +vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp +vehicle/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp +vehicle/steer_offset_estimator/** taiki.tanaka@tier4.jp +vehicle/vehicle_info_util/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp yamato.ando@tier4.jp From e88ccad6e05e51471bf365c99c381f3a9c913c28 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 30 Jun 2023 18:40:35 +0900 Subject: [PATCH 064/118] feat(traffic_light_selector): remove traffic light selector (#4130) Signed-off-by: Takagi, Isamu --- .../traffic_light_selector/CMakeLists.txt | 17 --- perception/traffic_light_selector/README.md | 43 ------ .../launch/traffic_light_selector.launch.xml | 14 -- perception/traffic_light_selector/package.xml | 27 ---- .../src/traffic_light_converter.cpp | 117 ---------------- .../src/traffic_light_converter.hpp | 36 ----- .../src/traffic_light_selector.cpp | 129 ------------------ .../src/traffic_light_selector.hpp | 47 ------- 8 files changed, 430 deletions(-) delete mode 100644 perception/traffic_light_selector/CMakeLists.txt delete mode 100644 perception/traffic_light_selector/README.md delete mode 100644 perception/traffic_light_selector/launch/traffic_light_selector.launch.xml delete mode 100644 perception/traffic_light_selector/package.xml delete mode 100644 perception/traffic_light_selector/src/traffic_light_converter.cpp delete mode 100644 perception/traffic_light_selector/src/traffic_light_converter.hpp delete mode 100644 perception/traffic_light_selector/src/traffic_light_selector.cpp delete mode 100644 perception/traffic_light_selector/src/traffic_light_selector.hpp diff --git a/perception/traffic_light_selector/CMakeLists.txt b/perception/traffic_light_selector/CMakeLists.txt deleted file mode 100644 index 9a8555690beed..0000000000000 --- a/perception/traffic_light_selector/CMakeLists.txt +++ /dev/null @@ -1,17 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(traffic_light_selector) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/traffic_light_converter.cpp - src/traffic_light_selector.cpp -) - -rclcpp_components_register_nodes(${PROJECT_NAME} - TrafficLightConverter - TrafficLightSelector -) - -ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/perception/traffic_light_selector/README.md b/perception/traffic_light_selector/README.md deleted file mode 100644 index d20d5dc790e3a..0000000000000 --- a/perception/traffic_light_selector/README.md +++ /dev/null @@ -1,43 +0,0 @@ -# traffic_light_selector - -## Purpose - -This package receives multiple traffic light/signal states and outputs a single traffic signal state for use by the planning component. - -## TrafficLightSelector - -A node that merges traffic light/signal state from image recognition and V2X to provide a planning component. -It's currently a provisional implementation. - -### Inputs / Outputs - -#### Input - -| Name | Type | Description | -| -------------------- | ---------------------------------------------- | ------------------------------------------------- | -| ~/sub/vector_map | autoware_auto_mapping_msgs/msg/HADMapBin | The vector map to get traffic light id relations. | -| ~/sub/traffic_lights | autoware_perception_msgs/msg/TrafficLightArray | The traffic light state from image recognition. | - -#### Output - -| Name | Type | Description | -| --------------------- | ----------------------------------------------- | -------------------------------- | -| ~/pub/traffic_signals | autoware_perception_msgs/msg/TrafficSignalArray | The merged traffic signal state. | - -## TrafficLightConverter - -A temporary node that converts old message type to new message type. - -### Inputs / Outputs - -#### Input - -| Name | Type | Description | -| -------------------- | -------------------------------------------- | ------------------------------ | -| ~/sub/traffic_lights | tier4_perception_msgs/msg/TrafficSignalArray | The state in old message type. | - -#### Output - -| Name | Type | Description | -| -------------------- | ---------------------------------------------- | ------------------------------ | -| ~/pub/traffic_lights | autoware_perception_msgs/msg/TrafficLightArray | The state in new message type. | diff --git a/perception/traffic_light_selector/launch/traffic_light_selector.launch.xml b/perception/traffic_light_selector/launch/traffic_light_selector.launch.xml deleted file mode 100644 index 44eec5284c03c..0000000000000 --- a/perception/traffic_light_selector/launch/traffic_light_selector.launch.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/perception/traffic_light_selector/package.xml b/perception/traffic_light_selector/package.xml deleted file mode 100644 index fb696dd54dddd..0000000000000 --- a/perception/traffic_light_selector/package.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - - traffic_light_selector - 0.1.0 - The traffic_light_selector package - Takagi, Isamu - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - autoware_auto_mapping_msgs - autoware_perception_msgs - lanelet2_core - lanelet2_extension - rclcpp - rclcpp_components - tier4_perception_msgs - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/perception/traffic_light_selector/src/traffic_light_converter.cpp b/perception/traffic_light_selector/src/traffic_light_converter.cpp deleted file mode 100644 index afc8dab72e788..0000000000000 --- a/perception/traffic_light_selector/src/traffic_light_converter.cpp +++ /dev/null @@ -1,117 +0,0 @@ -// Copyright 2023 The Autoware Contributors -// -// 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 "traffic_light_converter.hpp" - -#include -#include - -namespace converter -{ - -using OldList = tier4_perception_msgs::msg::TrafficSignalArray; -using OldData = tier4_perception_msgs::msg::TrafficSignal; -using OldElem = tier4_perception_msgs::msg::TrafficLightElement; -using NewList = autoware_perception_msgs::msg::TrafficLightArray; -using NewData = autoware_perception_msgs::msg::TrafficLight; -using NewElem = autoware_perception_msgs::msg::TrafficLightElement; - -NewList convert(const OldList & input); -NewData convert(const OldData & input); -NewElem convert(const OldElem & input); - -template -std::vector convert_vector(const L & input) -{ - std::vector output; - output.reserve(input.size()); - for (const auto & value : input) { - output.push_back(convert(value)); - } - return output; -} - -NewList convert(const OldList & input) -{ - NewList output; - output.stamp = input.header.stamp; - output.lights = convert_vector(input.signals); - return output; -} - -NewData convert(const OldData & input) -{ - NewData output; - output.traffic_light_id = input.traffic_light_id; - output.elements = convert_vector(input.elements); - return output; -} - -template -V at_or(const std::unordered_map & map, const K & key, const V & value) -{ - return map.count(key) ? map.at(key) : value; -} - -NewElem convert(const OldElem & input) -{ - // clang-format off - static const std::unordered_map color_map({ - {OldElem::RED, NewElem::RED}, - {OldElem::AMBER, NewElem::AMBER}, - {OldElem::GREEN, NewElem::GREEN}, - {OldElem::WHITE, NewElem::WHITE} - }); - static const std::unordered_map shape_map({ - {OldElem::CIRCLE, NewElem::CIRCLE}, - {OldElem::LEFT_ARROW, NewElem::LEFT_ARROW}, - {OldElem::RIGHT_ARROW, NewElem::RIGHT_ARROW}, - {OldElem::UP_ARROW, NewElem::UP_ARROW}, - {OldElem::DOWN_ARROW, NewElem::DOWN_ARROW}, - {OldElem::DOWN_LEFT_ARROW, NewElem::DOWN_LEFT_ARROW}, - {OldElem::DOWN_RIGHT_ARROW, NewElem::DOWN_RIGHT_ARROW}, - {OldElem::CROSS, NewElem::CROSS} - }); - static const std::unordered_map status_map({ - {OldElem::SOLID_OFF, NewElem::SOLID_OFF}, - {OldElem::SOLID_ON, NewElem::SOLID_ON}, - {OldElem::FLASHING, NewElem::FLASHING} - }); - // clang-format on - - NewElem output; - output.color = at_or(color_map, input.color, NewElem::UNKNOWN); - output.shape = at_or(shape_map, input.shape, NewElem::UNKNOWN); - output.status = at_or(status_map, input.status, NewElem::UNKNOWN); - output.confidence = input.confidence; - return output; -} - -} // namespace converter - -TrafficLightConverter::TrafficLightConverter(const rclcpp::NodeOptions & options) -: Node("traffic_light_converter", options) -{ - const auto callback = std::bind(&TrafficLightConverter::on_msg, this, std::placeholders::_1); - sub_ = create_subscription("~/sub/traffic_lights", rclcpp::QoS(1), callback); - pub_ = create_publisher("~/pub/traffic_lights", rclcpp::QoS(1)); -} - -void TrafficLightConverter::on_msg(const OldMessage::ConstSharedPtr msg) -{ - pub_->publish(converter::convert(*msg)); -} - -#include -RCLCPP_COMPONENTS_REGISTER_NODE(TrafficLightConverter) diff --git a/perception/traffic_light_selector/src/traffic_light_converter.hpp b/perception/traffic_light_selector/src/traffic_light_converter.hpp deleted file mode 100644 index 8c6c6545d9dc2..0000000000000 --- a/perception/traffic_light_selector/src/traffic_light_converter.hpp +++ /dev/null @@ -1,36 +0,0 @@ -// Copyright 2023 The Autoware Contributors -// -// 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 TRAFFIC_LIGHT_CONVERTER_HPP_ -#define TRAFFIC_LIGHT_CONVERTER_HPP_ - -#include - -#include -#include - -class TrafficLightConverter : public rclcpp::Node -{ -public: - explicit TrafficLightConverter(const rclcpp::NodeOptions & options); - -private: - using OldMessage = tier4_perception_msgs::msg::TrafficSignalArray; - using NewMessage = autoware_perception_msgs::msg::TrafficLightArray; - rclcpp::Subscription::SharedPtr sub_; - rclcpp::Publisher::SharedPtr pub_; - void on_msg(const OldMessage::ConstSharedPtr msg); -}; - -#endif // TRAFFIC_LIGHT_CONVERTER_HPP_ diff --git a/perception/traffic_light_selector/src/traffic_light_selector.cpp b/perception/traffic_light_selector/src/traffic_light_selector.cpp deleted file mode 100644 index 599bcc0f389f1..0000000000000 --- a/perception/traffic_light_selector/src/traffic_light_selector.cpp +++ /dev/null @@ -1,129 +0,0 @@ -// Copyright 2023 The Autoware Contributors -// -// 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 "traffic_light_selector.hpp" - -#include - -#include - -#include -#include -#include -#include - -namespace lanelet -{ - -using TrafficLightConstPtr = std::shared_ptr; - -std::vector filter_traffic_signals(const LaneletMapConstPtr map) -{ - std::vector signals; - for (const auto & element : map->regulatoryElementLayer) { - const auto signal = std::dynamic_pointer_cast(element); - if (signal) { - signals.push_back(signal); - } - } - return signals; -} - -} // namespace lanelet - -TrafficLightSelector::TrafficLightSelector(const rclcpp::NodeOptions & options) -: Node("traffic_light_selector", options) -{ - sub_map_ = create_subscription( - "~/sub/vector_map", rclcpp::QoS(1).transient_local(), - std::bind(&TrafficLightSelector::on_map, this, std::placeholders::_1)); - - sub_tlr_ = create_subscription( - "~/sub/traffic_lights", rclcpp::QoS(1), - std::bind(&TrafficLightSelector::on_msg, this, std::placeholders::_1)); - - pub_ = create_publisher("~/pub/traffic_signals", rclcpp::QoS(1)); -} - -void TrafficLightSelector::on_map(const LaneletMapBin::ConstSharedPtr msg) -{ - const auto map = std::make_shared(); - lanelet::utils::conversion::fromBinMsg(*msg, map); - - const auto signals = lanelet::filter_traffic_signals(map); - mapping_.clear(); - for (const auto & signal : signals) { - for (const auto & light : signal->trafficLights()) { - mapping_[light.id()] = signal->id(); - } - } -} - -void TrafficLightSelector::on_msg(const TrafficLightArray::ConstSharedPtr msg) -{ - using TrafficSignal = autoware_perception_msgs::msg::TrafficSignal; - using Element = autoware_perception_msgs::msg::TrafficLightElement; - std::unordered_map> intersections; - - // Use the most confident traffic light element in the same state. - const auto get_highest_confidence_elements = [](const std::vector & elements) { - using Key = std::tuple; - std::map highest_; - - for (const auto & element : elements) { - const auto key = std::make_tuple(element.color, element.shape, element.status); - auto [iter, success] = highest_.try_emplace(key, element); - if (!success && iter->second.confidence < element.confidence) { - iter->second = element; - } - } - - std::vector result; - result.reserve(highest_.size()); - for (const auto & [k, v] : highest_) { - result.push_back(v); - } - return result; - }; - - // Wait for vector map to create id mapping. - if (mapping_.empty()) { - return; - } - - // Merge traffic lights in the same group. - for (const auto & light : msg->lights) { - const auto id = light.traffic_light_id; - if (!mapping_.count(id)) { - continue; - } - auto & elements = intersections[mapping_[id]]; - for (const auto & element : light.elements) { - elements.push_back(element); - } - } - - TrafficSignalArray array; - array.stamp = msg->stamp; - for (const auto & [id, elements] : intersections) { - TrafficSignal signal; - signal.traffic_signal_id = id; - signal.elements = get_highest_confidence_elements(elements); - array.signals.push_back(signal); - } - pub_->publish(array); -} - -#include -RCLCPP_COMPONENTS_REGISTER_NODE(TrafficLightSelector) diff --git a/perception/traffic_light_selector/src/traffic_light_selector.hpp b/perception/traffic_light_selector/src/traffic_light_selector.hpp deleted file mode 100644 index b21efaa2ec2e3..0000000000000 --- a/perception/traffic_light_selector/src/traffic_light_selector.hpp +++ /dev/null @@ -1,47 +0,0 @@ -// Copyright 2023 The Autoware Contributors -// -// 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 TRAFFIC_LIGHT_SELECTOR_HPP_ -#define TRAFFIC_LIGHT_SELECTOR_HPP_ - -#include - -#include -#include -#include - -#include - -#include - -class TrafficLightSelector : public rclcpp::Node -{ -public: - explicit TrafficLightSelector(const rclcpp::NodeOptions & options); - -private: - using LaneletMapBin = autoware_auto_mapping_msgs::msg::HADMapBin; - using TrafficLightArray = autoware_perception_msgs::msg::TrafficLightArray; - using TrafficSignalArray = autoware_perception_msgs::msg::TrafficSignalArray; - rclcpp::Subscription::SharedPtr sub_map_; - rclcpp::Subscription::SharedPtr sub_tlr_; - rclcpp::Publisher::SharedPtr pub_; - - void on_map(const LaneletMapBin::ConstSharedPtr msg); - void on_msg(const TrafficLightArray::ConstSharedPtr msg); - - std::unordered_map mapping_; -}; - -#endif // TRAFFIC_LIGHT_SELECTOR_HPP_ From da9c9c58a73cef13295f1744282f5ca32ec5b906 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Fri, 30 Jun 2023 13:23:39 +0200 Subject: [PATCH 065/118] fix(yabloc_pose_initializer): disable downloading artifacts by default (#4110) Signed-off-by: Esteve Fernandez Co-authored-by: Esteve Fernandez --- .../yabloc_pose_initializer/download.cmake | 25 +++++++++++-------- 1 file changed, 15 insertions(+), 10 deletions(-) diff --git a/localization/yabloc/yabloc_pose_initializer/download.cmake b/localization/yabloc/yabloc_pose_initializer/download.cmake index a17910156b574..6ce997b3978d5 100644 --- a/localization/yabloc/yabloc_pose_initializer/download.cmake +++ b/localization/yabloc/yabloc_pose_initializer/download.cmake @@ -12,12 +12,14 @@ # See the License for the specific language governing permissions and # limitations under the License. +set(DOWNLOAD_ARTIFACTS OFF CACHE BOOL "enable artifacts download") + set(DATA_URL "https://s3.ap-northeast-2.wasabisys.com/pinto-model-zoo/136_road-segmentation-adas-0001/resources.tar.gz") set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data") set(FILE_HASH 146ed8af689a30b898dc5369870c40fb) set(FILE_NAME "resources.tar.gz") -function(download) +function(download_and_extract) message(STATUS "Checking and downloading ${FILE_NAME}") set(FILE_PATH ${DATA_PATH}/${FILE_NAME}) set(STATUS_CODE 0) @@ -38,11 +40,17 @@ function(download) list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE) endif() else() - message(STATUS "not found ${FILE_NAME}") - message(STATUS "File doesn't exists. Downloading now ...") - file(DOWNLOAD ${DATA_URL} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600) - list(GET DOWNLOAD_STATUS 0 STATUS_CODE) - list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE) + if(DOWNLOAD_ARTIFACTS) + message(STATUS "not found ${FILE_NAME}") + message(STATUS "File doesn't exists. Downloading now ...") + file(DOWNLOAD ${DATA_URL} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600) + list(GET DOWNLOAD_STATUS 0 STATUS_CODE) + list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE) + else() + message(WARNING "Skipped download for ${FILE_NAME} (enable by setting DOWNLOAD_ARTIFACTS)") + file(MAKE_DIRECTORY "${DATA_PATH}") + return() + endif() endif() if(${STATUS_CODE} EQUAL 0) @@ -50,13 +58,10 @@ function(download) else() message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}") endif() -endfunction() -function(extract) execute_process(COMMAND ${CMAKE_COMMAND} -E tar xzf "${DATA_PATH}/${FILE_NAME}" WORKING_DIRECTORY "${DATA_PATH}") endfunction() -download() -extract() +download_and_extract() From 879a837e7524762d0c4fe700b9a0138e2a18d4bd Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 30 Jun 2023 21:14:17 +0900 Subject: [PATCH 066/118] fix(lane_change): fix visualization when path is invalid (#4132) Signed-off-by: Zulfaqar Azmi --- .../src/scene_module/lane_change/interface.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index 721c7fa6fd390..2c1ba45c3ef84 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -232,6 +232,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() module_type_->setPreviousModulePaths( getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path); module_type_->updateLaneChangeStatus(); + setObjectDebugVisualization(); // change turn signal when the vehicle reaches at the end of the path for waiting lane change out.turn_signal_info = getCurrentTurnSignalInfo(*out.path, out.turn_signal_info); @@ -249,8 +250,6 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change); is_abort_path_approved_ = false; - setObjectDebugVisualization(); - return out; } From a9346851684d6c9884398fa86a533c7106c5fd53 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Sat, 1 Jul 2023 19:27:36 +0900 Subject: [PATCH 067/118] docs(planning_validator): add unit (#4126) Signed-off-by: Takamasa Horibe --- planning/planning_validator/README.md | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/planning/planning_validator/README.md b/planning/planning_validator/README.md index 08ddee246317f..da1e572bb383a 100644 --- a/planning/planning_validator/README.md +++ b/planning/planning_validator/README.md @@ -63,15 +63,15 @@ The following parameters can be set for the `planning_validator`: The input trajectory is detected as invalid if the index exceeds the following thresholds. -| Name | Type | Description | Default value | -| :-------------------------------- | :----- | :------------------------------------------------------------------------------------------------------------ | :------------ | -| `thresholds.interval` | double | invalid threshold of the distance of two neighboring trajectory points | 100.0 | -| `thresholds.relative_angle` | double | invalid threshold of the relative angle of two neighboring trajectory points | 2.0 | -| `thresholds.curvature` | double | invalid threshold of the curvature in each trajectory point | 1.0 | -| `thresholds.lateral_acc` | double | invalid threshold of the lateral acceleration in each trajectory point | 9.8 | -| `thresholds.longitudinal_max_acc` | double | invalid threshold of the maximum longitudinal acceleration in each trajectory point | 9.8 | -| `thresholds.longitudinal_min_acc` | double | invalid threshold of the minimum longitudinal deceleration in each trajectory point | -9.8 | -| `thresholds.steering` | double | invalid threshold of the steering angle in each trajectory point | 1.414 | -| `thresholds.steering_rate` | double | invalid threshold of the steering angle rate in each trajectory point | 10.0 | -| `thresholds.velocity_deviation` | double | invalid threshold of the velocity deviation between the ego velocity and the trajectory point closest to ego. | 100.0 | -| `thresholds.distance_deviation` | double | invalid threshold of the distance deviation between the ego position and the trajectory point closest to ego. | 100.0 | +| Name | Type | Description | Default value | +| :-------------------------------- | :----- | :----------------------------------------------------------------------------------------------------------------- | :------------ | +| `thresholds.interval` | double | invalid threshold of the distance of two neighboring trajectory points [m] | 100.0 | +| `thresholds.relative_angle` | double | invalid threshold of the relative angle of two neighboring trajectory points [rad] | 2.0 | +| `thresholds.curvature` | double | invalid threshold of the curvature in each trajectory point [1/m] | 1.0 | +| `thresholds.lateral_acc` | double | invalid threshold of the lateral acceleration in each trajectory point [m/ss] | 9.8 | +| `thresholds.longitudinal_max_acc` | double | invalid threshold of the maximum longitudinal acceleration in each trajectory point [m/ss] | 9.8 | +| `thresholds.longitudinal_min_acc` | double | invalid threshold of the minimum longitudinal deceleration in each trajectory point [m/ss] | -9.8 | +| `thresholds.steering` | double | invalid threshold of the steering angle in each trajectory point [rad] | 1.414 | +| `thresholds.steering_rate` | double | invalid threshold of the steering angle rate in each trajectory point [rad/s] | 10.0 | +| `thresholds.velocity_deviation` | double | invalid threshold of the velocity deviation between the ego velocity and the trajectory point closest to ego [m/s] | 100.0 | +| `thresholds.distance_deviation` | double | invalid threshold of the distance deviation between the ego position and the trajectory point closest to ego [m] | 100.0 | From 06184cff9f804b3a700206c066729ab4207bd4e7 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Sat, 1 Jul 2023 20:41:23 +0900 Subject: [PATCH 068/118] docs(mpc): add mpc document (#4011) * docs(mpc): add mpc document Signed-off-by: Takamasa Horibe * fix format Signed-off-by: Takamasa Horibe * Update control/mpc_lateral_controller/docs/mpc-algorithm-document.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * update Signed-off-by: Takamasa Horibe * update! Signed-off-by: Takamasa Horibe * update Signed-off-by: Takamasa Horibe * update Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --- .../image/vehicle_error_kinematics.png | Bin 0 -> 53288 bytes .../image/vehicle_kinematics.png | Bin 0 -> 36676 bytes .../model_predictive_control_algorithm.md | 389 ++++++++++++++++++ 3 files changed, 389 insertions(+) create mode 100644 control/mpc_lateral_controller/image/vehicle_error_kinematics.png create mode 100644 control/mpc_lateral_controller/image/vehicle_kinematics.png create mode 100644 control/mpc_lateral_controller/model_predictive_control_algorithm.md diff --git a/control/mpc_lateral_controller/image/vehicle_error_kinematics.png b/control/mpc_lateral_controller/image/vehicle_error_kinematics.png new file mode 100644 index 0000000000000000000000000000000000000000..73c82d8ce128520d3ba64bbc90f87630439b4fc8 GIT binary patch literal 53288 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each control cycle to determine an optimal control sequence based on a given vehicle model. The calculated sequence of control inputs is used to control the system. + +In simpler terms, an MPC controller calculates a series of control inputs that optimize the state and output trajectories to achieve the desired behavior. The key characteristics of an MPC control system can be summarized as follows: + +1. Prediction of Future Trajectories: MPC computes a control sequence by predicting the future state and output trajectories. The first control input is applied to the system, and this process repeats in a receding horizon manner at each control cycle. +2. Handling of Constraints: MPC is capable of handling constraints on the state and input variables during the optimization phase. This ensures that the system operates within specified limits. +3. Handling of Complex Dynamics: MPC algorithms can handle complex dynamics, whether they are linear or nonlinear in nature. + +The choice between a linear or nonlinear model or constraint equation depends on the specific formulation of the MPC problem. If any nonlinear expressions are present in the motion equation or constraints, the optimization problem becomes nonlinear. In the following sections, we provide a step-by-step explanation of how linear and nonlinear optimization problems are solved within the MPC framework. Note that in this documentation, we utilize the linearization method to accommodate the nonlinear model. + +## Linear MPC formulation + +### Formulate as an optimization problem + +This section provides an explanation of MPC specifically for linear systems. In the following section, it also demonstrates the formulation of a vehicle path following problem as an application. + +In the linear MPC formulation, all motion and constraint expressions are linear. For the path following problem, let's assume that the system's motion can be described by a set of equations, denoted as (1). The state evolution and measurements are presented in a discrete state space format, where matrices $A$, $B$, and $C$ represent the state transition, control, and measurement matrices, respectively. + +$$ +\begin{gather} +x_{k+1}=Ax_{k}+Bu_{k}+w_{k}, y_{k}=Cx_{k} \tag{1} \\ +x_{k}\in R^{n},u_{k}\in R^{m},w_{k}\in R^{n}, y_{k}\in R^{l}, A\in R^{n\times n}, B\in R^{n\times m}, C\in R^{l \times n} +\end{gather} +$$ + +Equation (1) represents the state-space equation, where $x_k$ represents the internal states, $u_k$ denotes the input, and $w_k$ represents a known disturbance caused by linearization or problem structure. The measurements are indicated by the variable $y_k$. + +It's worth noting that another advantage of MPC is its ability to effectively handle the disturbance term $w$. While it is referred to as a disturbance here, it can take various forms as long as it adheres to the equation's structure. + +The state transition and measurement equations in (1) are iterative, moving from time $k$ to time $k+1$. By propagating the equation starting from an initial state and control pair $(x_0, u_0)$ along with a specified horizon of $N$ steps, one can predict the trajectories of states and measurements. + +For simplicity, let's assume the initial state is $x_0$ with $k=0$. + +To begin, we can compute the state $x_1$ at $k=1$ using equation (1) by substituting the initial state into the equation. Since we are seeking a solution for the input sequence, we represent the inputs as decision variables in the symbolic expressions. + +$$ +\begin{align} +x_{1} = Ax_{0} + Bu_{0} + w_{0} \tag{2} +\end{align} +$$ + +Then, when $k=2$, using also equation (2), we get + +$$ +\begin{align} +x_{2} & = Ax_{1} + Bu_{1} + w_{1} \\ +& = A(Ax_{0} + Bu_{0} + w_{0}) + Bu_{1} + w_{1} \\ +& = A^{2}x_{0} + ABu_{0} + Aw_{0} + Bu_{1} + w_{1} \\ +& = A^{2}x_{0} + \begin{bmatrix}AB & B \end{bmatrix}\begin{bmatrix}u_{0}\\ u_{1} \end{bmatrix} + \begin{bmatrix}A & I \end{bmatrix}\begin{bmatrix}w_{0}\\ w_{1} \end{bmatrix} \tag{3} +\end{align} +$$ + +When $k=3$ , from equation (3) + +$$ +\begin{align} +x_{3} & = Ax_{2} + Bu_{2} + w_{2} \\ +& = A(A^{2}x_{0} + ABu_{0} + Bu_{1} + Aw_{0} + w_{1} ) + Bu_{2} + w_{2} \\ +& = A^{3}x_{0} + A^{2}Bu_{0} + ABu_{1} + A^{2}w_{0} + Aw_{1} + Bu_{2} + w_{2} \\ +& = A^{3}x_{0} + \begin{bmatrix}A^{2}B & AB & B \end{bmatrix}\begin{bmatrix}u_{0}\\ u_{1} \\ u_{2} \end{bmatrix} + \begin{bmatrix} A^{2} & A & I \end{bmatrix}\begin{bmatrix}w_{0}\\ w_{1} \\ w_{2} \end{bmatrix} \tag{4} +\end{align} +$$ + +If $k=n$ , then + +$$ +\begin{align} +x_{n} = A^{n}x_{0} + \begin{bmatrix}A^{n-1}B & A^{n-2}B & \dots & B \end{bmatrix}\begin{bmatrix}u_{0}\\ u_{1} \\ \vdots \\ u_{n-1} \end{bmatrix} + \begin{bmatrix} A^{n-1} & A^{n-2} & \dots & I \end{bmatrix}\begin{bmatrix}w_{0}\\ w_{1} \\ \vdots \\ w_{n-1} \end{bmatrix} +\tag{5} +\end{align} +$$ + +Putting all of them together with (2) to (5) yields the following matrix equation; + +$$ +\begin{align} +\begin{bmatrix}x_{1}\\ x_{2} \\ x_{3} \\ \vdots \\ x_{n} \end{bmatrix} = \begin{bmatrix}A^{1}\\ A^{2} \\ A^{3} \\ \vdots \\ A^{n} \end{bmatrix}x_{0} + \begin{bmatrix}B & 0 & \dots & & 0 \\ AB & B & 0 & \dots & 0 \\ A^{2}B & AB & B & \dots & 0 \\ \vdots & \vdots & & & 0 \\ A^{n-1}B & A^{n-2}B & \dots & AB & B \end{bmatrix}\begin{bmatrix}u_{0}\\ u_{1} \\ u_{2} \\ \vdots \\ u_{n-1} \end{bmatrix} \\ + +\begin{bmatrix}I & 0 & \dots & & 0 \\ A & I & 0 & \dots & 0 \\ A^{2} & A & I & \dots & 0 \\ \vdots & \vdots & & & 0 \\ A^{n-1} & A^{n-2} & \dots & A & I \end{bmatrix}\begin{bmatrix}w_{0}\\ w_{1} \\ w_{2} \\ \vdots \\ w_{n-1} \end{bmatrix} +\tag{6} +\end{align} +$$ + +In this case, the measurements (outputs) become; $y_{k}=Cx_{k}$, so + +$$ +\begin{align} +\begin{bmatrix}y_{1}\\ y_{2} \\ y_{3} \\ \vdots \\ y_{n} \end{bmatrix} = \begin{bmatrix}C & 0 & \dots & & 0 \\ 0 & C & 0 & \dots & 0 \\ 0 & 0 & C & \dots & 0 \\ \vdots & & & \ddots & 0 \\ 0 & \dots & 0 & 0 & C \end{bmatrix}\begin{bmatrix}x_{1}\\ x_{2} \\ x_{3} \\ \vdots \\ x_{n} \end{bmatrix} \tag{7} +\end{align} +$$ + +We can combine equations (6) and (7) into the following form: + +$$ +\begin{align} +X = Fx_{0} + GU +SW, Y=HX \tag{8} +\end{align} +$$ + +This form is similar to the original state-space equations (1), but it introduces new matrices: the state transition matrix $F$, control matrix $G$, disturbance matrix $W$, and measurement matrix $H$. In these equations, $X$ represents the predicted states, given by $\begin{bmatrix}x_{1} & x_{2} & \dots & x_{n} \end{bmatrix}^{T}$. + +Now that $G$, $S$, $W$, and $H$ are known, we can express the output behavior $Y$ for the next $n$ steps as a function of the input $U$. This allows us to calculate the control input $U$ so that $Y(U)$ follows the target trajectory $Y_{ref}$. + +The next step is to define a cost function. The cost function generally uses the following quadratic form; + +$$ +\begin{align} +J = (Y - Y_{ref})^{T}Q(Y - Y_{ref}) + (U - U_{ref})^{T}R(U - U_{ref}) \tag{9} +\end{align} +$$ + +where $U_{ref}$ is the target or steady-state input around which the system is linearized for $U$. + +This cost function is the same as that of the LQR controller. The first term of $J$ penalizes the deviation from the reference trajectory. The second term penalizes the deviation from the reference (or steady-state) control trajectory. The $Q$ and $R$ are the cost weights Positive and Positive semi-semidefinite matrices. + +Note: in some cases, $U_{ref}=0$ is used, but this can mean the steering angle should be set to $0$ even if the vehicle is turning a curve. Thus $U_{ref}$ is used for the explanation here. This $U_{ref}$ can be pre-calculated from the curvature of the target trajectory or the steady-state analyses. + +As the resulting trajectory output is now $Y=Y(x_{0}, U)$, the cost function depends only on U and the initial state conditions which yields the cost $J=J(x_{0}, U)$. Let’s find the $U$ that minimizes this. + +Substituting equation (8) into equation (9) and tidying up the equation for $U$. + +$$ +\begin{align} +J(U) &= (H(Fx_{0}+GU+SW)-Y_{ref})^{T}Q(H(Fx_{0}+GU+SW)-Y_{ref})+(U-U_{ref})^{T}R(U-U_{ref}) \\ +& =U^{T}(G^{T}H^{T}QHG+R)U+2\left\{(H(Fx_{0}+SW)-Yref)^{T}QHG-U_{ref}^{T}R\right\}U +(\rm{constant}) \tag{10} +\end{align} +$$ + +This equation is a quadratic form of $U$ (i.e. $U^{T}AU+B^{T}U$) + +The coefficient matrix of the quadratic term of $U$, $G^{T}C^{T}QCG+R$ , is positive definite due to the positive and semi-positive definiteness requirement for $Q$ and $R$. Therefore, the cost function is a convex quadratic function in U, which can efficiently be solved by convex optimization. + +### Apply to vehicle path-following problem (nonlinear problem) + +Because the path-following problem with a kinematic vehicle model is nonlinear, we cannot directly use the linear MPC methods described in the preceding section. There are several ways to deal with a nonlinearity such as using the nonlinear optimization solver. Here, the linearization is applied to the nonlinear vehicle model along the reference trajectory, and consequently, the nonlinear model is converted into a linear time-varying model. + +For a nonlinear kinematic vehicle model, the discrete-time update equations are as follows: + +$$ +\begin{align} +x_{k+1} &= x_{k} + v\cos\theta_{k} \text{d}t \\ +y_{k+1} &= y_{k} + v\sin\theta_{k} \text{d}t \\ +\theta_{k+1} &= \theta_{k} + \frac{v\tan\delta_{k}}{L} \text{d}t \tag{11} \\ +\delta_{k+1} &= \delta_{k} - \tau^{-1}\left(\delta_{k}-\delta_{des}\right)\text{d}t +\end{align} +$$ + +![vehicle_kinematics](./image/vehicle_kinematics.png) + +The vehicle reference is the center of the rear axle and all states are measured at this point. The states, parameters, and control variables are shown in the following table. + +| Symbol | Represent | +| -------------- | ------------------------------------------------------------- | +| $v$ | Vehicle speed measured at the center of rear axle | +| $\theta$ | Yaw (heading angle) in global coordinate system | +| $\delta$ | Vehicle steering angle | +| $\delta_{des}$ | Vehicle target steering angle | +| $L$ | Vehicle wheelbase (distance between the rear and front axles) | +| $\tau$ | Time constant for the first order steering dynamics | + +We assume in this example that the MPC only generates the steering control, and the trajectory generator gives the vehicle speed along the trajectory. + +The kinematic vehicle model discrete update equations contain trigonometric functions; sin and cos, and the vehicle coordinates $x$, $y$, and yaw angles are global coordinates. In path tracking applications, it is common to reformulate the model in error dynamics to convert the control into a regulator problem in which the targets become zero (zero error). + +![vehicle_error_kinematics](./image/vehicle_error_kinematics.png) + +We make small angle assumptions for the following derivations of linear equations. Given the nonlinear dynamics and omitting the longitudinal coordinate $x$, the resulting set of equations become; + +$$ +\begin{align} +y_{k+1} &= y_{k} + v\sin\theta_{k} \text{d}t \\ +\theta_{k+1} &= \theta_{k} + \frac{v\tan\delta_{k}}{L} \text{d}t - \kappa_{r}v\cos\theta_{k}\text{d}t +\tag{12} \\ +\delta_{k+1} &= \delta_{k} - \tau^{-1}\left(\delta_{k}-\delta_{des}\right)\text{d}t +\end{align} +$$ + +Where $\kappa_{r}\left(s\right)$ is the curvature along the trajectory parametrized by the arc length. + +There are three expressions in the update equations that are subject to linear approximation: the lateral deviation (or lateral coordinate) $y$, the heading angle (or the heading angle error) $\theta$, and the steering $\delta$. We can make a small angle assumption on the heading angle $\theta$. + +In the path tracking problem, the curvature of the trajectory $\kappa_{r}$ is known in advance. At the lower speeds, the Ackermann formula approximates the reference steering angle $\theta_{r}$(this value corresponds to the $U_{ref}$ mentioned above). The Ackerman steering expression can be written as; + +$$ +\begin{align} +\delta_{r} = \arctan\left(L\kappa_{r}\right) +\end{align} +$$ + +When the vehicle is turning a path, its steer angle $\delta$ should be close to the value $\delta_{r}$. Therefore, $\delta$ can be expressed, + +$$ +\begin{align} +\delta = \delta_{r} + \Delta \delta, \Delta\delta \ll 1 +\end{align} +$$ + +Substituting this equation into equation (12), and approximate $\Delta\delta$ to be small. + +$$ +\begin{align} +\tan\delta &\simeq \tan\delta_{r} + \frac{\text{d}\tan\delta}{\text{d}\delta} \Biggm|_{\delta=\delta_{r}}\Delta\delta \\ +&= \tan \delta_{r} + \frac{1}{\cos^{2}\delta_{r}}\Delta\delta \\ +&= \tan \delta_{r} + \frac{1}{\cos^{2}\delta_{r}}\left(\delta-\delta_{r}\right) \\ +&= \tan \delta_{r} - \frac{\delta_{r}}{\cos^{2}\delta_{r}} + \frac{1}{\cos^{2}\delta_{r}}\delta +\end{align} +$$ + +Using this, $\theta_{k+1}$ can be expressed + +$$ +\begin{align} +\theta_{k+1} &= \theta_{k} + \frac{v\tan\delta_{k}}{L}\text{d}t - \kappa_{r}v\cos\delta_{k}\text{d}t \\ +&\simeq \theta_{k} + \frac{v}{L}\text{d}t\left(\tan\delta_{r} - \frac{\delta_{r}}{\cos^{2}\delta_{r}} + \frac{1}{\cos^{2}\delta_{r}}\delta_{k} \right) - \kappa_{r}v\text{d}t \\ +&= \theta_{k} + \frac{v}{L}\text{d}t\left(L\kappa_{r} - \frac{\delta_{r}}{\cos^{2}\delta_{r}} + \frac{1}{\cos^{2}\delta_{r}}\delta_{k} \right) - \kappa_{r}v\text{d}t \\ +&= \theta_{k} + \frac{v}{L}\frac{\text{d}t}{\cos^{2}\delta_{r}}\delta_{k} - \frac{v}{L}\frac{\delta_{r}\text{d}t}{\cos^{2}\delta_{r}} +\end{align} +$$ + +Finally, the linearized time-varying model equation becomes; + +$$ +\begin{align} +\begin{bmatrix} y_{k+1} \\ \theta_{k+1} \\ \delta_{k+1} \end{bmatrix} = \begin{bmatrix} 1 & v\text{d}t & 0 \\ 0 & 1 & \frac{v}{L}\frac{\text{d}t}{\cos^{2}\delta_{r}} \\ 0 & 0 & 1 - \tau^{-1}\text{d}t \end{bmatrix} \begin{bmatrix} y_{k} \\ \theta_{k} \\ \delta_{k} \end{bmatrix} + \begin{bmatrix} 0 \\ 0 \\ \tau^{-1}\text{d}t \end{bmatrix}\delta_{des} + \begin{bmatrix} 0 \\ -\frac{v}{L}\frac{\delta_{r}\text{d}t}{\cos^{2}\delta_{r}} \\ 0 \end{bmatrix} +\end{align} +$$ + +This equation has the same form as equation (1) of the linear MPC assumption, but the matrices $A$, $B$, and $w$ change depending on the coordinate transformation. To make this explicit, the entire equation is written as follows + +$$ +\begin{align} +x_{k+1} = A_{k}x_{k} + B_{k}u_{k}+w_{k} +\end{align} +$$ + +Comparing equation (1), $A \rightarrow A_{k}$. This means that the $A$ matrix is a linear approximation in the vicinity of the trajectory after $k$ steps (i.e., $k* \text{d}t$ seconds), and it can be obtained if the trajectory is known in advance. + +Using this equation, write down the update equation likewise (2) ~ (6) + +$$ +\begin{align} +\begin{bmatrix} + x_{1} \\ x_{2} \\ x_{3} \\ \vdots \\ x_{n} +\end{bmatrix} += \begin{bmatrix} + A_{1} \\ A_{1}A_{0} \\ A_{2}A_{1}A_{0} \\ \vdots \\ \prod_{i=0}^{n-1} A_{k} +\end{bmatrix} +x_{0} + +\begin{bmatrix} + B_{0} & 0 & \dots & & 0 \\ A_{1}B_{0} & B_{1} & 0 & \dots & 0 \\ A_{2}A_{1}B_{0} & A_{2}B_{1} & B_{2} & \dots & 0 \\ \vdots & \vdots & &\ddots & 0 \\ \prod_{i=1}^{n-1} A_{k}B_{0} & \prod_{i=2}^{n-1} A_{k}B_{1} & \dots & A_{n-1}B_{n-1} & B_{n-1} +\end{bmatrix} +\begin{bmatrix} + u_{0} \\ u_{1} \\ u_{2} \\ \vdots \\ u_{n-1} +\end{bmatrix} + +\begin{bmatrix} +I & 0 & \dots & & 0 \\ A_{1} & I & 0 & \dots & 0 \\ A_{2}A_{1} & A_{2} & I & \dots & 0 \\ \vdots & \vdots & &\ddots & 0 \\ \prod_{i=1}^{n-1} A_{k} & \prod_{i=2}^{n-1} A_{k} & \dots & A_{n-1} & I +\end{bmatrix} +\begin{bmatrix} + w_{0} \\ w_{1} \\ w_{2} \\ \vdots \\ w_{n-1} +\end{bmatrix} +\end{align} +$$ + +As it has the same form as equation (6), convex optimization is applicable for as much as the model in the former section. + +## The cost functions and constraints + +In this section, we give the details on how to set up the cost function and constraint conditions. + +### The cost function + +#### Weight for error and input + +MPC states and control weights appear in the cost function in a similar way as LQR (9). In the vehicle path following the problem described above, if C is the unit matrix, the output $y = x = \left[y, \theta, \delta\right]$. (To avoid confusion with the y-directional deviation, here $e$ is used for the lateral deviation.) + +As an example, let's determine the weight matrix $Q_{1}$ of the evaluation function for the number of prediction steps $n=2$ system as follows. + +$$ +\begin{align} +Q_{1} = \begin{bmatrix} q_{e} & 0 & 0 & 0 & 0& 0 \\ 0 & q_{\theta} & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & q_{e} & 0 & 0 \\ 0 & 0 & 0 & 0 & q_{\theta} & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 \end{bmatrix} +\end{align} +$$ + +The first term in the cost function (9) with $n=2$, is shown as follow ($Y_{ref}$ is set to $0$) + +$$ +\begin{align} +q_{e}\left(e_{0}^{2} + e_{1}^{2} \right) + q_{\theta}\left(\theta_{0}^{2} + \theta_{1}^{2} \right) +\end{align} +$$ + +This shows that $q_{e}$ is the weight for the lateral error and $q$ is for the angular error. In this example, $q_{e}$ acts as the proportional - P gain and $q_{\theta}$ as the derivative - D gain for the lateral tracking error. The balance of these factors (including R) will be determined through actual experiments. + +#### Weight for non-diagonal term + +MPC can handle the non-diagonal term in its calculation (as long as the resulting matrix is positive definite). + +For instance, write $Q_{2}$ as follows for the $n=2$ system. + +$$ +\begin{align} +Q_{2} = \begin{bmatrix} 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & q_{d} & 0 & 0 & -q_{d} \\ 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & -q_{d} & 0 & 0 & q_{d} \end{bmatrix} +\end{align} +$$ + +Expanding the first term of the evaluation function using $Q_{2}$ + +$$ +\begin{align} +q_{d}\left(\delta_{0}^{2} -2\delta_{0}\delta_{1} + \delta_{1}^{2} \right) = q_{d}\left( \delta_{0} - \delta_{1}\right)^{2} +\end{align} +$$ + +The value of $q_{d}$ is weighted by the amount of change in $\delta$, which will prevent the tire from moving quickly. By adding this section, the system can evaluate the balance between tracking accuracy and change of steering wheel angle. + +Since the weight matrix can be added linearly, the final weight can be set as $Q = Q_{1} + Q_{2}$. + +Furthermore, MPC optimizes over a period of time, the time-varying weight can be considered in the optimization. + +### Constraints + +#### Input constraint + +The main advantage of MPC controllers is the capability to deal with any state or input constraints. The constraints can be expressed as box constraints, such as "the tire angle must be within ±30 degrees", and can be put in the following form; + +$$ +\begin{align} +u_{min} < u < u_{max} +\end{align} +$$ + +The constraints must be linear and convex in the linear MPC applications. + +#### Constraints on the derivative of the input + +We can also put constraints on the input deviations. As the derivative of steering angle is $\dot{u}$, its box constraint is + +$$ +\begin{align} +\dot{u}_{min} < \dot{u} < \dot{u}_{max} +\end{align} +$$ + +Discretisizing $\dot{u}$ as $\left(u_{k} - u_{k-1}\right)/\text{d}t$ and multiply both sides by dt the resulting constraint become linear and convex + +$$ +\begin{align} +\dot{u}_{min}\text{d}t < u_{k} - u_{k-1} < \dot{u}_{max}\text{d}t +\end{align} +$$ + +Along the prediction or control horizon, i.e for setting $n=3$ + +$$ +\begin{align} +\dot{u}_{min}\text{d}t < u_{1} - u_{0} < \dot{u}_{max}\text{d}t \\ +\dot{u}_{min}\text{d}t < u_{2} - u_{1} < \dot{u}_{max}\text{d}t +\end{align} +$$ + +and aligning the inequality signs + +$$ +\begin{align} +u_{1} - u_{0} &< \dot{u}_{max}\text{d}t \\ + +u_{1} + u_{0} &< -\dot{u}_{min}\text{d}t \\ +u_{2} - u_{1} &< \dot{u}_{max}\text{d}t \\ + +u_{2} + u_{1} &< - \dot{u}_{min}\text{d}t +\end{align} +$$ + +We can obtain a matrix expression for the resulting constraint equation in the form of + +$$ +\begin{align} +Ax \leq b +\end{align} +$$ + +Thus, putting this inequality to fit the form above, the constraints against $\dot{u}$ can be included at the first-order approximation level. + +$$ +\begin{align} +\begin{bmatrix} -1 & 1 & 0 \\ 1 & -1 & 0 \\ 0 & -1 & 1 \\ 0 & 1 & -1 \end{bmatrix}\begin{bmatrix} u_{0} \\ u_{1} \\ u_{2} \end{bmatrix} \leq \begin{bmatrix} \dot{u}_{max}\text{d}t \\ -\dot{u}_{min}\text{d}t \\ \dot{u}_{max}\text{d}t \\ -\dot{u}_{min}\text{d}t \end{bmatrix} +\end{align} +$$ From 1bf505638c35fbfb36f0675294c66d81e2dadd48 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 3 Jul 2023 05:00:30 +0900 Subject: [PATCH 069/118] style: fix typos in PlotJuggler config files (#3618) Signed-off-by: Kenji Miyake --- .../config/controller_monitor.xml | 12 ++++++------ .../config/error_rqt_multiplot.xml | 2 +- ..._pursuit_lateral_controller_plotjuggler_debug.xml | 10 +++++----- .../config/plot_juggler_trajectory_follower.xml | 8 ++++---- .../config/plot_juggler_obstacle_cruise_planner.xml | 10 +++++----- .../config/plot_juggler_adaptive_cruise.xml | 8 ++++---- .../config/plot_juggler_slow_down.xml | 8 ++++---- .../config/planning_validator_plotjugler_config.xml | 10 +++++----- .../config/processing_time_ms.xml | 8 ++++---- 9 files changed, 38 insertions(+), 38 deletions(-) diff --git a/control/control_performance_analysis/config/controller_monitor.xml b/control/control_performance_analysis/config/controller_monitor.xml index c5189ccec4110..cb3f38e55e5f0 100644 --- a/control/control_performance_analysis/config/controller_monitor.xml +++ b/control/control_performance_analysis/config/controller_monitor.xml @@ -287,7 +287,7 @@ - + @@ -381,7 +381,7 @@ - + @@ -389,7 +389,7 @@ - + @@ -405,14 +405,14 @@ - + - + - + sum = 0 sum = sum + math.abs(value) diff --git a/control/control_performance_analysis/config/error_rqt_multiplot.xml b/control/control_performance_analysis/config/error_rqt_multiplot.xml index b80449fb9067e..8597cbdaa253e 100644 --- a/control/control_performance_analysis/config/error_rqt_multiplot.xml +++ b/control/control_performance_analysis/config/error_rqt_multiplot.xml @@ -726,7 +726,7 @@ true 30 - Measured and Computed Steerings Plot + Measured and Computed Steering Plot diff --git a/control/pure_pursuit/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml b/control/pure_pursuit/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml index 284380c654255..9e0fc652652c3 100644 --- a/control/pure_pursuit/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml +++ b/control/pure_pursuit/config/pure_pursuit_lateral_controller_plotjuggler_debug.xml @@ -77,7 +77,7 @@ - + @@ -85,7 +85,7 @@ - + @@ -98,15 +98,15 @@ - + - + - + diff --git a/control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml b/control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml index 303ba94ddb399..6956db84aff56 100644 --- a/control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml +++ b/control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml @@ -243,13 +243,13 @@ - + - + @@ -263,11 +263,11 @@ - + - + diff --git a/planning/obstacle_cruise_planner/config/plot_juggler_obstacle_cruise_planner.xml b/planning/obstacle_cruise_planner/config/plot_juggler_obstacle_cruise_planner.xml index b1a5275feda37..75500da8d2d49 100644 --- a/planning/obstacle_cruise_planner/config/plot_juggler_obstacle_cruise_planner.xml +++ b/planning/obstacle_cruise_planner/config/plot_juggler_obstacle_cruise_planner.xml @@ -145,13 +145,13 @@ - + - + @@ -167,15 +167,15 @@ - + - + - + diff --git a/planning/obstacle_stop_planner/config/plot_juggler_adaptive_cruise.xml b/planning/obstacle_stop_planner/config/plot_juggler_adaptive_cruise.xml index 5770820fbba1d..b7c37e5077c55 100644 --- a/planning/obstacle_stop_planner/config/plot_juggler_adaptive_cruise.xml +++ b/planning/obstacle_stop_planner/config/plot_juggler_adaptive_cruise.xml @@ -102,14 +102,14 @@ - + - + @@ -121,11 +121,11 @@ - + - + diff --git a/planning/obstacle_stop_planner/config/plot_juggler_slow_down.xml b/planning/obstacle_stop_planner/config/plot_juggler_slow_down.xml index cbb840b12552a..92b56c2d2e6e4 100644 --- a/planning/obstacle_stop_planner/config/plot_juggler_slow_down.xml +++ b/planning/obstacle_stop_planner/config/plot_juggler_slow_down.xml @@ -57,13 +57,13 @@ - + - + @@ -81,11 +81,11 @@ - + - + diff --git a/planning/planning_validator/config/planning_validator_plotjugler_config.xml b/planning/planning_validator/config/planning_validator_plotjugler_config.xml index d331ed9985dfc..d6afc0b017d32 100644 --- a/planning/planning_validator/config/planning_validator_plotjugler_config.xml +++ b/planning/planning_validator/config/planning_validator_plotjugler_config.xml @@ -120,13 +120,13 @@ - + - + @@ -140,15 +140,15 @@ - + - + - + diff --git a/sensing/pointcloud_preprocessor/config/processing_time_ms.xml b/sensing/pointcloud_preprocessor/config/processing_time_ms.xml index 5da1ec3720fb0..569e2e34df670 100644 --- a/sensing/pointcloud_preprocessor/config/processing_time_ms.xml +++ b/sensing/pointcloud_preprocessor/config/processing_time_ms.xml @@ -29,7 +29,7 @@ - + @@ -37,7 +37,7 @@ - + @@ -53,11 +53,11 @@ - + - + From 679c94b1bde7a023eea8155314c5597602526e98 Mon Sep 17 00:00:00 2001 From: Ambroise Vincent Date: Sun, 2 Jul 2023 22:21:38 +0200 Subject: [PATCH 070/118] ci: add JSON Schema validation (#4122) * ci: add JSON Schema validation Leverage the json-schema-check action from the autoware-github-actions repository. Issue-Id: SCM-6366 Signed-off-by: Ambroise Vincent Change-Id: I5f284e96b2eddc652a6da8c0338f92c411277c04 * Update .github/workflows/json-schema-check.yaml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --------- Signed-off-by: Ambroise Vincent Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .github/workflows/json-schema-check.yaml | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) create mode 100644 .github/workflows/json-schema-check.yaml diff --git a/.github/workflows/json-schema-check.yaml b/.github/workflows/json-schema-check.yaml new file mode 100644 index 0000000000000..3d0c0b83d8746 --- /dev/null +++ b/.github/workflows/json-schema-check.yaml @@ -0,0 +1,17 @@ +name: json-schema-check + +on: + pull_request: + paths: + - "**/schema/*.schema.json" + - "**/config/*.param.yaml" + +jobs: + json-schema-check: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Run json-schema-check + uses: autowarefoundation/autoware-github-actions/json-schema-check@v1 From 01366133938655ae1b1fe698bbd24abec15dcd94 Mon Sep 17 00:00:00 2001 From: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Date: Mon, 3 Jul 2023 11:36:49 +0900 Subject: [PATCH 071/118] feat: add vehicle status api (#2930) * add vehicle status api Signed-off-by: tkhmy * update msgs Signed-off-by: tkhmy * change naming Signed-off-by: tkhmy * ada none Signed-off-by: tkhmy * change naming Signed-off-by: tkhmy * add publish geoposition Signed-off-by: tkhmy * add door status Signed-off-by: tkhmy * change variable naming Signed-off-by: tkhmy * change variable naming Signed-off-by: tkhmy * update license Signed-off-by: tkhmy * fix gps convert Signed-off-by: tkhmy * add support for UTM reverse Signed-off-by: tkhmy * fix naming Signed-off-by: tkhmy * update naming Signed-off-by: tkhmy * fix naming Signed-off-by: tkhmy * remote door status Signed-off-by: tkhmy * clean up vehicle.hpp Signed-off-by: tkhmy * fix missing declare Signed-off-by: tkhmy * move convert to cpp Signed-off-by: tkhmy * move convert to timer callback Signed-off-by: tkhmy * set to nan when no projector info Signed-off-by: tkhmy * added checking message valid Signed-off-by: tkhmy * fix msgs Signed-off-by: tkhmy --------- Signed-off-by: tkhmy --- .../include/autoware_ad_api_specs/vehicle.hpp | 20 ++ .../localization.hpp | 10 + .../include/component_interface_specs/map.hpp | 36 +++ .../component_interface_specs/vehicle.hpp | 76 +++++++ common/component_interface_specs/package.xml | 3 + system/default_ad_api/CMakeLists.txt | 2 + .../launch/default_ad_api.launch.py | 1 + system/default_ad_api/package.xml | 4 + system/default_ad_api/src/vehicle.cpp | 208 ++++++++++++++++++ system/default_ad_api/src/vehicle.hpp | 91 ++++++++ 10 files changed, 451 insertions(+) create mode 100644 common/component_interface_specs/include/component_interface_specs/map.hpp create mode 100644 common/component_interface_specs/include/component_interface_specs/vehicle.hpp create mode 100644 system/default_ad_api/src/vehicle.cpp create mode 100644 system/default_ad_api/src/vehicle.hpp diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp index 4d5acd544b41d..0baf8531d00c8 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp @@ -17,11 +17,31 @@ #include +#include +#include #include namespace autoware_ad_api::vehicle { +struct VehicleKinematics +{ + using Message = autoware_adapi_v1_msgs::msg::VehicleKinematics; + static constexpr char name[] = "/api/vehicle/kinematics"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; +}; + +struct VehicleStatus +{ + using Message = autoware_adapi_v1_msgs::msg::VehicleStatus; + static constexpr char name[] = "/api/vehicle/status"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; +}; + struct Dimensions { using Service = autoware_adapi_v1_msgs::srv::GetVehicleDimensions; diff --git a/common/component_interface_specs/include/component_interface_specs/localization.hpp b/common/component_interface_specs/include/component_interface_specs/localization.hpp index 89740ffbb1f4c..70c590c837927 100644 --- a/common/component_interface_specs/include/component_interface_specs/localization.hpp +++ b/common/component_interface_specs/include/component_interface_specs/localization.hpp @@ -19,6 +19,7 @@ #include #include +#include #include namespace localization_interface @@ -48,6 +49,15 @@ struct KinematicState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; +struct Acceleration +{ + using Message = geometry_msgs::msg::AccelWithCovarianceStamped; + static constexpr char name[] = "/localization/acceleration"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; +}; + } // namespace localization_interface #endif // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/map.hpp b/common/component_interface_specs/include/component_interface_specs/map.hpp new file mode 100644 index 0000000000000..f0cce7a7f97a2 --- /dev/null +++ b/common/component_interface_specs/include/component_interface_specs/map.hpp @@ -0,0 +1,36 @@ +// Copyright 2023 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 COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#define COMPONENT_INTERFACE_SPECS__MAP_HPP_ + +#include + +#include + +namespace map_interface +{ + +struct MapProjectorInfo +{ + using Message = tier4_map_msgs::msg::MapProjectorInfo; + static constexpr char name[] = "/map/map_projector_type"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; +}; + +} // namespace map_interface + +#endif // COMPONENT_INTERFACE_SPECS__MAP_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp b/common/component_interface_specs/include/component_interface_specs/vehicle.hpp new file mode 100644 index 0000000000000..ecbf7a21e1299 --- /dev/null +++ b/common/component_interface_specs/include/component_interface_specs/vehicle.hpp @@ -0,0 +1,76 @@ +// Copyright 2023 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 COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#define COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ + +#include + +#include +#include +#include +#include +#include + +namespace vehicle_interface +{ + +struct SteeringStatus +{ + using Message = autoware_auto_vehicle_msgs::msg::SteeringReport; + static constexpr char name[] = "/vehicle/status/steering_status"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; +}; + +struct GearStatus +{ + using Message = autoware_auto_vehicle_msgs::msg::GearReport; + static constexpr char name[] = "/vehicle/status/gear_status"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; +}; + +struct TurnIndicatorStatus +{ + using Message = autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport; + static constexpr char name[] = "/vehicle/status/turn_indicators_status"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; +}; + +struct HazardLightStatus +{ + using Message = autoware_auto_vehicle_msgs::msg::HazardLightsReport; + static constexpr char name[] = "/vehicle/status/hazard_lights_status"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; +}; + +struct EnergyStatus +{ + using Message = tier4_vehicle_msgs::msg::BatteryStatus; + static constexpr char name[] = "/vehicle/status/battery_charge"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; +}; + +} // namespace vehicle_interface + +#endif // COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ diff --git a/common/component_interface_specs/package.xml b/common/component_interface_specs/package.xml index d4fe460a6daea..7ebc3f0d1bea9 100644 --- a/common/component_interface_specs/package.xml +++ b/common/component_interface_specs/package.xml @@ -14,6 +14,9 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_auto_vehicle_msgs + tier4_map_msgs + tier4_vehicle_msgs ament_lint_auto autoware_lint_common diff --git a/system/default_ad_api/CMakeLists.txt b/system/default_ad_api/CMakeLists.txt index 28eec2e8eefc0..7bb80164bb9a0 100644 --- a/system/default_ad_api/CMakeLists.txt +++ b/system/default_ad_api/CMakeLists.txt @@ -12,6 +12,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/operation_mode.cpp src/planning.cpp src/routing.cpp + src/vehicle.cpp src/vehicle_info.cpp src/utils/route_conversion.cpp src/compatibility/autoware_state.cpp @@ -26,6 +27,7 @@ rclcpp_components_register_nodes(${PROJECT_NAME} "default_ad_api::OperationModeNode" "default_ad_api::PlanningNode" "default_ad_api::RoutingNode" + "default_ad_api::VehicleNode" "default_ad_api::VehicleInfoNode" ) 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 c9a3abf9f8e5d..fdb79d517206d 100644 --- a/system/default_ad_api/launch/default_ad_api.launch.py +++ b/system/default_ad_api/launch/default_ad_api.launch.py @@ -49,6 +49,7 @@ def generate_launch_description(): create_api_node("operation_mode", "OperationModeNode"), create_api_node("planning", "PlanningNode"), create_api_node("routing", "RoutingNode"), + create_api_node("vehicle", "VehicleNode"), create_api_node("vehicle_info", "VehicleInfoNode"), ] container = ComposableNodeContainer( diff --git a/system/default_ad_api/package.xml b/system/default_ad_api/package.xml index 3e11cbb2952ed..032335fdddfd2 100644 --- a/system/default_ad_api/package.xml +++ b/system/default_ad_api/package.xml @@ -19,13 +19,17 @@ autoware_adapi_version_msgs autoware_auto_planning_msgs autoware_auto_system_msgs + autoware_auto_vehicle_msgs autoware_planning_msgs component_interface_specs component_interface_utils + lanelet2_extension motion_utils + nav_msgs rclcpp rclcpp_components std_srvs + tier4_api_msgs tier4_control_msgs tier4_system_msgs vehicle_info_util diff --git a/system/default_ad_api/src/vehicle.cpp b/system/default_ad_api/src/vehicle.cpp new file mode 100644 index 0000000000000..4cd7f370a55fc --- /dev/null +++ b/system/default_ad_api/src/vehicle.cpp @@ -0,0 +1,208 @@ +// Copyright 2023 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 "vehicle.hpp" + +#include + +namespace default_ad_api +{ + +using GearReport = vehicle_interface::GearStatus::Message; +using ApiGear = autoware_adapi_v1_msgs::msg::Gear; +using TurnIndicatorsReport = vehicle_interface::TurnIndicatorStatus::Message; +using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators; +using HazardLightsReport = vehicle_interface::HazardLightStatus::Message; +using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights; +using MapProjectorInfo = map_interface::MapProjectorInfo::Message; + +std::unordered_map gear_type_ = { + {GearReport::NONE, ApiGear::UNKNOWN}, {GearReport::NEUTRAL, ApiGear::NEUTRAL}, + {GearReport::DRIVE, ApiGear::DRIVE}, {GearReport::DRIVE_2, ApiGear::DRIVE}, + {GearReport::DRIVE_3, ApiGear::DRIVE}, {GearReport::DRIVE_4, ApiGear::DRIVE}, + {GearReport::DRIVE_5, ApiGear::DRIVE}, {GearReport::DRIVE_6, ApiGear::DRIVE}, + {GearReport::DRIVE_7, ApiGear::DRIVE}, {GearReport::DRIVE_8, ApiGear::DRIVE}, + {GearReport::DRIVE_9, ApiGear::DRIVE}, {GearReport::DRIVE_10, ApiGear::DRIVE}, + {GearReport::DRIVE_11, ApiGear::DRIVE}, {GearReport::DRIVE_12, ApiGear::DRIVE}, + {GearReport::DRIVE_13, ApiGear::DRIVE}, {GearReport::DRIVE_14, ApiGear::DRIVE}, + {GearReport::DRIVE_15, ApiGear::DRIVE}, {GearReport::DRIVE_16, ApiGear::DRIVE}, + {GearReport::DRIVE_17, ApiGear::DRIVE}, {GearReport::DRIVE_18, ApiGear::DRIVE}, + {GearReport::REVERSE, ApiGear::REVERSE}, {GearReport::REVERSE_2, ApiGear::REVERSE}, + {GearReport::PARK, ApiGear::PARK}, {GearReport::LOW, ApiGear::LOW}, + {GearReport::LOW_2, ApiGear::LOW}, +}; + +std::unordered_map turn_indicator_type_ = { + {TurnIndicatorsReport::DISABLE, ApiTurnIndicator::DISABLE}, + {TurnIndicatorsReport::ENABLE_LEFT, ApiTurnIndicator::LEFT}, + {TurnIndicatorsReport::ENABLE_RIGHT, ApiTurnIndicator::RIGHT}, +}; + +std::unordered_map hazard_light_type_ = { + {HazardLightsReport::DISABLE, ApiHazardLight::DISABLE}, + {HazardLightsReport::ENABLE, ApiHazardLight::ENABLE}, +}; + +VehicleNode::VehicleNode(const rclcpp::NodeOptions & options) : Node("vehicle", options) +{ + const auto adaptor = component_interface_utils::NodeAdaptor(this); + group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + adaptor.init_pub(pub_kinematics_); + adaptor.init_pub(pub_status_); + adaptor.init_sub(sub_kinematic_state_, this, &VehicleNode::kinematic_state); + adaptor.init_sub(sub_acceleration_, this, &VehicleNode::acceleration_status); + adaptor.init_sub(sub_steering_, this, &VehicleNode::steering_status); + adaptor.init_sub(sub_gear_state_, this, &VehicleNode::gear_status); + adaptor.init_sub(sub_turn_indicator_, this, &VehicleNode::turn_indicator_status); + adaptor.init_sub(sub_map_projector_info_, this, &VehicleNode::map_projector_info); + adaptor.init_sub(sub_hazard_light_, this, &VehicleNode::hazard_light_status); + adaptor.init_sub(sub_energy_level_, this, &VehicleNode::energy_status); + + const auto rate = rclcpp::Rate(10); + timer_ = rclcpp::create_timer(this, get_clock(), rate.period(), [this]() { on_timer(); }); +} + +uint8_t VehicleNode::mapping( + std::unordered_map hash_map, uint8_t input, uint8_t default_value) +{ + if (hash_map.find(input) == hash_map.end()) { + return default_value; + } else { + return hash_map[input]; + } +} + +void VehicleNode::kinematic_state( + const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr) +{ + kinematic_state_msgs_ = msg_ptr; +} + +Eigen::Vector3d VehicleNode::toBasicPoint3dPt(const geometry_msgs::msg::Point src) +{ + Eigen::Vector3d dst; + dst.x() = src.x; + dst.y() = src.y; + dst.z() = src.z; + return dst; +} + +void VehicleNode::acceleration_status( + const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr) +{ + acceleration_msgs_ = msg_ptr; +} + +void VehicleNode::steering_status( + const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr) +{ + steering_status_msgs_ = msg_ptr; +} + +void VehicleNode::gear_status(const GearReport::ConstSharedPtr msg_ptr) +{ + gear_status_msgs_ = msg_ptr; +} + +void VehicleNode::turn_indicator_status(const TurnIndicatorsReport::ConstSharedPtr msg_ptr) +{ + turn_indicator_status_msgs_ = msg_ptr; +} + +void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr msg_ptr) +{ + hazard_light_status_msgs_ = msg_ptr; +} + +void VehicleNode::energy_status( + const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr) +{ + energy_status_msgs_ = msg_ptr; +} + +void VehicleNode::map_projector_info(const MapProjectorInfo::ConstSharedPtr msg_ptr) +{ + map_projector_info_ = msg_ptr; +} + +void VehicleNode::publish_kinematics() +{ + if (!kinematic_state_msgs_ || !acceleration_msgs_) return; + + autoware_ad_api::vehicle::VehicleKinematics::Message vehicle_kinematics; + vehicle_kinematics.pose.header = kinematic_state_msgs_->header; + vehicle_kinematics.pose.pose = kinematic_state_msgs_->pose; + vehicle_kinematics.twist.header = kinematic_state_msgs_->header; + vehicle_kinematics.twist.header.frame_id = kinematic_state_msgs_->child_frame_id; + vehicle_kinematics.twist.twist = kinematic_state_msgs_->twist; + if (map_projector_info_->type == "MGRS") { + lanelet::GPSPoint projected_gps_point = lanelet::projection::MGRSProjector::reverse( + toBasicPoint3dPt(kinematic_state_msgs_->pose.pose.position), map_projector_info_->mgrs_grid); + vehicle_kinematics.geographic_pose.header = kinematic_state_msgs_->header; + vehicle_kinematics.geographic_pose.header.frame_id = "global"; + vehicle_kinematics.geographic_pose.position.latitude = projected_gps_point.lat; + vehicle_kinematics.geographic_pose.position.longitude = projected_gps_point.lon; + vehicle_kinematics.geographic_pose.position.altitude = projected_gps_point.ele; + } else if (map_projector_info_->type == "UTM") { + lanelet::GPSPoint position{ + map_projector_info_->map_origin.latitude, map_projector_info_->map_origin.longitude}; + lanelet::Origin origin{position}; + lanelet::projection::UtmProjector projector{origin}; + lanelet::GPSPoint projected_gps_point = + projector.reverse(toBasicPoint3dPt(kinematic_state_msgs_->pose.pose.position)); + vehicle_kinematics.geographic_pose.header = kinematic_state_msgs_->header; + vehicle_kinematics.geographic_pose.header.frame_id = "global"; + vehicle_kinematics.geographic_pose.position.latitude = projected_gps_point.lat; + vehicle_kinematics.geographic_pose.position.longitude = projected_gps_point.lon; + vehicle_kinematics.geographic_pose.position.altitude = projected_gps_point.ele; + } else { + vehicle_kinematics.geographic_pose.position.latitude = std::numeric_limits::quiet_NaN(); + vehicle_kinematics.geographic_pose.position.longitude = + std::numeric_limits::quiet_NaN(); + vehicle_kinematics.geographic_pose.position.altitude = std::numeric_limits::quiet_NaN(); + } + vehicle_kinematics.accel.header = acceleration_msgs_->header; + vehicle_kinematics.accel.accel = acceleration_msgs_->accel; + pub_kinematics_->publish(vehicle_kinematics); +} + +void VehicleNode::publish_status() +{ + if ( + !steering_status_msgs_ || !gear_status_msgs_ || !turn_indicator_status_msgs_ || + hazard_light_status_msgs_ || energy_status_msgs_) + return; + + autoware_ad_api::vehicle::VehicleStatus::Message vehicle_status; + vehicle_status.stamp = now(); + vehicle_status.steering_tire_angle = steering_status_msgs_->steering_tire_angle; + vehicle_status.gear.status = mapping(gear_type_, gear_status_msgs_->report, ApiGear::UNKNOWN); + vehicle_status.turn_indicators.status = + mapping(turn_indicator_type_, turn_indicator_status_msgs_->report, ApiTurnIndicator::UNKNOWN); + vehicle_status.hazard_lights.status = + mapping(hazard_light_type_, hazard_light_status_msgs_->report, ApiHazardLight::UNKNOWN); + vehicle_status.energy_percentage = energy_status_msgs_->energy_level; + pub_status_->publish(vehicle_status); +} + +void VehicleNode::on_timer() +{ + publish_kinematics(); + publish_status(); +} + +} // namespace default_ad_api + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::VehicleNode) diff --git a/system/default_ad_api/src/vehicle.hpp b/system/default_ad_api/src/vehicle.hpp new file mode 100644 index 0000000000000..90f8b686206c5 --- /dev/null +++ b/system/default_ad_api/src/vehicle.hpp @@ -0,0 +1,91 @@ +// Copyright 2023 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 VEHICLE_HPP_ +#define VEHICLE_HPP_ + +#include "lanelet2_extension/projection/mgrs_projector.hpp" + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include + +// This file should be included after messages. +#include "utils/types.hpp" + +namespace default_ad_api +{ + +class VehicleNode : public rclcpp::Node +{ +public: + explicit VehicleNode(const rclcpp::NodeOptions & options); + +private: + rclcpp::CallbackGroup::SharedPtr group_cli_; + Pub pub_kinematics_; + Pub pub_status_; + Sub sub_kinematic_state_; + Sub sub_acceleration_; + Sub sub_steering_; + Sub sub_gear_state_; + Sub sub_turn_indicator_; + Sub sub_hazard_light_; + Sub sub_energy_level_; + Sub sub_map_projector_info_; + rclcpp::TimerBase::SharedPtr timer_; + + localization_interface::KinematicState::Message::ConstSharedPtr kinematic_state_msgs_; + localization_interface::Acceleration::Message::ConstSharedPtr acceleration_msgs_; + vehicle_interface::SteeringStatus::Message::ConstSharedPtr steering_status_msgs_; + vehicle_interface::GearStatus::Message::ConstSharedPtr gear_status_msgs_; + vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr turn_indicator_status_msgs_; + vehicle_interface::HazardLightStatus::Message::ConstSharedPtr hazard_light_status_msgs_; + vehicle_interface::EnergyStatus::Message::ConstSharedPtr energy_status_msgs_; + map_interface::MapProjectorInfo::Message::ConstSharedPtr map_projector_info_; + + void kinematic_state( + const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr); + void acceleration_status( + const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr); + void steering_status(const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr); + void gear_status(const vehicle_interface::GearStatus::Message::ConstSharedPtr msg_ptr); + void turn_indicator_status( + const vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr); + void map_projector_info(const map_interface::MapProjectorInfo::Message::ConstSharedPtr msg_ptr); + void hazard_light_status( + const vehicle_interface::HazardLightStatus::Message::ConstSharedPtr msg_ptr); + void energy_status(const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr); + uint8_t mapping( + std::unordered_map hash_map, uint8_t input, uint8_t default_value); + void publish_kinematics(); + void publish_status(); + void on_timer(); + Eigen::Vector3d toBasicPoint3dPt(const geometry_msgs::msg::Point src); +}; + +} // namespace default_ad_api + +#endif // VEHICLE_HPP_ From e0187723d17dead16a441812af5a4dd4ab04354d Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Mon, 3 Jul 2023 15:31:45 +0900 Subject: [PATCH 072/118] fix(radar_tracks_msg_converter): fix twist conversion (#3963) * fix(radar_tracks_msg_converter): fix twist conversion Signed-off-by: scepter914 * update README Signed-off-by: scepter914 * fix typo Signed-off-by: scepter914 * fix orientation_availability Signed-off-by: scepter914 --------- Signed-off-by: scepter914 --- .../radar_tracks_msgs_converter/README.md | 4 +- .../radar_tracks_msgs_converter_node.hpp | 2 +- .../radar_tracks_msgs_converter_node.cpp | 126 +++++------------- 3 files changed, 39 insertions(+), 93 deletions(-) diff --git a/perception/radar_tracks_msgs_converter/README.md b/perception/radar_tracks_msgs_converter/README.md index a16cd5945801b..c29d8ee424549 100644 --- a/perception/radar_tracks_msgs_converter/README.md +++ b/perception/radar_tracks_msgs_converter/README.md @@ -13,8 +13,8 @@ This package convert from [radar_msgs/msg/RadarTracks](https://github.com/ros-pe - `~/input/radar_objects` (radar_msgs/msg/RadarTracks.msg): Input radar topic - `~/input/odometry` (nav_msgs/msg/Odometry.msg): Ego vehicle odometry topic - Output - - `~/output/radar_detected_objects` (autoware_auto_perception_msgs/msg/DetectedObject.idl): The topic converted to Autoware's message - - `~/output/radar_tracked_objects` (autoware_auto_perception_msgs/msg/TrackedObject.idl): The topic converted to Autoware's message + - `~/output/radar_detected_objects` (autoware_auto_perception_msgs/msg/DetectedObject.idl): The topic converted to Autoware's message. This is used for radar sensor fusion detection and radar detection. + - `~/output/radar_tracked_objects` (autoware_auto_perception_msgs/msg/TrackedObject.idl): The topic converted to Autoware's message. This is used for tracking layer sensor fusion. ### Parameters diff --git a/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp b/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp index d5738c80dcca9..62ebb2ec0146b 100644 --- a/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp +++ b/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp @@ -93,7 +93,7 @@ class RadarTracksMsgsConverterNode : public rclcpp::Node // Core geometry_msgs::msg::PoseWithCovariance convertPoseWithCovariance(); TrackedObjects convertRadarTrackToTrackedObjects(); - DetectedObjects convertRadarTrackToDetectedObjects(); + DetectedObjects convertTrackedObjectsToDetectedObjects(TrackedObjects & objects); uint8_t convertClassification(const uint16_t classification); }; diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp index eb4a497e70495..5d3dd3b997f24 100644 --- a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp +++ b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp @@ -14,6 +14,8 @@ #include "radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp" +#include "tier4_autoware_utils/tier4_autoware_utils.hpp" + #include #ifdef ROS_DISTRO_GALACTIC @@ -153,94 +155,36 @@ void RadarTracksMsgsConverterNode::onTimer() node_param_.new_frame_id, header.frame_id, header.stamp, rclcpp::Duration::from_seconds(0.01)); TrackedObjects tracked_objects = convertRadarTrackToTrackedObjects(); - DetectedObjects detected_objects = convertRadarTrackToDetectedObjects(); + DetectedObjects detected_objects = convertTrackedObjectsToDetectedObjects(tracked_objects); if (!tracked_objects.objects.empty()) { pub_tracked_objects_->publish(tracked_objects); pub_detected_objects_->publish(detected_objects); } } -DetectedObjects RadarTracksMsgsConverterNode::convertRadarTrackToDetectedObjects() +DetectedObjects RadarTracksMsgsConverterNode::convertTrackedObjectsToDetectedObjects( + TrackedObjects & objects) { DetectedObjects detected_objects; - detected_objects.header = radar_data_->header; - detected_objects.header.frame_id = node_param_.new_frame_id; - using POSE_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - using RADAR_IDX = tier4_autoware_utils::xyz_upper_covariance_index::XYZ_UPPER_COV_IDX; + detected_objects.header = objects.header; - for (auto & radar_track : radar_data_->tracks) { + for (auto & object : objects.objects) { DetectedObject detected_object; - detected_object.existence_probability = 1.0; + detected_object.shape = object.shape; - detected_object.shape.type = Shape::BOUNDING_BOX; - detected_object.shape.dimensions = radar_track.size; - - // kinematics + // kinematics setting DetectedObjectKinematics kinematics; + kinematics.orientation_availability = + autoware_auto_perception_msgs::msg::DetectedObjectKinematics::SIGN_UNKNOWN; kinematics.has_twist = true; kinematics.has_twist_covariance = true; - - // convert by tf - geometry_msgs::msg::PoseStamped radar_pose_stamped{}; - radar_pose_stamped.pose.position = radar_track.position; - geometry_msgs::msg::PoseStamped transformed_pose_stamped{}; - tf2::doTransform(radar_pose_stamped, transformed_pose_stamped, *transform_); - kinematics.pose_with_covariance.pose = transformed_pose_stamped.pose; - - { - auto & pose_cov = kinematics.pose_with_covariance.covariance; - auto & radar_position_cov = radar_track.position_covariance; - pose_cov[POSE_IDX::X_X] = radar_position_cov[RADAR_IDX::X_X]; - pose_cov[POSE_IDX::X_Y] = radar_position_cov[RADAR_IDX::X_Y]; - pose_cov[POSE_IDX::X_Z] = radar_position_cov[RADAR_IDX::X_Z]; - pose_cov[POSE_IDX::Y_X] = radar_position_cov[RADAR_IDX::X_Y]; - pose_cov[POSE_IDX::Y_Y] = radar_position_cov[RADAR_IDX::Y_Y]; - pose_cov[POSE_IDX::Y_Z] = radar_position_cov[RADAR_IDX::Y_Z]; - pose_cov[POSE_IDX::Z_X] = radar_position_cov[RADAR_IDX::X_Z]; - pose_cov[POSE_IDX::Z_Y] = radar_position_cov[RADAR_IDX::Y_Z]; - pose_cov[POSE_IDX::Z_Z] = radar_position_cov[RADAR_IDX::Z_Z]; - } - - // convert by tf - geometry_msgs::msg::Vector3Stamped radar_velocity_stamped{}; - radar_velocity_stamped.vector = radar_track.velocity; - geometry_msgs::msg::Vector3Stamped transformed_vector3_stamped{}; - tf2::doTransform(radar_velocity_stamped, transformed_vector3_stamped, *transform_); - kinematics.twist_with_covariance.twist.linear = transformed_vector3_stamped.vector; - - // twist compensation - if (node_param_.use_twist_compensation) { - if (odometry_data_) { - kinematics.twist_with_covariance.twist.linear.x += odometry_data_->twist.twist.linear.x; - kinematics.twist_with_covariance.twist.linear.y += odometry_data_->twist.twist.linear.y; - kinematics.twist_with_covariance.twist.linear.z += odometry_data_->twist.twist.linear.z; - } else { - RCLCPP_INFO(get_logger(), "Odometry data is not coming"); - } - } - - { - auto & twist_cov = kinematics.twist_with_covariance.covariance; - auto & radar_vel_cov = radar_track.velocity_covariance; - twist_cov[POSE_IDX::X_X] = radar_vel_cov[RADAR_IDX::X_X]; - twist_cov[POSE_IDX::X_Y] = radar_vel_cov[RADAR_IDX::X_Y]; - twist_cov[POSE_IDX::X_Z] = radar_vel_cov[RADAR_IDX::X_Z]; - twist_cov[POSE_IDX::Y_X] = radar_vel_cov[RADAR_IDX::X_Y]; - twist_cov[POSE_IDX::Y_Y] = radar_vel_cov[RADAR_IDX::Y_Y]; - twist_cov[POSE_IDX::Y_Z] = radar_vel_cov[RADAR_IDX::Y_Z]; - twist_cov[POSE_IDX::Z_X] = radar_vel_cov[RADAR_IDX::X_Z]; - twist_cov[POSE_IDX::Z_Y] = radar_vel_cov[RADAR_IDX::Y_Z]; - twist_cov[POSE_IDX::Z_Z] = radar_vel_cov[RADAR_IDX::Z_Z]; - } + kinematics.twist_with_covariance = object.kinematics.twist_with_covariance; + kinematics.pose_with_covariance = object.kinematics.pose_with_covariance; detected_object.kinematics = kinematics; // classification - ObjectClassification classification; - classification.probability = 1.0; - classification.label = convertClassification(radar_track.classification); - detected_object.classification.emplace_back(classification); - + detected_object.classification = object.classification; detected_objects.objects.emplace_back(detected_object); } return detected_objects; @@ -263,14 +207,34 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects() tracked_object.shape.type = Shape::BOUNDING_BOX; tracked_object.shape.dimensions = radar_track.size; - // kinematics + // kinematics setting TrackedObjectKinematics kinematics; kinematics.orientation_availability = TrackedObjectKinematics::AVAILABLE; kinematics.is_stationary = false; - // convert by tf + // Twist conversion + geometry_msgs::msg::Vector3 compensated_velocity = radar_track.velocity; + if (node_param_.use_twist_compensation) { + if (odometry_data_) { + compensated_velocity.x += odometry_data_->twist.twist.linear.x; + compensated_velocity.y += odometry_data_->twist.twist.linear.y; + compensated_velocity.z += odometry_data_->twist.twist.linear.z; + } else { + RCLCPP_INFO(get_logger(), "Odometry data is not coming"); + } + } + kinematics.twist_with_covariance.twist.linear.x = std::sqrt( + compensated_velocity.x * compensated_velocity.x + + compensated_velocity.y * compensated_velocity.y); + + // Pose conversion geometry_msgs::msg::PoseStamped radar_pose_stamped{}; radar_pose_stamped.pose.position = radar_track.position; + + double yaw = tier4_autoware_utils::normalizeRadian( + std::atan2(compensated_velocity.y, compensated_velocity.x)); + radar_pose_stamped.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw); + geometry_msgs::msg::PoseStamped transformed_pose_stamped{}; tf2::doTransform(radar_pose_stamped, transformed_pose_stamped, *transform_); kinematics.pose_with_covariance.pose = transformed_pose_stamped.pose; @@ -289,24 +253,6 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects() pose_cov[POSE_IDX::Z_Z] = radar_position_cov[RADAR_IDX::Z_Z]; } - // convert by tf - geometry_msgs::msg::Vector3Stamped radar_velocity_stamped{}; - radar_velocity_stamped.vector = radar_track.velocity; - geometry_msgs::msg::Vector3Stamped transformed_vector3_stamped{}; - tf2::doTransform(radar_velocity_stamped, transformed_vector3_stamped, *transform_); - kinematics.twist_with_covariance.twist.linear = transformed_vector3_stamped.vector; - - // twist compensation - if (node_param_.use_twist_compensation) { - if (odometry_data_) { - kinematics.twist_with_covariance.twist.linear.x += odometry_data_->twist.twist.linear.x; - kinematics.twist_with_covariance.twist.linear.y += odometry_data_->twist.twist.linear.y; - kinematics.twist_with_covariance.twist.linear.z += odometry_data_->twist.twist.linear.z; - } else { - RCLCPP_INFO(get_logger(), "Odometry data is not coming"); - } - } - { auto & twist_cov = kinematics.twist_with_covariance.covariance; auto & radar_vel_cov = radar_track.velocity_covariance; From f6e1e3620bbcb2d7ed2eb9e99639b56c865b0954 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 3 Jul 2023 15:47:24 +0900 Subject: [PATCH 073/118] chore: update maintainer (#4140) Signed-off-by: Kenji Miyake Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- common/global_parameter_loader/package.xml | 2 +- common/tier4_api_utils/package.xml | 1 - common/tier4_autoware_utils/package.xml | 1 - common/tier4_debug_tools/package.xml | 2 +- control/external_cmd_selector/package.xml | 3 --- control/joy_controller/package.xml | 3 --- control/lane_departure_checker/package.xml | 2 -- control/obstacle_collision_checker/package.xml | 2 -- control/pure_pursuit/package.xml | 1 - launch/tier4_autoware_api_launch/package.xml | 1 - launch/tier4_system_launch/package.xml | 1 - planning/scenario_selector/package.xml | 3 --- sensing/livox/livox_tag_filter/package.xml | 2 +- system/component_state_monitor/package.xml | 1 - system/dummy_diag_publisher/package.xml | 1 - system/dummy_infrastructure/package.xml | 2 +- system/emergency_handler/package.xml | 1 - system/system_error_monitor/package.xml | 1 - system/topic_state_monitor/package.xml | 2 +- 19 files changed, 5 insertions(+), 27 deletions(-) diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml index 5fa46351930cf..4c2568b9aec98 100644 --- a/common/global_parameter_loader/package.xml +++ b/common/global_parameter_loader/package.xml @@ -4,7 +4,7 @@ global_parameter_loader 0.1.0 The global_parameter_loader package - Kenji Miyake + Ryohsuke Mitsudome Apache License 2.0 ament_cmake_auto diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index e8f0691a992d0..091f512480150 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -7,7 +7,6 @@ Takagi, Isamu yabuta Kah Hooi Tan - Kenji Miyake Apache License 2.0 ament_cmake_auto diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml index 0f5f3f64ee957..ff3fa65f034b3 100644 --- a/common/tier4_autoware_utils/package.xml +++ b/common/tier4_autoware_utils/package.xml @@ -5,7 +5,6 @@ 0.1.0 The tier4_autoware_utils package Takamasa Horibe - Kenji Miyake Takayuki Murooka Yutaka Shimizu Apache License 2.0 diff --git a/common/tier4_debug_tools/package.xml b/common/tier4_debug_tools/package.xml index b7e0952b72178..8f03a3b55cf26 100644 --- a/common/tier4_debug_tools/package.xml +++ b/common/tier4_debug_tools/package.xml @@ -4,7 +4,7 @@ tier4_debug_tools 0.1.0 The tier4_debug_tools package - Kenji Miyake + Ryohsuke Mitsudome Apache License 2.0 ament_cmake_auto diff --git a/control/external_cmd_selector/package.xml b/control/external_cmd_selector/package.xml index 1b27c9f07915a..4d8cc5a385494 100644 --- a/control/external_cmd_selector/package.xml +++ b/control/external_cmd_selector/package.xml @@ -4,7 +4,6 @@ external_cmd_selector 0.1.0 The external_cmd_selector package - Kenji Miyake Taiki Tanaka Tomoya Kimura Shumpei Wakabayashi @@ -14,8 +13,6 @@ Takayuki Murooka Apache License 2.0 - Kenji Miyake - ament_cmake_auto autoware_cmake diff --git a/control/joy_controller/package.xml b/control/joy_controller/package.xml index 0c2defb2fc768..79ee9f27868f2 100644 --- a/control/joy_controller/package.xml +++ b/control/joy_controller/package.xml @@ -4,7 +4,6 @@ joy_controller 0.1.0 The joy_controller package - Kenji Miyake Taiki Tanaka Tomoya Kimura Shumpei Wakabayashi @@ -14,8 +13,6 @@ Takayuki Murooka Apache License 2.0 - Kenji Miyake - ament_cmake_auto autoware_cmake diff --git a/control/lane_departure_checker/package.xml b/control/lane_departure_checker/package.xml index 617c391f2f284..d4e845ec97d82 100644 --- a/control/lane_departure_checker/package.xml +++ b/control/lane_departure_checker/package.xml @@ -7,8 +7,6 @@ Kyoichi Sugahara Apache License 2.0 - Kenji Miyake - ament_cmake_auto autoware_cmake diff --git a/control/obstacle_collision_checker/package.xml b/control/obstacle_collision_checker/package.xml index 8a202ac689229..46b0b18191e81 100644 --- a/control/obstacle_collision_checker/package.xml +++ b/control/obstacle_collision_checker/package.xml @@ -4,7 +4,6 @@ obstacle_collision_checker 0.1.0 The obstacle_collision_checker package - Kenji Miyake Taiki Tanaka Tomoya Kimura Shumpei Wakabayashi @@ -14,7 +13,6 @@ Takayuki Murooka Apache License 2.0 - Kenji Miyake Satoshi Tanaka ament_cmake diff --git a/control/pure_pursuit/package.xml b/control/pure_pursuit/package.xml index ef0810c695ea1..30356b856fbac 100644 --- a/control/pure_pursuit/package.xml +++ b/control/pure_pursuit/package.xml @@ -8,7 +8,6 @@ Apache License 2.0 Berkay Karaman - Kenji Miyake Takamasa Horibe ament_cmake_auto diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index bed0b9e58ca75..4d41ad0ac4a83 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -7,7 +7,6 @@ Takagi, Isamu yabuta Kah Hooi Tan - Kenji Miyake Ryohsuke Mitsudome Apache License 2.0 diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index 5e3fc3ff061f8..0870a384ea7d3 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -4,7 +4,6 @@ tier4_system_launch 0.1.0 The tier4_system_launch package - Kenji Miyake Fumihito Ito asana17 Apache License 2.0 diff --git a/planning/scenario_selector/package.xml b/planning/scenario_selector/package.xml index 7dd9fc071976d..53c29613a1de8 100644 --- a/planning/scenario_selector/package.xml +++ b/planning/scenario_selector/package.xml @@ -4,7 +4,6 @@ scenario_selector 0.1.0 The scenario_selector ROS 2 package - Kenji Miyake Taiki Tanaka Tomoya Kimura Shumpei Wakabayashi @@ -14,8 +13,6 @@ Takayuki Murooka Apache License 2.0 - Kenji Miyake - ament_cmake_auto autoware_cmake diff --git a/sensing/livox/livox_tag_filter/package.xml b/sensing/livox/livox_tag_filter/package.xml index f60bef1de5f10..4fe994766027b 100644 --- a/sensing/livox/livox_tag_filter/package.xml +++ b/sensing/livox/livox_tag_filter/package.xml @@ -4,7 +4,7 @@ livox_tag_filter 0.1.0 The livox_tag_filter package - Kenji Miyake + Ryohsuke Mitsudome Apache License 2.0 ament_cmake_auto diff --git a/system/component_state_monitor/package.xml b/system/component_state_monitor/package.xml index ce20787704035..60d0fd0577ef0 100644 --- a/system/component_state_monitor/package.xml +++ b/system/component_state_monitor/package.xml @@ -7,7 +7,6 @@ Takagi, Isamu yabuta Kah Hooi Tan - Kenji Miyake Apache License 2.0 ament_cmake_auto diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml index 86da760b99a46..1df190b282038 100644 --- a/system/dummy_diag_publisher/package.xml +++ b/system/dummy_diag_publisher/package.xml @@ -4,7 +4,6 @@ dummy_diag_publisher 0.1.0 The dummy_diag_publisher ROS 2 package - Kenji Miyake Akihiro Sakurai Fumihito Ito Apache License 2.0 diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml index 654feb5ffc7cf..b1cf997b58eeb 100644 --- a/system/dummy_infrastructure/package.xml +++ b/system/dummy_infrastructure/package.xml @@ -4,7 +4,7 @@ dummy_infrastructure 0.0.0 dummy_infrastructure - Kenji Miyake + Ryohsuke Mitsudome Apache License 2.0 ament_cmake_auto diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml index 4ee6674b2f569..eb87a63503988 100644 --- a/system/emergency_handler/package.xml +++ b/system/emergency_handler/package.xml @@ -4,7 +4,6 @@ emergency_handler 0.1.0 The emergency_handler ROS 2 package - Kenji Miyake Makoto Kurihara Apache License 2.0 diff --git a/system/system_error_monitor/package.xml b/system/system_error_monitor/package.xml index ba8a682204f5f..c6560209854d3 100644 --- a/system/system_error_monitor/package.xml +++ b/system/system_error_monitor/package.xml @@ -4,7 +4,6 @@ system_error_monitor 0.1.1 The system_error_monitor package in ROS 2 - Kenji Miyake Fumihito Ito Apache License 2.0 diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml index 3405a63b4af39..057d58d00d5a1 100644 --- a/system/topic_state_monitor/package.xml +++ b/system/topic_state_monitor/package.xml @@ -4,7 +4,7 @@ topic_state_monitor 0.1.0 The topic_state_monitor package - Kenji Miyake + Ryohsuke Mitsudome Apache License 2.0 ament_cmake_auto From fbd403214ccbd1cc1f2bc8904abcd91ef0f8a201 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Mon, 3 Jul 2023 07:00:25 +0000 Subject: [PATCH 074/118] chore: update CODEOWNERS (#4138) Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/CODEOWNERS | 35 +++++++++++++++++------------------ 1 file changed, 17 insertions(+), 18 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 98dc5c47506d2..ca03cd9a56adc 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -14,7 +14,7 @@ common/component_interface_tools/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp m common/component_interface_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp yukihiro.saito@tier4.jp common/cuda_utils/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp common/fake_test_node/** opensource@apex.ai -common/global_parameter_loader/** kenji.miyake@tier4.jp +common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/goal_distance_calculator/** taiki.tanaka@tier4.jp common/grid_map_utils/** maxime.clement@tier4.jp common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @@ -29,14 +29,14 @@ common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/tensorrt_common/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp -common/tier4_api_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp +common/tier4_api_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp common/tier4_automatic_goal_rviz_plugin/** dawid.moszynski@robotec.ai shumpei.wakabayashi@tier4.jp -common/tier4_autoware_utils/** kenji.miyake@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp +common/tier4_autoware_utils/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp common/tier4_calibration_rviz_plugin/** tomoya.kimura@tier4.jp common/tier4_control_rviz_plugin/** taiki.tanaka@tier4.jp common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp common/tier4_debug_rviz_plugin/** takayuki.murooka@tier4.jp -common/tier4_debug_tools/** kenji.miyake@tier4.jp +common/tier4_debug_tools/** ryohsuke.mitsudome@tier4.jp common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp takamasa.horibe@tier4.jp common/tier4_perception_rviz_plugin/** yukihiro.saito@tier4.jp common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp yutaka.shimizu@tier4.jp @@ -51,11 +51,11 @@ common/trtexec_vendor/** daisuke.nishimatsu@tier4.jp yusuke.muramatsu@tier4.jp common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp control/autonomous_emergency_braking/** takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/external_cmd_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/joy_controller/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +control/external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +control/joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/lane_departure_checker/** kyoichi.sugahara@tier4.jp control/mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp -control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/pid_longitudinal_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/pure_pursuit/** takamasa.horibe@tier4.jp @@ -68,7 +68,7 @@ evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai evaluator/localization_evaluator/** dominik.jargot@robotec.ai evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp launch/map4_localization_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryohei.sasaki@map.jp ryu.yamamoto@tier4.jp yamato.ando@tier4.jp -launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp +launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp launch/tier4_localization_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryu.yamamoto@tier4.jp yamato.ando@tier4.jp launch/tier4_map_launch/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp @@ -76,7 +76,7 @@ launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yuki launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp launch/tier4_simulator_launch/** keisuke.shima@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -launch/tier4_system_launch/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp kenji.miyake@tier4.jp +launch/tier4_system_launch/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp localization/ekf_localizer/** koji.minoda@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp localization/gyro_odometer/** yamato.ando@tier4.jp @@ -128,7 +128,6 @@ perception/traffic_light_classifier/** shunsuke.miura@tier4.jp yukihiro.saito@ti perception/traffic_light_fine_detector/** mingyu.li@tier4.jp perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp perception/traffic_light_multi_camera_fusion/** mingyu.li@tier4.jp -perception/traffic_light_selector/** isamu.takagi@tier4.jp perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp perception/traffic_light_visualization/** yukihiro.saito@tier4.jp planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @@ -168,7 +167,7 @@ planning/sampling_based_planner/bezier_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/sampler_common/** maxime.clement@tier4.jp -planning/scenario_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +planning/scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/static_centerline_optimizer/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp planning/surround_obstacle_checker/** satoshi.ota@tier4.jp sensing/geo_pos_conv/** yamato.ando@tier4.jp @@ -176,7 +175,7 @@ sensing/gnss_poser/** yamato.ando@tier4.jp sensing/image_diagnostics/** dai.nguyen@tier4.jp sensing/image_transport_decompressor/** yukihiro.saito@tier4.jp sensing/imu_corrector/** yamato.ando@tier4.jp -sensing/livox/livox_tag_filter/** kenji.miyake@tier4.jp +sensing/livox/livox_tag_filter/** ryohsuke.mitsudome@tier4.jp sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp @@ -188,19 +187,19 @@ simulator/fault_injection/** keisuke.shima@tier4.jp simulator/simple_planning_simulator/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp system/autoware_auto_msgs_adapter/** isamu.takagi@tier4.jp mfc@leodrive.ai system/bluetooth_monitor/** fumihito.ito@tier4.jp -system/component_state_monitor/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp +system/component_state_monitor/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp system/default_ad_api/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp -system/dummy_diag_publisher/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp kenji.miyake@tier4.jp -system/dummy_infrastructure/** kenji.miyake@tier4.jp -system/emergency_handler/** kenji.miyake@tier4.jp makoto.kurihara@tier4.jp +system/dummy_diag_publisher/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp +system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp +system/emergency_handler/** makoto.kurihara@tier4.jp system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp -system/system_error_monitor/** fumihito.ito@tier4.jp kenji.miyake@tier4.jp +system/system_error_monitor/** fumihito.ito@tier4.jp system/system_monitor/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp -system/topic_state_monitor/** kenji.miyake@tier4.jp +system/topic_state_monitor/** ryohsuke.mitsudome@tier4.jp system/velodyne_monitor/** fumihito.ito@tier4.jp tools/simulator_test/simulator_compatibility_test/** shpark@morai.ai vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp From 47db336fbd85ce8560e2e368510500cea1e1eec7 Mon Sep 17 00:00:00 2001 From: DMoszynski <121798334+dmoszynski@users.noreply.github.com> Date: Mon, 3 Jul 2023 10:29:19 +0200 Subject: [PATCH 075/118] fix(fault_injection_node): fix history_depth in subscriber qos (#4042) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * fix(fault_injection_node): fix history_depth in sub qos Signed-off-by: Dawid Moszyński * fix(fault_injection_node): add test cases Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * fix(fault_injection): fix test Signed-off-by: Dawid Moszyński * fix(test_fault_injection): ensure that publication takes place Signed-off-by: Dawid Moszyński * ref(test_fault_injection): remove unused import Signed-off-by: Dawid Moszyński --------- Signed-off-by: Dawid Moszyński Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> --- .../fault_injection_node.cpp | 2 +- .../test/test_fault_injection_node.test.py | 49 +++++++++++++++++++ 2 files changed, 50 insertions(+), 1 deletion(-) diff --git a/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp b/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp index b0306b38fe3fd..9b86fa2de4294 100644 --- a/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp +++ b/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp @@ -55,7 +55,7 @@ FaultInjectionNode::FaultInjectionNode(rclcpp::NodeOptions node_options) // Subscriber sub_simulation_events_ = this->create_subscription( - "~/input/simulation_events", rclcpp::QoS{1}, + "~/input/simulation_events", rclcpp::QoS{rclcpp::KeepLast(10)}, std::bind(&FaultInjectionNode::onSimulationEvents, this, _1)); // Load all config diff --git a/simulator/fault_injection/test/test_fault_injection_node.test.py b/simulator/fault_injection/test/test_fault_injection_node.test.py index 887c39f449a23..4556aaaca8d80 100644 --- a/simulator/fault_injection/test/test_fault_injection_node.test.py +++ b/simulator/fault_injection/test/test_fault_injection_node.test.py @@ -127,6 +127,55 @@ def test_node_link(self): self.assertGreaterEqual(self.get_num_valid_data(msg_buffer, DiagnosticStatus.ERROR), 1) + def test_receive_multiple_message_simultaneously(self): + """ + Test for https://github.com/autowarefoundation/autoware.universe/pull/4042. + + Expect fault_injection_node can receive multiple messages simultaneously. + """ + msg_buffer = [] + self.test_node.create_subscription( + DiagnosticArray, "/diagnostics", lambda msg: msg_buffer.append(msg), 10 + ) + + # Call spin_once() so that the publisher publish messages simultaneously + pub_events_1 = self.test_node.create_publisher(SimulationEvents, "/simulation/events", 10) + pub_events_2 = self.test_node.create_publisher(SimulationEvents, "/simulation/events", 10) + rclpy.spin_once(self.test_node, timeout_sec=0.1) + pub_events_1.publish( + SimulationEvents( + fault_injection_events=[ + FaultInjectionEvent(name="cpu_temperature", level=FaultInjectionEvent.ERROR) + ] + ) + ) + pub_events_2.publish( + SimulationEvents( + fault_injection_events=[ + FaultInjectionEvent(name="cpu_usage", level=FaultInjectionEvent.ERROR) + ] + ) + ) + + # Wait until the subscriber receive messages + end_time = time.time() + self.evaluation_time + while time.time() < end_time: + rclpy.spin_once(self.test_node, timeout_sec=1.0) + + # Verify the number of received messages + self.assertGreater(len(msg_buffer), 0) + + # Verify the latest message + for stat in msg_buffer[-1].status: + if stat.name == "fault_injection: CPU Load Average": + self.assertEqual(stat.level, DiagnosticStatus.OK) + elif stat.name == "fault_injection: CPU Temperature": + self.assertEqual(stat.level, DiagnosticStatus.ERROR) + elif stat.name == "fault_injection: CPU Usage": + self.assertEqual(stat.level, DiagnosticStatus.ERROR) + else: + self.fail(f"Unexpected status name: {stat.name}") + @launch_testing.post_shutdown_test() class TestProcessOutput(unittest.TestCase): From 56b9ed8587098e95eec243dc41df0840bfadcb65 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 3 Jul 2023 20:46:54 +0900 Subject: [PATCH 076/118] feat(start_planner): add option for lane departure (#4151) Signed-off-by: kosuke55 --- .../config/start_planner/start_planner.param.yaml | 1 + .../docs/behavior_path_planner_start_planner_design.md | 1 + .../utils/start_planner/start_planner_parameters.hpp | 1 + .../src/scene_module/start_planner/manager.cpp | 2 ++ .../src/utils/start_planner/shift_pull_out.cpp | 6 ++++-- 5 files changed, 9 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml b/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml index 80114889d7e74..fe98d7aa2a839 100644 --- a/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml +++ b/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml @@ -8,6 +8,7 @@ collision_check_distance_from_end: 1.0 # shift pull out enable_shift_pull_out: true + check_shift_path_lane_departure: false minimum_shift_pull_out_distance: 0.0 deceleration_interval: 15.0 lateral_jerk: 0.5 diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md index 37ff48bb717d5..345cb5d1f4329 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md @@ -105,6 +105,7 @@ Pull out distance is calculated by the speed, lateral deviation, and the lateral | Name | Unit | Type | Description | Default value | | :------------------------------ | :----- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ | | enable_shift_pull_out | [-] | bool | flag whether to enable shift pull out | true | +| check_shift_path_lane_departure | [-] | bool | flag whether to check if shift path footprints are out of lane | false | | shift_pull_out_velocity | [m/s] | double | velocity of shift pull out | 2.0 | | pull_out_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 | | maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 | diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp index 02a3b6169166a..73d922cfde270 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp @@ -35,6 +35,7 @@ struct StartPlannerParameters double collision_check_distance_from_end; // shift pull out bool enable_shift_pull_out; + bool check_shift_path_lane_departure; double minimum_shift_pull_out_distance; int lateral_acceleration_sampling_num; double lateral_jerk; diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp index bba6f2b7b0da3..23265e4058956 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp @@ -44,6 +44,8 @@ StartPlannerModuleManager::StartPlannerModuleManager( node->declare_parameter(ns + "collision_check_distance_from_end"); // shift pull out p.enable_shift_pull_out = node->declare_parameter(ns + "enable_shift_pull_out"); + p.check_shift_path_lane_departure = + node->declare_parameter(ns + "check_shift_path_lane_departure"); p.minimum_shift_pull_out_distance = node->declare_parameter(ns + "minimum_shift_pull_out_distance"); p.lateral_acceleration_sampling_num = diff --git a/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp b/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp index b11bb7731b826..fc24c3d9f2d20 100644 --- a/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp +++ b/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp @@ -100,8 +100,10 @@ boost::optional ShiftPullOut::plan(Pose start_pose, Pose goal_pose) const auto expanded_lanes = utils::expandLanelets( drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, dp.drivable_area_types_to_skip); - if (lane_departure_checker_->checkPathWillLeaveLane( - utils::transformToLanelets(expanded_lanes), path_start_to_end)) { + if ( + parameters_.check_shift_path_lane_departure && + lane_departure_checker_->checkPathWillLeaveLane( + utils::transformToLanelets(expanded_lanes), path_start_to_end)) { continue; } From 2424d6b770d9623e9ddadbeae32e6e8d32a67348 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 4 Jul 2023 10:23:12 +0900 Subject: [PATCH 077/118] fix(default_ad_api): pointer check (#4154) fix pointer check Signed-off-by: Takagi, Isamu --- system/default_ad_api/src/vehicle.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/default_ad_api/src/vehicle.cpp b/system/default_ad_api/src/vehicle.cpp index 4cd7f370a55fc..43e5d1955fc2b 100644 --- a/system/default_ad_api/src/vehicle.cpp +++ b/system/default_ad_api/src/vehicle.cpp @@ -181,7 +181,7 @@ void VehicleNode::publish_status() { if ( !steering_status_msgs_ || !gear_status_msgs_ || !turn_indicator_status_msgs_ || - hazard_light_status_msgs_ || energy_status_msgs_) + !hazard_light_status_msgs_ || !energy_status_msgs_) return; autoware_ad_api::vehicle::VehicleStatus::Message vehicle_status; From 80a433fafda15e4ca686ba2f2a20b9ef95377311 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 4 Jul 2023 13:35:24 +0900 Subject: [PATCH 078/118] feat(shift_decider): keep parking gear command after the state transitions from arrived_goal (#4155) Signed-off-by: tomoya.kimura --- control/shift_decider/src/shift_decider.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/control/shift_decider/src/shift_decider.cpp b/control/shift_decider/src/shift_decider.cpp index 3fcd45d8e51d1..6f24578bf8d8e 100644 --- a/control/shift_decider/src/shift_decider.cpp +++ b/control/shift_decider/src/shift_decider.cpp @@ -86,7 +86,10 @@ void ShiftDecider::updateCurrentShiftCmd() shift_cmd_.command = current_gear_ptr_->report; } } else { - if (autoware_state_->state == AutowareState::ARRIVED_GOAL && park_on_goal_) { + if ( + (autoware_state_->state == AutowareState::ARRIVED_GOAL || + autoware_state_->state == AutowareState::WAITING_FOR_ROUTE) && + park_on_goal_) { shift_cmd_.command = GearCommand::PARK; } else { shift_cmd_.command = current_gear_ptr_->report; From 01bf2c68e4fb5775dea580e48a51ff7602bd96ef Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 4 Jul 2023 17:31:00 +0900 Subject: [PATCH 079/118] fix(closest_velocity_checker): add planning acceleration (#4159) Signed-off-by: Takamasa Horibe --- .../scripts/closest_velocity_checker.py | 28 ++++++++++--------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py index 292a2ae49ae9c..4123766a947b0 100755 --- a/planning/planning_debug_tools/scripts/closest_velocity_checker.py +++ b/planning/planning_debug_tools/scripts/closest_velocity_checker.py @@ -43,11 +43,12 @@ OBSTACLE_STOP = 3 LAT_ACC = 4 VELOCITY_OPTIMIZE = 5 -CONTROL_CMD = 6 -VEHICLE_CMD = 7 -CONTROL_CMD_ACC = 8 -VEHICLE_CMD_ACC = 9 -DATA_NUM = 10 +ACCELERATION_OPTIMIZE = 6 +CONTROL_CMD = 7 +VEHICLE_CMD = 8 +CONTROL_CMD_ACC = 9 +VEHICLE_CMD_ACC = 10 +DATA_NUM = 11 class VelocityChecker(Node): @@ -94,8 +95,6 @@ def __init__(self): self.sub4 = self.create_subscription( Trajectory, scenario + "/motion_velocity_smoother/debug/trajectory_lateral_acc_filtered", - # TODO: change to following string after fixing bug of autoware - # '/motion_velocity_optimizer/debug/trajectory_lateral_acc_filtered', self.CallBackLataccTrajectory, 1, ) @@ -157,9 +156,9 @@ def printInfo(self): if self.count == 0: self.get_logger().info("") self.get_logger().info( - "| Map Limit | Behavior | Obs Avoid | Obs Stop | External Lim | LatAcc Filtered " - "| Optimized | Control VelCmd | Control AccCmd | Vehicle VelCmd | Vehicle AccCmd " - "| AW Engage | VC Engage | Localization Vel | Vehicle Vel | [km/h] | Distance [m] " + "| Behavior Path | Behavior Vel | Obs Avoid | Obs Stop | External Lim | LatAcc Filtered " + "| Optimized Vel | Optimized Acc | Control VelCmd | Control AccCmd | Vehicle VelCmd | Vehicle AccCmd " + "| AW Engage | VC Engage | Localization Vel | Vehicle Vel | Distance [m] |" ) # noqa: E501 mps2kmph = 3.6 distance_to_stopline = self.distance_to_stopline @@ -170,6 +169,7 @@ def printInfo(self): vel_external_lim = self.external_v_lim * mps2kmph vel_latacc_filtered = self.data_arr[LAT_ACC] * mps2kmph vel_optimized = self.data_arr[VELOCITY_OPTIMIZE] * mps2kmph + acc_optimized = self.data_arr[ACCELERATION_OPTIMIZE] vel_ctrl_cmd = self.data_arr[CONTROL_CMD] * mps2kmph acc_ctrl_cmd = self.data_arr[CONTROL_CMD_ACC] vel_vehicle_cmd = self.data_arr[VEHICLE_CMD] * mps2kmph @@ -187,9 +187,9 @@ def printInfo(self): else ("True" if self.vehicle_engage is True else "False") ) self.get_logger().info( - "| {0: 9.2f} | {1: 8.2f} | {2: 9.2f} | {3: 8.2f} | {4: 12.2f} " - "| {5: 15.2f} | {6: 9.2f} | {7: 14.2f} | {8: 14.2f} | {9: 14.2f} | {10: 14.2f} " - "| {11:>9s} | {12:>9s} | {13: 16.2f} | {14: 11.2f} | | {15: 10.2f}".format( # noqa: E501 + "| {0: 13.2f} | {1: 12.2f} | {2: 9.2f} | {3: 8.2f} | {4: 12.2f} " + "| {5: 15.2f} | {6: 13.2f} | {7: 13.2f} | {8: 14.2f} | {9: 14.2f} | {10: 14.2f} | {11: 14.2f} " + "| {12:>9s} | {13:>9s} | {14: 16.2f} | {15: 11.2f} | {16: 12.2f} |".format( # noqa: E501 vel_map_lim, vel_behavior, vel_obs_avoid, @@ -197,6 +197,7 @@ def printInfo(self): vel_external_lim, vel_latacc_filtered, vel_optimized, + acc_optimized, vel_ctrl_cmd, acc_ctrl_cmd, vel_vehicle_cmd, @@ -268,6 +269,7 @@ def CallBackScenarioTrajectory(self, msg): # self.get_logger().info('VELOCITY_OPTIMIZE called') closest = self.calcClosestTrajectory(msg) self.data_arr[VELOCITY_OPTIMIZE] = msg.points[closest].longitudinal_velocity_mps + self.data_arr[ACCELERATION_OPTIMIZE] = msg.points[closest].acceleration_mps2 return def CallBackControlCmd(self, msg): From 14b2720b7319eb04e71441d49d35b90cdc5685fb Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 4 Jul 2023 23:06:13 +0900 Subject: [PATCH 080/118] feat(multi_object_tracker): suppress yaw rotation oscillation problem in bicycle tracking model (#4146) * enable only tracking and prediction Signed-off-by: yoshiri * set bicycle model parameter to be understeered Signed-off-by: yoshiri * Revert "enable only tracking and prediction" This reverts commit d97db405c1083fa8aefc4027da35f19308cbd7e3. --------- Signed-off-by: yoshiri --- .../multi_object_tracker/src/tracker/model/bicycle_tracker.cpp | 2 +- .../src/tracker/model/big_vehicle_tracker.cpp | 2 +- .../src/tracker/model/normal_vehicle_tracker.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp index 5de81eb2d4538..75667f0b60fbb 100644 --- a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp @@ -135,7 +135,7 @@ BicycleTracker::BicycleTracker( ekf_.init(X, P); // Set lf, lr - double point_ratio = 0.5; // comes to front if larger + double point_ratio = 0.2; // under steered if smaller than 0.5 lf_ = bounding_box_.length * point_ratio; lr_ = bounding_box_.length * (1.0 - point_ratio); } diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp index 458509cf06e86..3fcbdc2f794aa 100644 --- a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp @@ -150,7 +150,7 @@ BigVehicleTracker::BigVehicleTracker( setNearestCornerOrSurfaceIndex(self_transform); // this index is used in next measure step // Set lf, lr - double point_ratio = 0.5; // comes to front if larger + double point_ratio = 0.1; // under steered if smaller than 0.5 lf_ = bounding_box_.length * point_ratio; lr_ = bounding_box_.length * (1.0 - point_ratio); } diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp index 000f728892d11..713bd58360c32 100644 --- a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp @@ -150,7 +150,7 @@ NormalVehicleTracker::NormalVehicleTracker( setNearestCornerOrSurfaceIndex(self_transform); // this index is used in next measure step // Set lf, lr - double point_ratio = 0.5; // comes to front if larger + double point_ratio = 0.2; // under steered if smaller than 0.5 lf_ = bounding_box_.length * point_ratio; lr_ = bounding_box_.length * (1.0 - point_ratio); } From d9b938cb444d815ce0e03294c47d781ae4b77ae6 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 4 Jul 2023 23:07:28 +0900 Subject: [PATCH 081/118] docs(multi_object_tracker): add tracking model description (#4161) * enable only tracking and prediction Signed-off-by: yoshiri * set bicycle model parameter to be understeered Signed-off-by: yoshiri * Revert "enable only tracking and prediction" This reverts commit d97db405c1083fa8aefc4027da35f19308cbd7e3. * add tracking model description Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- perception/multi_object_tracker/README.md | 2 + .../image/anchor_point.drawio.svg | 732 ++++++++++++++++++ .../image/kinematic_bicycle_model.png | Bin 0 -> 26917 bytes .../image/nearest_corner_or_side.drawio.svg | 230 ++++++ perception/multi_object_tracker/models.md | 98 +++ 5 files changed, 1062 insertions(+) create mode 100644 perception/multi_object_tracker/image/anchor_point.drawio.svg create mode 100644 perception/multi_object_tracker/image/kinematic_bicycle_model.png create mode 100644 perception/multi_object_tracker/image/nearest_corner_or_side.drawio.svg create mode 100644 perception/multi_object_tracker/models.md diff --git a/perception/multi_object_tracker/README.md b/perception/multi_object_tracker/README.md index cef4b3857d372..0cc8f1708e334 100644 --- a/perception/multi_object_tracker/README.md +++ b/perception/multi_object_tracker/README.md @@ -90,6 +90,8 @@ Example: Also, this algorithm doesn't care about blind spots. In general, since too close obstacles aren't visible due to the sensing performance limit, please take enough margin to obstacles. --> +See the [model explanations](models.md). + ## (Optional) Error detection and handling + +### Known limits, drawbacks + +- When the anchor point is further than the detection center, the tracking will be more affected by the yaw detection noise. + - This can be result in unintended yaw rotation or position drift. + +## References + +[1] Schubert, Robin & Richter, Eric & Wanielik, Gerd. (2008). Comparison and evaluation of advanced motion models for vehicle tracking. 1 - 6. 10.1109/ICIF.2008.4632283. +[2] Kong, Jason & Pfeiffer, Mark & Schildbach, Georg & Borrelli, Francesco. (2015). Kinematic and dynamic vehicle models for autonomous driving control design. 1094-1099. 10.1109/IVS.2015.7225830. From 08faeeb238b1606b60fc4424e8b87121ac3265fa Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 4 Jul 2023 23:19:18 +0900 Subject: [PATCH 082/118] chore(behavior_path_planner): fix typo and remove unnecessary comment (#4168) Signed-off-by: kosuke55 --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 2 +- .../src/scene_module/start_planner/start_planner_module.cpp | 3 --- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index c7725b0ccf0f0..f55d505ea9337 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -284,7 +284,7 @@ bool GoalPlannerModule::isExecutionRequested() const return lanelet::utils::isInLanelet(goal_pose, current_lane); }); - // check that goal is in current neghibor shoulder lane + // check that goal is in current neighbor shoulder lane const bool goal_is_in_current_shoulder_lanes = std::invoke([&]() { lanelet::ConstLanelet neighbor_shoulder_lane{}; for (const auto & lane : current_lanes) { diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 3540b616aa78f..35f1e2b2b9408 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -112,7 +112,6 @@ bool StartPlannerModule::isExecutionRequested() const tier4_autoware_utils::pose2transform(planner_data_->self_odometry->pose.pose)); // Check if ego is not out of lanes - // const auto current_lanes = utils::getExtendedCurrentLanes(planner_data_); const double backward_path_length = planner_data_->parameters.backward_path_length + parameters_->max_back_distance; const auto current_lanes = @@ -310,7 +309,6 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() return output; } - // const auto current_lanes = utils::getExtendedCurrentLanes(planner_data_); const double backward_path_length = planner_data_->parameters.backward_path_length + parameters_->max_back_distance; const auto current_lanes = @@ -588,7 +586,6 @@ void StartPlannerModule::updatePullOutStatus() status_.pull_out_lane_ids = utils::getIds(status_.pull_out_lanes); } -// make this class? std::vector StartPlannerModule::searchPullOutStartPoses() { std::vector pull_out_start_pose{}; From 681ba74d7b287e1cabf0e9d3ada04ed3733f9a12 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 4 Jul 2023 23:34:23 +0900 Subject: [PATCH 083/118] feat(behavior_path_planner): add getExtendedCurrentLanes with length args (#4166) Signed-off-by: kosuke55 --- .../behavior_path_planner/utils/utils.hpp | 10 ++++ .../behavior_path_planner/src/utils/utils.cpp | 51 ++++++++++++++++++- 2 files changed, 60 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index a8be9cdbe1c3e..783b637baeb0f 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -358,12 +358,22 @@ lanelet::ConstLanelets getCurrentLanes(const std::shared_ptr lanelet::ConstLanelets getCurrentLanesFromPath( const PathWithLaneId & path, const std::shared_ptr & planner_data); +lanelet::ConstLanelets extendNextLane( + const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes); + +lanelet::ConstLanelets extendPrevLane( + const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes); + lanelet::ConstLanelets extendLanes( const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes); lanelet::ConstLanelets getExtendedCurrentLanes( const std::shared_ptr & planner_data); +lanelet::ConstLanelets getExtendedCurrentLanes( + const std::shared_ptr & planner_data, const double backward_length, + const double forward_length); + lanelet::ConstLanelets calcLaneAroundPose( const std::shared_ptr route_handler, const geometry_msgs::msg::Pose & pose, const double forward_length, const double backward_length, diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 708f4b6f4823f..6dbe0559ea266 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -2607,7 +2607,7 @@ lanelet::ConstLanelets getCurrentLanesFromPath( current_lane, current_pose, p.backward_path_length, p.forward_path_length); } -lanelet::ConstLanelets extendLanes( +lanelet::ConstLanelets extendNextLane( const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes) { auto extended_lanes = lanes; @@ -2618,6 +2618,14 @@ lanelet::ConstLanelets extendLanes( extended_lanes.push_back(next_lanes.front()); } + return extended_lanes; +} + +lanelet::ConstLanelets extendPrevLane( + const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes) +{ + auto extended_lanes = lanes; + // Add previous lane const auto prev_lanes = route_handler->getPreviousLanelets(extended_lanes.front()); if (!prev_lanes.empty()) { @@ -2627,6 +2635,47 @@ lanelet::ConstLanelets extendLanes( return extended_lanes; } +lanelet::ConstLanelets extendLanes( + const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes) +{ + auto extended_lanes = extendNextLane(route_handler, lanes); + extended_lanes = extendPrevLane(route_handler, extended_lanes); + + return extended_lanes; +} + +lanelet::ConstLanelets getExtendedCurrentLanes( + const std::shared_ptr & planner_data, const double backward_length, + const double forward_length) +{ + auto lanes = getCurrentLanes(planner_data); + + double forward_length_sum = 0.0; + double backward_length_sum = 0.0; + + while (backward_length_sum < backward_length) { + auto extended_lanes = extendPrevLane(planner_data->route_handler, lanes); + if (extended_lanes.size() > lanes.size()) { + backward_length_sum += lanelet::utils::getLaneletLength2d(extended_lanes.front()); + } else { + break; // no more previous lanes to add + } + lanes = extended_lanes; + } + + while (forward_length_sum < forward_length) { + auto extended_lanes = extendNextLane(planner_data->route_handler, lanes); + if (extended_lanes.size() > lanes.size()) { + forward_length_sum += lanelet::utils::getLaneletLength2d(extended_lanes.back()); + } else { + break; // no more next lanes to add + } + lanes = extended_lanes; + } + + return lanes; +} + lanelet::ConstLanelets getExtendedCurrentLanes( const std::shared_ptr & planner_data) { From 1e37272d8353087037981ed651f4e5a876b28374 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 5 Jul 2023 09:08:01 +0900 Subject: [PATCH 084/118] fix(default_ad_api): pointer check (#4169) * disable vehicle status api Signed-off-by: Takagi, Isamu * add pointer check Signed-off-by: Takagi, Isamu --------- Signed-off-by: Takagi, Isamu --- system/default_ad_api/src/vehicle.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/default_ad_api/src/vehicle.cpp b/system/default_ad_api/src/vehicle.cpp index 43e5d1955fc2b..d22e065d37c5f 100644 --- a/system/default_ad_api/src/vehicle.cpp +++ b/system/default_ad_api/src/vehicle.cpp @@ -138,7 +138,7 @@ void VehicleNode::map_projector_info(const MapProjectorInfo::ConstSharedPtr msg_ void VehicleNode::publish_kinematics() { - if (!kinematic_state_msgs_ || !acceleration_msgs_) return; + if (!kinematic_state_msgs_ || !acceleration_msgs_ || !map_projector_info_) return; autoware_ad_api::vehicle::VehicleKinematics::Message vehicle_kinematics; vehicle_kinematics.pose.header = kinematic_state_msgs_->header; From 18fdbef144311981121ea303532dfed536f77a0a Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Wed, 5 Jul 2023 09:48:48 +0900 Subject: [PATCH 085/118] docs: fix msg type in traffic_light_multi_camera_fusion/README.md (#4158) doc: fix msg type in traffic_light_multi_camera_fusion/README.md --- perception/traffic_light_multi_camera_fusion/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/perception/traffic_light_multi_camera_fusion/README.md b/perception/traffic_light_multi_camera_fusion/README.md index ded0613a202ad..238c9b6507ad0 100644 --- a/perception/traffic_light_multi_camera_fusion/README.md +++ b/perception/traffic_light_multi_camera_fusion/README.md @@ -20,9 +20,9 @@ You don't need to configure these topics manually. Just provide the `camera_name ## Output topics -| Name | Type | Description | -| -------------------------- | ---------------------------------------------- | ---------------------------------- | -| `~/output/traffic_signals` | tier4_perception_msgs::TrafficLightSignalArray | traffic light signal fusion result | +| Name | Type | Description | +| -------------------------- | ------------------------------------------------- | ---------------------------------- | +| `~/output/traffic_signals` | autoware_perception_msgs::TrafficLightSignalArray | traffic light signal fusion result | ## Node parameters From cf1fc7ee002b85e093919318f351e021dea7e705 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Wed, 5 Jul 2023 13:30:33 +0900 Subject: [PATCH 086/118] refactor(ndt_scan_matcher): integrate ndt_align_srv into ndt_scan_matcher_core.cpp (#4165) Refactor ndt_align_srv Signed-off-by: Shintaro SAKODA --- localization/ndt_scan_matcher/CMakeLists.txt | 1 - .../ndt_scan_matcher/map_update_module.hpp | 16 +- .../ndt_scan_matcher_core.hpp | 6 +- .../pose_initialization_module.hpp | 80 ---------- .../src/map_update_module.cpp | 111 -------------- .../src/ndt_scan_matcher_core.cpp | 103 ++++++++++++- .../src/pose_initialization_module.cpp | 140 ------------------ 7 files changed, 103 insertions(+), 354 deletions(-) delete mode 100644 localization/ndt_scan_matcher/include/ndt_scan_matcher/pose_initialization_module.hpp delete mode 100644 localization/ndt_scan_matcher/src/pose_initialization_module.cpp diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt index 0a04f1bb60466..1d5a9d5ac5320 100644 --- a/localization/ndt_scan_matcher/CMakeLists.txt +++ b/localization/ndt_scan_matcher/CMakeLists.txt @@ -33,7 +33,6 @@ ament_auto_add_executable(ndt_scan_matcher src/pose_array_interpolator.cpp src/tf2_listener_module.cpp src/map_module.cpp - src/pose_initialization_module.cpp src/map_update_module.cpp ) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index f7966879a5cb0..61034e02e9c91 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -27,7 +27,6 @@ #include #include #include -#include #include #include @@ -56,9 +55,7 @@ class MapUpdateModule std::shared_ptr> state_ptr); private: - void service_ndt_align( - const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, - tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res); + friend class NDTScanMatcher; void callback_ekf_odom(nav_msgs::msg::Odometry::ConstSharedPtr odom_ptr); void map_update_timer_callback(); @@ -68,19 +65,9 @@ class MapUpdateModule void update_map(const geometry_msgs::msg::Point & position); bool should_update_map(const geometry_msgs::msg::Point & position) const; void publish_partial_pcd_map(); - geometry_msgs::msg::PoseWithCovarianceStamped align_using_monte_carlo( - const std::shared_ptr & ndt_ptr, - const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov); - void publish_point_cloud( - const rclcpp::Time & sensor_ros_time, const std::string & frame_id, - const std::shared_ptr> & sensor_points_mapTF_ptr); rclcpp::Publisher::SharedPtr loaded_pcd_pub_; - rclcpp::Publisher::SharedPtr - ndt_monte_carlo_initial_pose_marker_pub_; - rclcpp::Publisher::SharedPtr sensor_aligned_pose_pub_; - rclcpp::Service::SharedPtr service_; rclcpp::Client::SharedPtr pcd_loader_client_; rclcpp::TimerBase::SharedPtr map_update_timer_; @@ -97,7 +84,6 @@ class MapUpdateModule std::shared_ptr tf2_listener_module_; std::shared_ptr> state_ptr_; - int initial_estimate_particles_num_; std::optional last_update_position_ = std::nullopt; std::optional current_position_ = std::nullopt; const double dynamic_map_loading_update_distance_; diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index 7c9dab4c8103b..d6fc22e3b768c 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -19,7 +19,6 @@ #include "ndt_scan_matcher/map_module.hpp" #include "ndt_scan_matcher/map_update_module.hpp" -#include "ndt_scan_matcher/pose_initialization_module.hpp" #include "ndt_scan_matcher/tf2_listener_module.hpp" #include @@ -32,6 +31,7 @@ #include #include #include +#include #include #include @@ -99,7 +99,6 @@ class NDTScanMatcher : public rclcpp::Node const std::string source_frame, const std::string target_frame, const pcl::shared_ptr> sensor_points_input_ptr, pcl::shared_ptr> sensor_points_output_ptr); - void update_transforms(); void publish_tf( const rclcpp::Time & sensor_ros_time, const geometry_msgs::msg::Pose & result_pose_msg); @@ -200,12 +199,13 @@ class NDTScanMatcher : public rclcpp::Node bool is_activated_; std::shared_ptr tf2_listener_module_; std::unique_ptr map_module_; - std::unique_ptr pose_init_module_; std::unique_ptr map_update_module_; // cspell: ignore degrounded bool estimate_scores_for_degrounded_scan_; double z_margin_for_ground_removal_; + + bool use_dynamic_map_loading_; }; #endif // NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_ diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/pose_initialization_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/pose_initialization_module.hpp deleted file mode 100644 index d936a97a77ba7..0000000000000 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/pose_initialization_module.hpp +++ /dev/null @@ -1,80 +0,0 @@ -// Copyright 2015-2019 Autoware Foundation -// -// 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 NDT_SCAN_MATCHER__POSE_INITIALIZATION_MODULE_HPP_ -#define NDT_SCAN_MATCHER__POSE_INITIALIZATION_MODULE_HPP_ - -#include "ndt_scan_matcher/debug.hpp" -#include "ndt_scan_matcher/particle.hpp" -#include "ndt_scan_matcher/tf2_listener_module.hpp" -#include "ndt_scan_matcher/util_func.hpp" - -#include -#include -#include - -#include -#include -#include - -#include -#include - -#include -#include -#include - -class PoseInitializationModule -{ - using PointSource = pcl::PointXYZ; - using PointTarget = pcl::PointXYZ; - using NormalDistributionsTransform = - pclomp::MultiGridNormalDistributionsTransform; - -public: - PoseInitializationModule( - rclcpp::Node * node, std::mutex * ndt_ptr_mutex, - std::shared_ptr ndt_ptr, - std::shared_ptr tf2_listener_module, std::string map_frame, - rclcpp::CallbackGroup::SharedPtr main_callback_group, - std::shared_ptr> state_ptr); - -private: - void service_ndt_align( - const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, - tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res); - - geometry_msgs::msg::PoseWithCovarianceStamped align_using_monte_carlo( - const std::shared_ptr & ndt_ptr, - const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov); - void publish_point_cloud( - const rclcpp::Time & sensor_ros_time, const std::string & frame_id, - const std::shared_ptr> & sensor_points_mapTF_ptr); - - rclcpp::Service::SharedPtr service_; - rclcpp::Publisher::SharedPtr sensor_aligned_pose_pub_; - rclcpp::Publisher::SharedPtr - ndt_monte_carlo_initial_pose_marker_pub_; - int initial_estimate_particles_num_; - - std::shared_ptr ndt_ptr_; - std::mutex * ndt_ptr_mutex_; - std::string map_frame_; - rclcpp::Logger logger_; - rclcpp::Clock::SharedPtr clock_; - std::shared_ptr tf2_listener_module_; - std::shared_ptr> state_ptr_; -}; - -#endif // NDT_SCAN_MATCHER__POSE_INITIALIZATION_MODULE_HPP_ diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 2a128568bb13c..a2d0f444623ec 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -41,14 +41,6 @@ MapUpdateModule::MapUpdateModule( node->declare_parameter("dynamic_map_loading_map_radius")), lidar_radius_(node->declare_parameter("lidar_radius")) { - initial_estimate_particles_num_ = node->declare_parameter("initial_estimate_particles_num"); - - sensor_aligned_pose_pub_ = - node->create_publisher("monte_carlo_points_aligned", 10); - ndt_monte_carlo_initial_pose_marker_pub_ = - node->create_publisher( - "monte_carlo_initial_pose_marker", 10); - auto main_sub_opt = rclcpp::SubscriptionOptions(); main_sub_opt.callback_group = main_callback_group; @@ -61,12 +53,6 @@ MapUpdateModule::MapUpdateModule( loaded_pcd_pub_ = node->create_publisher( "debug/loaded_pointcloud_map", rclcpp::QoS{1}.transient_local()); - service_ = node->create_service( - "ndt_align_srv", - std::bind( - &MapUpdateModule::service_ndt_align, this, std::placeholders::_1, std::placeholders::_2), - rclcpp::ServicesQoS().get_rmw_qos_profile(), map_callback_group_); - pcd_loader_client_ = node->create_client("pcd_loader_service"); while (!pcd_loader_client_->wait_for_service(std::chrono::seconds(1)) && rclcpp::ok()) { @@ -84,43 +70,6 @@ MapUpdateModule::MapUpdateModule( map_callback_group_); } -void MapUpdateModule::service_ndt_align( - const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, - tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res) -{ - // get TF from pose_frame to map_frame - auto TF_pose_to_map_ptr = std::make_shared(); - tf2_listener_module_->get_transform( - clock_->now(), map_frame_, req->pose_with_covariance.header.frame_id, TF_pose_to_map_ptr); - - // transform pose_frame to map_frame - const auto mapTF_initial_pose_msg = transform(req->pose_with_covariance, *TF_pose_to_map_ptr); - update_map(mapTF_initial_pose_msg.pose.pose.position); - - if (ndt_ptr_->getInputTarget() == nullptr) { - res->success = false; - RCLCPP_WARN(logger_, "No InputTarget"); - return; - } - - if (ndt_ptr_->getInputSource() == nullptr) { - res->success = false; - RCLCPP_WARN(logger_, "No InputSource"); - return; - } - - // mutex Map - std::lock_guard lock(*ndt_ptr_mutex_); - - (*state_ptr_)["state"] = "Aligning"; - res->pose_with_covariance = align_using_monte_carlo(ndt_ptr_, mapTF_initial_pose_msg); - (*state_ptr_)["state"] = "Sleeping"; - res->success = true; - res->pose_with_covariance.pose.covariance = req->pose_with_covariance.pose.covariance; - - last_update_position_ = res->pose_with_covariance.pose.pose.position; -} - void MapUpdateModule::callback_ekf_odom(nav_msgs::msg::Odometry::ConstSharedPtr odom_ptr) { current_position_ = odom_ptr->pose.pose.position; @@ -229,66 +178,6 @@ void MapUpdateModule::update_ndt( publish_partial_pcd_map(); } -geometry_msgs::msg::PoseWithCovarianceStamped MapUpdateModule::align_using_monte_carlo( - const std::shared_ptr & ndt_ptr, - const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov) -{ - if (ndt_ptr->getInputTarget() == nullptr || ndt_ptr->getInputSource() == nullptr) { - RCLCPP_WARN(logger_, "No Map or Sensor PointCloud"); - return geometry_msgs::msg::PoseWithCovarianceStamped(); - } - - // generateParticle - const auto initial_poses = - create_random_pose_array(initial_pose_with_cov, initial_estimate_particles_num_); - - std::vector particle_array; - auto output_cloud = std::make_shared>(); - - for (unsigned int i = 0; i < initial_poses.size(); i++) { - const auto & initial_pose = initial_poses[i]; - const Eigen::Matrix4f initial_pose_matrix = pose_to_matrix4f(initial_pose); - ndt_ptr->align(*output_cloud, initial_pose_matrix); - const pclomp::NdtResult ndt_result = ndt_ptr->getResult(); - - Particle particle( - initial_pose, matrix4f_to_pose(ndt_result.pose), ndt_result.transform_probability, - ndt_result.iteration_num); - particle_array.push_back(particle); - const auto marker_array = make_debug_markers( - clock_->now(), map_frame_, tier4_autoware_utils::createMarkerScale(0.3, 0.1, 0.1), particle, - i); - ndt_monte_carlo_initial_pose_marker_pub_->publish(marker_array); - - auto sensor_points_mapTF_ptr = std::make_shared>(); - tier4_autoware_utils::transformPointCloud( - *ndt_ptr->getInputSource(), *sensor_points_mapTF_ptr, ndt_result.pose); - publish_point_cloud(initial_pose_with_cov.header.stamp, map_frame_, sensor_points_mapTF_ptr); - } - - auto best_particle_ptr = std::max_element( - std::begin(particle_array), std::end(particle_array), - [](const Particle & lhs, const Particle & rhs) { return lhs.score < rhs.score; }); - - geometry_msgs::msg::PoseWithCovarianceStamped result_pose_with_cov_msg; - result_pose_with_cov_msg.header.stamp = initial_pose_with_cov.header.stamp; - result_pose_with_cov_msg.header.frame_id = map_frame_; - result_pose_with_cov_msg.pose.pose = best_particle_ptr->result_pose; - - return result_pose_with_cov_msg; -} - -void MapUpdateModule::publish_point_cloud( - const rclcpp::Time & sensor_ros_time, const std::string & frame_id, - const std::shared_ptr> & sensor_points_mapTF_ptr) -{ - sensor_msgs::msg::PointCloud2 sensor_points_mapTF_msg; - pcl::toROSMsg(*sensor_points_mapTF_ptr, sensor_points_mapTF_msg); - sensor_points_mapTF_msg.header.stamp = sensor_ros_time; - sensor_points_mapTF_msg.header.frame_id = frame_id; - sensor_aligned_pose_pub_->publish(sensor_points_mapTF_msg); -} - void MapUpdateModule::publish_partial_pcd_map() { pcl::PointCloud map_pcl = ndt_ptr_->getVoxelPCD(); diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index 88e43a8f01980..400e4570cd5b4 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -150,6 +150,9 @@ NDTScanMatcher::NDTScanMatcher() output_pose_covariance_[i] = output_pose_covariance[i]; } + initial_estimate_particles_num_ = + this->declare_parameter("initial_estimate_particles_num", initial_estimate_particles_num_); + rclcpp::CallbackGroup::SharedPtr initial_pose_callback_group; initial_pose_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); @@ -211,7 +214,15 @@ NDTScanMatcher::NDTScanMatcher() ndt_marker_pub_ = this->create_publisher("ndt_marker", 10); diagnostics_pub_ = this->create_publisher("/diagnostics", 10); + ndt_monte_carlo_initial_pose_marker_pub_ = + this->create_publisher( + "monte_carlo_initial_pose_marker", 10); + service_ = this->create_service( + "ndt_align_srv", + std::bind( + &NDTScanMatcher::service_ndt_align, this, std::placeholders::_1, std::placeholders::_2), + rclcpp::ServicesQoS().get_rmw_qos_profile(), main_callback_group); service_trigger_node_ = this->create_service( "trigger_node_srv", std::bind( @@ -223,15 +234,13 @@ NDTScanMatcher::NDTScanMatcher() tf2_listener_module_ = std::make_shared(this); - if (this->declare_parameter("use_dynamic_map_loading")) { + use_dynamic_map_loading_ = this->declare_parameter("use_dynamic_map_loading"); + if (use_dynamic_map_loading_) { map_update_module_ = std::make_unique( this, &ndt_ptr_mtx_, ndt_ptr_, tf2_listener_module_, map_frame_, main_callback_group, state_ptr_); } else { map_module_ = std::make_unique(this, &ndt_ptr_mtx_, ndt_ptr_, main_callback_group); - pose_init_module_ = std::make_unique( - this, &ndt_ptr_mtx_, ndt_ptr_, tf2_listener_module_, map_frame_, main_callback_group, - state_ptr_); } } @@ -689,3 +698,89 @@ void NDTScanMatcher::service_trigger_node( res->success = true; return; } + +void NDTScanMatcher::service_ndt_align( + const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, + tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res) +{ + // get TF from pose_frame to map_frame + auto TF_pose_to_map_ptr = std::make_shared(); + tf2_listener_module_->get_transform( + get_clock()->now(), map_frame_, req->pose_with_covariance.header.frame_id, TF_pose_to_map_ptr); + + // transform pose_frame to map_frame + const auto mapTF_initial_pose_msg = transform(req->pose_with_covariance, *TF_pose_to_map_ptr); + if (use_dynamic_map_loading_) { + map_update_module_->update_map(mapTF_initial_pose_msg.pose.pose.position); + } + + if (ndt_ptr_->getInputTarget() == nullptr) { + res->success = false; + RCLCPP_WARN(get_logger(), "No InputTarget"); + return; + } + + if (ndt_ptr_->getInputSource() == nullptr) { + res->success = false; + RCLCPP_WARN(get_logger(), "No InputSource"); + return; + } + + // mutex Map + std::lock_guard lock(ndt_ptr_mtx_); + + (*state_ptr_)["state"] = "Aligning"; + res->pose_with_covariance = align_using_monte_carlo(ndt_ptr_, mapTF_initial_pose_msg); + (*state_ptr_)["state"] = "Sleeping"; + res->success = true; + res->pose_with_covariance.pose.covariance = req->pose_with_covariance.pose.covariance; +} + +geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_using_monte_carlo( + const std::shared_ptr & ndt_ptr, + const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov) +{ + if (ndt_ptr->getInputTarget() == nullptr || ndt_ptr->getInputSource() == nullptr) { + RCLCPP_WARN(get_logger(), "No Map or Sensor PointCloud"); + return geometry_msgs::msg::PoseWithCovarianceStamped(); + } + + // generateParticle + const auto initial_poses = + create_random_pose_array(initial_pose_with_cov, initial_estimate_particles_num_); + + std::vector particle_array; + auto output_cloud = std::make_shared>(); + + for (unsigned int i = 0; i < initial_poses.size(); i++) { + const auto & initial_pose = initial_poses[i]; + const Eigen::Matrix4f initial_pose_matrix = pose_to_matrix4f(initial_pose); + ndt_ptr->align(*output_cloud, initial_pose_matrix); + const pclomp::NdtResult ndt_result = ndt_ptr->getResult(); + + Particle particle( + initial_pose, matrix4f_to_pose(ndt_result.pose), ndt_result.transform_probability, + ndt_result.iteration_num); + particle_array.push_back(particle); + const auto marker_array = make_debug_markers( + get_clock()->now(), map_frame_, tier4_autoware_utils::createMarkerScale(0.3, 0.1, 0.1), + particle, i); + ndt_monte_carlo_initial_pose_marker_pub_->publish(marker_array); + + auto sensor_points_mapTF_ptr = std::make_shared>(); + tier4_autoware_utils::transformPointCloud( + *ndt_ptr->getInputSource(), *sensor_points_mapTF_ptr, ndt_result.pose); + publish_point_cloud(initial_pose_with_cov.header.stamp, map_frame_, sensor_points_mapTF_ptr); + } + + auto best_particle_ptr = std::max_element( + std::begin(particle_array), std::end(particle_array), + [](const Particle & lhs, const Particle & rhs) { return lhs.score < rhs.score; }); + + geometry_msgs::msg::PoseWithCovarianceStamped result_pose_with_cov_msg; + result_pose_with_cov_msg.header.stamp = initial_pose_with_cov.header.stamp; + result_pose_with_cov_msg.header.frame_id = map_frame_; + result_pose_with_cov_msg.pose.pose = best_particle_ptr->result_pose; + + return result_pose_with_cov_msg; +} diff --git a/localization/ndt_scan_matcher/src/pose_initialization_module.cpp b/localization/ndt_scan_matcher/src/pose_initialization_module.cpp deleted file mode 100644 index 2814085fee07c..0000000000000 --- a/localization/ndt_scan_matcher/src/pose_initialization_module.cpp +++ /dev/null @@ -1,140 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// 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 "ndt_scan_matcher/pose_initialization_module.hpp" - -PoseInitializationModule::PoseInitializationModule( - rclcpp::Node * node, std::mutex * ndt_ptr_mutex, - std::shared_ptr ndt_ptr, - std::shared_ptr tf2_listener_module, std::string map_frame, - rclcpp::CallbackGroup::SharedPtr main_callback_group, - std::shared_ptr> state_ptr) -: ndt_ptr_(ndt_ptr), - ndt_ptr_mutex_(ndt_ptr_mutex), - map_frame_(map_frame), - logger_(node->get_logger()), - clock_(node->get_clock()), - tf2_listener_module_(tf2_listener_module), - state_ptr_(state_ptr) -{ - initial_estimate_particles_num_ = - node->declare_parameter("initial_estimate_particles_num", initial_estimate_particles_num_); - - sensor_aligned_pose_pub_ = - node->create_publisher("monte_carlo_points_aligned", 10); - ndt_monte_carlo_initial_pose_marker_pub_ = - node->create_publisher( - "monte_carlo_initial_pose_marker", 10); - - service_ = node->create_service( - "ndt_align_srv", - std::bind( - &PoseInitializationModule::service_ndt_align, this, std::placeholders::_1, - std::placeholders::_2), - rclcpp::ServicesQoS().get_rmw_qos_profile(), main_callback_group); -} - -void PoseInitializationModule::service_ndt_align( - const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, - tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res) -{ - // get TF from pose_frame to map_frame - auto TF_pose_to_map_ptr = std::make_shared(); - tf2_listener_module_->get_transform( - clock_->now(), map_frame_, req->pose_with_covariance.header.frame_id, TF_pose_to_map_ptr); - - // transform pose_frame to map_frame - const auto mapTF_initial_pose_msg = transform(req->pose_with_covariance, *TF_pose_to_map_ptr); - - if (ndt_ptr_->getInputTarget() == nullptr) { - res->success = false; - RCLCPP_WARN(logger_, "No InputTarget"); - return; - } - - if (ndt_ptr_->getInputSource() == nullptr) { - res->success = false; - RCLCPP_WARN(logger_, "No InputSource"); - return; - } - - // mutex Map - std::lock_guard lock(*ndt_ptr_mutex_); - - (*state_ptr_)["state"] = "Aligning"; - res->pose_with_covariance = align_using_monte_carlo(ndt_ptr_, mapTF_initial_pose_msg); - (*state_ptr_)["state"] = "Sleeping"; - res->success = true; - res->pose_with_covariance.pose.covariance = req->pose_with_covariance.pose.covariance; -} - -geometry_msgs::msg::PoseWithCovarianceStamped PoseInitializationModule::align_using_monte_carlo( - const std::shared_ptr & ndt_ptr, - const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov) -{ - if (ndt_ptr->getInputTarget() == nullptr || ndt_ptr->getInputSource() == nullptr) { - RCLCPP_WARN(logger_, "No Map or Sensor PointCloud"); - return geometry_msgs::msg::PoseWithCovarianceStamped(); - } - - // generateParticle - const auto initial_poses = - create_random_pose_array(initial_pose_with_cov, initial_estimate_particles_num_); - - std::vector particle_array; - auto output_cloud = std::make_shared>(); - - for (unsigned int i = 0; i < initial_poses.size(); i++) { - const auto & initial_pose = initial_poses[i]; - const Eigen::Matrix4f initial_pose_matrix = pose_to_matrix4f(initial_pose); - ndt_ptr->align(*output_cloud, initial_pose_matrix); - const pclomp::NdtResult ndt_result = ndt_ptr->getResult(); - - Particle particle( - initial_pose, matrix4f_to_pose(ndt_result.pose), ndt_result.transform_probability, - ndt_result.iteration_num); - particle_array.push_back(particle); - const auto marker_array = make_debug_markers( - clock_->now(), map_frame_, tier4_autoware_utils::createMarkerScale(0.3, 0.1, 0.1), particle, - i); - ndt_monte_carlo_initial_pose_marker_pub_->publish(marker_array); - - auto sensor_points_mapTF_ptr = std::make_shared>(); - tier4_autoware_utils::transformPointCloud( - *ndt_ptr->getInputSource(), *sensor_points_mapTF_ptr, ndt_result.pose); - publish_point_cloud(initial_pose_with_cov.header.stamp, map_frame_, sensor_points_mapTF_ptr); - } - - auto best_particle_ptr = std::max_element( - std::begin(particle_array), std::end(particle_array), - [](const Particle & lhs, const Particle & rhs) { return lhs.score < rhs.score; }); - - geometry_msgs::msg::PoseWithCovarianceStamped result_pose_with_cov_msg; - result_pose_with_cov_msg.header.stamp = initial_pose_with_cov.header.stamp; - result_pose_with_cov_msg.header.frame_id = map_frame_; - result_pose_with_cov_msg.pose.pose = best_particle_ptr->result_pose; - - return result_pose_with_cov_msg; -} - -void PoseInitializationModule::publish_point_cloud( - const rclcpp::Time & sensor_ros_time, const std::string & frame_id, - const std::shared_ptr> & sensor_points_mapTF_ptr) -{ - sensor_msgs::msg::PointCloud2 sensor_points_mapTF_msg; - pcl::toROSMsg(*sensor_points_mapTF_ptr, sensor_points_mapTF_msg); - sensor_points_mapTF_msg.header.stamp = sensor_ros_time; - sensor_points_mapTF_msg.header.frame_id = frame_id; - sensor_aligned_pose_pub_->publish(sensor_points_mapTF_msg); -} From 76742c1ef212304feeba5838720dab9074883f28 Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Wed, 5 Jul 2023 15:02:07 +0900 Subject: [PATCH 087/118] feat(radar_tracks_noise_filter): add radar_tracks_noise_filter (#4037) * feature(radar_tracks_noise_filter): add radar_tracks_noise_filter Signed-off-by: scepter914 * update README Signed-off-by: scepter914 * style(pre-commit): autofix * fix package.xml test error Signed-off-by: scepter914 * update README Signed-off-by: scepter914 * apply pre-commit Signed-off-by: scepter914 * fix default parapmeter in src Signed-off-by: scepter914 * change default parameter Signed-off-by: scepter914 --------- Signed-off-by: scepter914 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../radar_tracks_noise_filter/CMakeLists.txt | 40 ++++++ sensing/radar_tracks_noise_filter/README.md | 34 +++++ .../radar_tracks_noise_filter_node.hpp | 66 ++++++++++ .../radar_tracks_noise_filter.launch.xml | 17 +++ sensing/radar_tracks_noise_filter/package.xml | 26 ++++ .../radar_tracks_noise_filter_node.cpp | 122 ++++++++++++++++++ 6 files changed, 305 insertions(+) create mode 100644 sensing/radar_tracks_noise_filter/CMakeLists.txt create mode 100644 sensing/radar_tracks_noise_filter/README.md create mode 100644 sensing/radar_tracks_noise_filter/include/radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp create mode 100644 sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml create mode 100644 sensing/radar_tracks_noise_filter/package.xml create mode 100644 sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp diff --git a/sensing/radar_tracks_noise_filter/CMakeLists.txt b/sensing/radar_tracks_noise_filter/CMakeLists.txt new file mode 100644 index 0000000000000..517a3f1df72f1 --- /dev/null +++ b/sensing/radar_tracks_noise_filter/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 3.5) +project(radar_tracks_noise_filter) + +# Compile options +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Dependencies +find_package(autoware_cmake REQUIRED) +autoware_package() + +# Targets +ament_auto_add_library(radar_tracks_noise_filter_node_component SHARED + src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp +) + +rclcpp_components_register_node(radar_tracks_noise_filter_node_component + PLUGIN "radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode" + EXECUTABLE radar_tracks_noise_filter_node +) + +# Tests +if(BUILD_TESTING) + list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +# Package +ament_auto_package( + INSTALL_TO_SHARE + launch +) diff --git a/sensing/radar_tracks_noise_filter/README.md b/sensing/radar_tracks_noise_filter/README.md new file mode 100644 index 0000000000000..f1251b4f4ee74 --- /dev/null +++ b/sensing/radar_tracks_noise_filter/README.md @@ -0,0 +1,34 @@ +# radar_tracks_noise_filter + +This package contains a radar object filter module for `radar_msgs/msg/RadarTrack`. +This package can filter noise objects in RadarTracks. + +## Algorithm + +The core algorithm of this package is `RadarTrackCrossingNoiseFilterNode::isNoise()` function. +See the function and the parameters for details. + +- Y-axis threshold + +Radar can detect x-axis velocity as doppler velocity, but cannot detect y-axis velocity. +Some radar can estimate y-axis velocity inside the device, but it sometimes lack precision. +In y-axis threshold filter, if y-axis velocity of RadarTrack is more than `velocity_y_threshold`, it treats as noise objects. + +## Input + +| Name | Type | Description | +| ---------------- | ------------------------------ | ------------------- | +| `~/input/tracks` | radar_msgs/msg/RadarTracks.msg | 3D detected tracks. | + +## Output + +| Name | Type | Description | +| -------------------------- | ------------------------------ | ---------------- | +| `~/output/noise_tracks` | radar_msgs/msg/RadarTracks.msg | Noise objects | +| `~/output/filtered_tracks` | radar_msgs/msg/RadarTracks.msg | Filtered objects | + +## Parameters + +| Name | Type | Description | Default value | +| :--------------------- | :----- | :--------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| `velocity_y_threshold` | double | Y-axis velocity threshold [m/s]. If y-axis velocity of RadarTrack is more than `velocity_y_threshold`, it treats as noise objects. | 7.0 | diff --git a/sensing/radar_tracks_noise_filter/include/radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp b/sensing/radar_tracks_noise_filter/include/radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp new file mode 100644 index 0000000000000..9b329da3e5579 --- /dev/null +++ b/sensing/radar_tracks_noise_filter/include/radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp @@ -0,0 +1,66 @@ +// Copyright 2023 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 RADAR_TRACKS_NOISE_FILTER__RADAR_TRACKS_NOISE_FILTER_NODE_HPP_ +#define RADAR_TRACKS_NOISE_FILTER__RADAR_TRACKS_NOISE_FILTER_NODE_HPP_ + +#include "rclcpp/rclcpp.hpp" + +#include "radar_msgs/msg/radar_tracks.hpp" + +#include +#include +#include + +namespace radar_tracks_noise_filter +{ +using radar_msgs::msg::RadarTrack; +using radar_msgs::msg::RadarTracks; + +class RadarTrackCrossingNoiseFilterNode : public rclcpp::Node +{ +public: + explicit RadarTrackCrossingNoiseFilterNode(const rclcpp::NodeOptions & node_options); + + struct NodeParam + { + double velocity_y_threshold{}; + }; + +private: + // Subscriber + rclcpp::Subscription::SharedPtr sub_tracks_{}; + + // Callback + void onTracks(const RadarTracks::ConstSharedPtr msg); + + // Publisher + rclcpp::Publisher::SharedPtr pub_noise_tracks_{}; + rclcpp::Publisher::SharedPtr pub_filtered_tracks_{}; + + // Parameter Server + OnSetParametersCallbackHandle::SharedPtr set_param_res_; + rcl_interfaces::msg::SetParametersResult onSetParam( + const std::vector & params); + + // Parameter + NodeParam node_param_{}; + + // Core + bool isNoise(const RadarTrack & radar_track); +}; + +} // namespace radar_tracks_noise_filter + +#endif // RADAR_TRACKS_NOISE_FILTER__RADAR_TRACKS_NOISE_FILTER_NODE_HPP_ diff --git a/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml b/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml new file mode 100644 index 0000000000000..f38fe36b50af4 --- /dev/null +++ b/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/sensing/radar_tracks_noise_filter/package.xml b/sensing/radar_tracks_noise_filter/package.xml new file mode 100644 index 0000000000000..3af9658535687 --- /dev/null +++ b/sensing/radar_tracks_noise_filter/package.xml @@ -0,0 +1,26 @@ + + + + radar_tracks_noise_filter + 0.1.0 + radar_tracks_noise_filter + Sathshi Tanaka + Shunsuke Miura + Apache License 2.0 + Sathshi Tanaka + + ament_cmake_auto + + geometry_msgs + radar_msgs + rclcpp + rclcpp_components + + autoware_cmake + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp b/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp new file mode 100644 index 0000000000000..b58bd7799122a --- /dev/null +++ b/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp @@ -0,0 +1,122 @@ +// Copyright 2023 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 "radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp" + +#include +#include +#include + +namespace +{ +template +bool update_param( + const std::vector & params, const std::string & name, T & value) +{ + const auto itr = std::find_if( + params.cbegin(), params.cend(), + [&name](const rclcpp::Parameter & p) { return p.get_name() == name; }); + + // Not found + if (itr == params.cend()) { + return false; + } + + value = itr->template get_value(); + return true; +} +} // namespace + +namespace radar_tracks_noise_filter +{ +using radar_msgs::msg::RadarTrack; +using radar_msgs::msg::RadarTracks; + +RadarTrackCrossingNoiseFilterNode::RadarTrackCrossingNoiseFilterNode( + const rclcpp::NodeOptions & node_options) +: Node("radar_tracks_noise_filter", node_options) +{ + // Parameter Server + set_param_res_ = this->add_on_set_parameters_callback( + std::bind(&RadarTrackCrossingNoiseFilterNode::onSetParam, this, std::placeholders::_1)); + + // Node Parameter + node_param_.velocity_y_threshold = declare_parameter("velocity_y_threshold", 7.0); + + // Subscriber + sub_tracks_ = create_subscription( + "~/input/tracks", rclcpp::QoS{1}, + std::bind(&RadarTrackCrossingNoiseFilterNode::onTracks, this, std::placeholders::_1)); + + // Publisher + pub_noise_tracks_ = create_publisher("~/output/noise_tracks", 1); + pub_filtered_tracks_ = create_publisher("~/output/filtered_tracks", 1); +} + +void RadarTrackCrossingNoiseFilterNode::onTracks(const RadarTracks::ConstSharedPtr msg) +{ + RadarTracks noise_tracks; + RadarTracks filtered_tracks; + noise_tracks.header = msg->header; + filtered_tracks.header = msg->header; + + for (const auto & radar_track : msg->tracks) { + if (isNoise(radar_track)) { + noise_tracks.tracks.emplace_back(radar_track); + } else { + filtered_tracks.tracks.emplace_back(radar_track); + } + } + // publish + pub_noise_tracks_->publish(noise_tracks); + pub_filtered_tracks_->publish(filtered_tracks); +} + +rcl_interfaces::msg::SetParametersResult RadarTrackCrossingNoiseFilterNode::onSetParam( + const std::vector & params) +{ + rcl_interfaces::msg::SetParametersResult result; + + try { + // Node Parameter + { + auto & p = node_param_; + + // Update params + update_param(params, "velocity_y_threshold", p.velocity_y_threshold); + } + } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) { + result.successful = false; + result.reason = e.what(); + return result; + } + + result.successful = true; + result.reason = "success"; + return result; +} + +bool RadarTrackCrossingNoiseFilterNode::isNoise(const RadarTrack & radar_track) +{ + if (std::abs(radar_track.velocity.y) < node_param_.velocity_y_threshold) { + return false; + } else { + return true; + } +} + +} // namespace radar_tracks_noise_filter + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode) From 6f116759266f8eaa882a2bd37efa77155f040b2f Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Wed, 5 Jul 2023 15:02:46 +0900 Subject: [PATCH 088/118] feat(object_velocity_splitter): add object_velocity_splitter (#4093) * feat(object_velocity_splitter): add object_velocity_splitter Signed-off-by: scepter914 * apply pre-commit Signed-off-by: scepter914 * fix package.xml test error Signed-off-by: scepter914 --------- Signed-off-by: scepter914 --- .../object_velocity_splitter/CMakeLists.txt | 40 ++++++ perception/object_velocity_splitter/README.md | 23 ++++ .../object_velocity_splitter_node.hpp | 67 ++++++++++ .../object_velocity_splitter.launch.xml | 17 +++ .../object_velocity_splitter/package.xml | 28 +++++ .../object_velocity_splitter_node.cpp | 116 ++++++++++++++++++ 6 files changed, 291 insertions(+) create mode 100644 perception/object_velocity_splitter/CMakeLists.txt create mode 100644 perception/object_velocity_splitter/README.md create mode 100644 perception/object_velocity_splitter/include/object_velocity_splitter/object_velocity_splitter_node.hpp create mode 100644 perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml create mode 100644 perception/object_velocity_splitter/package.xml create mode 100644 perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp diff --git a/perception/object_velocity_splitter/CMakeLists.txt b/perception/object_velocity_splitter/CMakeLists.txt new file mode 100644 index 0000000000000..bcc56f522f0a8 --- /dev/null +++ b/perception/object_velocity_splitter/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 3.5) +project(object_velocity_splitter) + +# Compile options +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Dependencies +find_package(autoware_cmake REQUIRED) +autoware_package() + +# Targets +ament_auto_add_library(object_velocity_splitter_node_component SHARED + src/object_velocity_splitter_node/object_velocity_splitter_node.cpp +) + +rclcpp_components_register_node(object_velocity_splitter_node_component + PLUGIN "object_velocity_splitter::ObjectVelocitySplitterNode" + EXECUTABLE object_velocity_splitter_node +) + +# Tests +if(BUILD_TESTING) + list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +# Package +ament_auto_package( + INSTALL_TO_SHARE + launch +) diff --git a/perception/object_velocity_splitter/README.md b/perception/object_velocity_splitter/README.md new file mode 100644 index 0000000000000..9dcd535a5a10f --- /dev/null +++ b/perception/object_velocity_splitter/README.md @@ -0,0 +1,23 @@ +# object_velocity_splitter + +This package contains a object filter module for [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl). +This package can split DetectedObjects into two messages by object's speed. + +## Input + +| Name | Type | Description | +| ----------------- | ----------------------------------------------------- | -------------------- | +| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected objects. | + +## Output + +| Name | Type | Description | +| ----------------------------- | ----------------------------------------------------- | ----------------------- | +| `~/output/low_speed_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Objects with low speed | +| `~/output/high_speed_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Objects with high speed | + +## Parameters + +| Name | Type | Description | Default value | +| :------------------- | :----- | :-------------------------------------------------- | :------------ | +| `velocity_threshold` | double | Velocity threshold parameter to split objects [m/s] | 3.0 | diff --git a/perception/object_velocity_splitter/include/object_velocity_splitter/object_velocity_splitter_node.hpp b/perception/object_velocity_splitter/include/object_velocity_splitter/object_velocity_splitter_node.hpp new file mode 100644 index 0000000000000..9b1857f614997 --- /dev/null +++ b/perception/object_velocity_splitter/include/object_velocity_splitter/object_velocity_splitter_node.hpp @@ -0,0 +1,67 @@ +// Copyright 2023 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 OBJECT_VELOCITY_SPLITTER__OBJECT_VELOCITY_SPLITTER_NODE_HPP_ +#define OBJECT_VELOCITY_SPLITTER__OBJECT_VELOCITY_SPLITTER_NODE_HPP_ + +#include "rclcpp/rclcpp.hpp" + +#include "autoware_auto_perception_msgs/msg/detected_objects.hpp" + +#include +#include +#include +#include + +namespace object_velocity_splitter +{ +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; + +class ObjectVelocitySplitterNode : public rclcpp::Node +{ +public: + explicit ObjectVelocitySplitterNode(const rclcpp::NodeOptions & node_options); + + struct NodeParam + { + double velocity_threshold{}; + }; + +private: + // Subscriber + rclcpp::Subscription::SharedPtr sub_objects_{}; + + // Callback + void onObjects(const DetectedObjects::ConstSharedPtr msg); + + // Data Buffer + DetectedObjects::ConstSharedPtr objects_data_{}; + + // Publisher + rclcpp::Publisher::SharedPtr pub_high_speed_objects_{}; + rclcpp::Publisher::SharedPtr pub_low_speed_objects_{}; + + // Parameter Server + OnSetParametersCallbackHandle::SharedPtr set_param_res_; + rcl_interfaces::msg::SetParametersResult onSetParam( + const std::vector & params); + + // Parameter + NodeParam node_param_{}; +}; + +} // namespace object_velocity_splitter + +#endif // OBJECT_VELOCITY_SPLITTER__OBJECT_VELOCITY_SPLITTER_NODE_HPP_ diff --git a/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml new file mode 100644 index 0000000000000..42d7f3d61f386 --- /dev/null +++ b/perception/object_velocity_splitter/launch/object_velocity_splitter.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/perception/object_velocity_splitter/package.xml b/perception/object_velocity_splitter/package.xml new file mode 100644 index 0000000000000..06ec834920012 --- /dev/null +++ b/perception/object_velocity_splitter/package.xml @@ -0,0 +1,28 @@ + + + + object_velocity_splitter + 0.1.0 + object_velocity_splitter + Sathshi Tanaka + Shunsuke Miura + Yoshi Ri + Apache License 2.0 + Sathshi Tanaka + + ament_cmake_auto + + autoware_auto_perception_msgs + geometry_msgs + rclcpp + rclcpp_components + tier4_autoware_utils + + autoware_cmake + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp b/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp new file mode 100644 index 0000000000000..775f612b8caeb --- /dev/null +++ b/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp @@ -0,0 +1,116 @@ +// Copyright 2023 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 "object_velocity_splitter/object_velocity_splitter_node.hpp" + +#include "tier4_autoware_utils/tier4_autoware_utils.hpp" + +#include +#include +#include + +namespace +{ +template +bool update_param( + const std::vector & params, const std::string & name, T & value) +{ + const auto itr = std::find_if( + params.cbegin(), params.cend(), + [&name](const rclcpp::Parameter & p) { return p.get_name() == name; }); + + // Not found + if (itr == params.cend()) { + return false; + } + + value = itr->template get_value(); + return true; +} +} // namespace + +namespace object_velocity_splitter +{ +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; + +ObjectVelocitySplitterNode::ObjectVelocitySplitterNode(const rclcpp::NodeOptions & node_options) +: Node("object_velocity_splitter", node_options) +{ + // Parameter Server + set_param_res_ = this->add_on_set_parameters_callback( + std::bind(&ObjectVelocitySplitterNode::onSetParam, this, std::placeholders::_1)); + + // Node Parameter + node_param_.velocity_threshold = declare_parameter("velocity_threshold", 3.0); + + // Subscriber + sub_objects_ = create_subscription( + "~/input/objects", rclcpp::QoS{1}, + std::bind(&ObjectVelocitySplitterNode::onObjects, this, std::placeholders::_1)); + + // Publisher + pub_high_speed_objects_ = create_publisher("~/output/high_speed_objects", 1); + pub_low_speed_objects_ = create_publisher("~/output/low_speed_objects", 1); +} + +void ObjectVelocitySplitterNode::onObjects(const DetectedObjects::ConstSharedPtr objects_data_) +{ + DetectedObjects high_speed_objects; + DetectedObjects low_speed_objects; + high_speed_objects.header = objects_data_->header; + low_speed_objects.header = objects_data_->header; + + for (const auto & object : objects_data_->objects) { + if ( + std::abs(tier4_autoware_utils::calcNorm( + object.kinematics.twist_with_covariance.twist.linear)) < node_param_.velocity_threshold) { + low_speed_objects.objects.emplace_back(object); + } else { + high_speed_objects.objects.emplace_back(object); + } + } + // publish + pub_high_speed_objects_->publish(high_speed_objects); + pub_low_speed_objects_->publish(low_speed_objects); +} + +rcl_interfaces::msg::SetParametersResult ObjectVelocitySplitterNode::onSetParam( + const std::vector & params) +{ + rcl_interfaces::msg::SetParametersResult result; + + try { + // Node Parameter + { + auto & p = node_param_; + + // Update params + update_param(params, "velocity_threshold", p.velocity_threshold); + } + } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) { + result.successful = false; + result.reason = e.what(); + return result; + } + + result.successful = true; + result.reason = "success"; + return result; +} + +} // namespace object_velocity_splitter + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(object_velocity_splitter::ObjectVelocitySplitterNode) From 3d2f446e60598f158d11668a8e2017b909e07b29 Mon Sep 17 00:00:00 2001 From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Date: Wed, 5 Jul 2023 15:45:31 +0900 Subject: [PATCH 089/118] feat(roi_cluster_fusion): check whether cluster RoI is inside of RoI detected by 2D detector (#4147) * feat: check whether cluster roi is inside of roi detected by 2D detector Signed-off-by: ktro2828 * feat: add option whether only allow cluster RoIs inside detector RoIs Signed-off-by: ktro2828 * Update perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp Co-authored-by: Yukihiro Saito Signed-off-by: ktro2828 * style(pre-commit): autofix Signed-off-by: ktro2828 --------- Signed-off-by: ktro2828 Co-authored-by: Yukihiro Saito Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../docs/roi-cluster-fusion.md | 20 ++++++++++--------- .../roi_cluster_fusion/node.hpp | 2 ++ .../utils/geometry.hpp | 4 ++++ .../launch/roi_cluster_fusion.launch.xml | 2 ++ .../src/roi_cluster_fusion/node.cpp | 8 +++++++- .../src/utils/geometry.cpp | 11 ++++++++++ 6 files changed, 37 insertions(+), 10 deletions(-) diff --git a/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md b/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md index 4b2be683efc18..c746de3e733a2 100644 --- a/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md +++ b/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md @@ -32,15 +32,17 @@ The clusters are projected onto image planes, and then if the ROIs of clusters a ### Core Parameters -| Name | Type | Description | -| --------------------------- | ----- | ----------------------------------------------------------------------------- | -| `use_iou_x` | bool | calculate IoU only along x-axis | -| `use_iou_y` | bool | calculate IoU only along y-axis | -| `use_iou` | bool | calculate IoU both along x-axis and y-axis | -| `use_cluster_semantic_type` | bool | if `false`, the labels of clusters are overwritten by `UNKNOWN` before fusion | -| `iou_threshold` | float | the IoU threshold to overwrite a label of clusters with a label of roi | -| `rois_number` | int | the number of input rois | -| `debug_mode` | bool | If `true`, subscribe and publish images for visualization. | +| Name | Type | Description | +| --------------------------- | ----- | -------------------------------------------------------------------------------- | +| `use_iou_x` | bool | calculate IoU only along x-axis | +| `use_iou_y` | bool | calculate IoU only along y-axis | +| `use_iou` | bool | calculate IoU both along x-axis and y-axis | +| `use_cluster_semantic_type` | bool | if `false`, the labels of clusters are overwritten by `UNKNOWN` before fusion | +| `only_allow_inside_cluster` | bool | if `true`, the only clusters contained inside RoIs by a detector | +| `roi_scale_factor` | float | the scale factor for offset of detector RoIs if `only_allow_inside_cluster=true` | +| `iou_threshold` | float | the IoU threshold to overwrite a label of clusters with a label of roi | +| `rois_number` | int | the number of input rois | +| `debug_mode` | bool | If `true`, subscribe and publish images for visualization. | ## Assumptions / Known limits diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp index 5d6aba9b7d51d..b838de11bf7ec 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_cluster_fusion/node.hpp @@ -42,6 +42,8 @@ class RoiClusterFusionNode bool use_iou_y_{false}; bool use_iou_{false}; bool use_cluster_semantic_type_{false}; + bool only_allow_inside_cluster_{false}; + float roi_scale_factor_{1.1f}; float iou_threshold_{0.0f}; bool remove_unknown_; float trust_distance_; diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/geometry.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/geometry.hpp index 9d69410c69900..7ffac150a1e87 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/geometry.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/geometry.hpp @@ -60,6 +60,10 @@ void transformPoints( const std::vector & input_points, const Eigen::Affine3d & affine_transform, std::vector & output_points); +bool is_inside( + const sensor_msgs::msg::RegionOfInterest & outer, + const sensor_msgs::msg::RegionOfInterest & inner, const float outer_offset_scale = 1.1); + } // namespace image_projection_based_fusion #endif // IMAGE_PROJECTION_BASED_FUSION__UTILS__GEOMETRY_HPP_ diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml index 2bf9af331ca45..a946da66f2488 100644 --- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml @@ -74,6 +74,8 @@ + + diff --git a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index e15d47a01521c..af3dd15d98abc 100644 --- a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -40,6 +40,8 @@ RoiClusterFusionNode::RoiClusterFusionNode(const rclcpp::NodeOptions & options) use_iou_y_ = declare_parameter("use_iou_y", false); use_iou_ = declare_parameter("use_iou", false); use_cluster_semantic_type_ = declare_parameter("use_cluster_semantic_type", false); + only_allow_inside_cluster_ = declare_parameter("only_allow_inside_cluster_", false); + roi_scale_factor_ = declare_parameter("roi_scale_factor", 1.1); iou_threshold_ = declare_parameter("iou_threshold", 0.1); remove_unknown_ = declare_parameter("remove_unknown", false); trust_distance_ = declare_parameter("trust_distance", 100.0); @@ -177,7 +179,11 @@ void RoiClusterFusionNode::fuseOnSingleImage( if (use_iou_y_) { iou_y = calcIoUY(cluster_map.second, feature_obj.feature.roi); } - if (max_iou < iou + iou_x + iou_y) { + const bool passed_inside_cluster_gate = + only_allow_inside_cluster_ + ? is_inside(feature_obj.feature.roi, cluster_map.second, roi_scale_factor_) + : true; + if (max_iou < iou + iou_x + iou_y && passed_inside_cluster_gate) { index = cluster_map.first; max_iou = iou + iou_x + iou_y; } diff --git a/perception/image_projection_based_fusion/src/utils/geometry.cpp b/perception/image_projection_based_fusion/src/utils/geometry.cpp index dc35b754d0f01..9ea49256650ee 100644 --- a/perception/image_projection_based_fusion/src/utils/geometry.cpp +++ b/perception/image_projection_based_fusion/src/utils/geometry.cpp @@ -162,4 +162,15 @@ void transformPoints( } } +bool is_inside( + const sensor_msgs::msg::RegionOfInterest & outer, + const sensor_msgs::msg::RegionOfInterest & inner, const double outer_offset_scale) +{ + const double lower_scale = 1.0 - std::abs(outer_offset_scale - 1.0); + return outer.x_offset * lower_scale <= inner.x_offset && + outer.y_offset * lower_scale <= inner.y_offset && + inner.x_offset + inner.width <= (outer.x_offset + outer.width) * outer_offset_scale && + inner.y_offset + inner.height <= (outer.y_offset + outer.height) * outer_offset_scale; +} + } // namespace image_projection_based_fusion From 58b2044565203537eeb837c4f587558347befc4d Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed, 5 Jul 2023 18:15:05 +0900 Subject: [PATCH 090/118] feat(lane_change): update lane change object filter (#4172) * feat(lane_change): update lane change object filter Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka --------- Signed-off-by: yutaka --- .../src/scene_module/lane_change/normal.cpp | 2 +- .../src/utils/lane_change/utils.cpp | 11 ++++++++++- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 41561493e08d6..361cb5548dc40 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -777,7 +777,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const // get lanes used for detection const auto backward_target_lanes_for_object_filtering = utils::lane_change::getBackwardLanelets( - route_handler, path.target_lanelets, current_pose, lane_change_parameters.backward_lane_length); + route_handler, target_lanes, current_pose, lane_change_parameters.backward_lane_length); const auto dynamic_object_indices = utils::lane_change::filterObject( *dynamic_objects, current_lanes, target_lanes, backward_target_lanes_for_object_filtering, diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp index 6d1b4486856e1..44b4275bfa2f0 100644 --- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp +++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp @@ -1156,11 +1156,20 @@ LaneChangeTargetObjectIndices filterObject( } // check if the object intersects with current lanes - if (current_polygon && boost::geometry::intersects(current_polygon.value(), obj_polygon)) { + if ( + current_polygon && boost::geometry::intersects(current_polygon.value(), obj_polygon) && + max_dist_ego_to_obj >= 0.0) { + // check only the objects that are in front of the ego vehicle filtered_obj_indices.current_lane.push_back(i); continue; } + // ignore all objects that are behind the ego vehicle and not on the current and target + // lanes + if (max_dist_ego_to_obj < 0.0) { + continue; + } + filtered_obj_indices.other_lane.push_back(i); } From ddb6160d4bdc2b3e0c797bb9f0fae4c4ce72d572 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Wed, 5 Jul 2023 18:15:29 +0900 Subject: [PATCH 091/118] docs(traffic_light_arbiter): fix the datatype of input topics (#4156) docs(traffic_light_arbiter): fix the type of input topics Signed-off-by: Tomohito Ando --- perception/traffic_light_arbiter/README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/perception/traffic_light_arbiter/README.md b/perception/traffic_light_arbiter/README.md index f90e24a2ebd1f..952119020c215 100644 --- a/perception/traffic_light_arbiter/README.md +++ b/perception/traffic_light_arbiter/README.md @@ -12,11 +12,11 @@ A node that merges traffic light/signal state from image recognition and externa #### Input -| Name | Type | Description | -| -------------------------------- | -------------------------------------------- | -------------------------------------------------------- | -| ~/sub/vector_map | autoware_auto_mapping_msgs::msg::HADMapBin | The vector map to get valid traffic signal ids. | -| ~/sub/perception_traffic_signals | autoware_perception_msgs::msg::TrafficSignal | The traffic signals from the image recognition pipeline. | -| ~/sub/external_traffic_signals | autoware_perception_msgs::msg::TrafficSignal | The traffic signals from an external system. | +| Name | Type | Description | +| -------------------------------- | ------------------------------------------------- | -------------------------------------------------------- | +| ~/sub/vector_map | autoware_auto_mapping_msgs::msg::HADMapBin | The vector map to get valid traffic signal ids. | +| ~/sub/perception_traffic_signals | autoware_perception_msgs::msg::TrafficSignalArray | The traffic signals from the image recognition pipeline. | +| ~/sub/external_traffic_signals | autoware_perception_msgs::msg::TrafficSignalArray | The traffic signals from an external system. | #### Output From 334cb04cdf2eac3001fec0cbca6a3123cc23adae Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 5 Jul 2023 18:43:55 +0900 Subject: [PATCH 092/118] fix(vehicle_cmd_gate): use the current state for filtering when stopped (#4174) Signed-off-by: Maxime CLEMENT --- control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index 25221c652e81d..42e54d20416d8 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -503,6 +503,11 @@ AckermannControlCommand VehicleCmdGate::filterControlCommand(const AckermannCont if (mode.is_in_transition) { filter_on_transition_.filterAll(dt, current_steer_, out); } else { + // When ego is stopped and the input command is not stopping, + // use the actual vehicle longitudinal state for the filtering + // this is to prevent the jerk limits being applied and causing + // a delay when restarting the vehicle. + if (ego_is_stopped && !input_cmd_is_stopping) filter_.setPrevCmd(current_status_cmd); filter_.filterAll(dt, current_steer_, out); } @@ -521,14 +526,6 @@ AckermannControlCommand VehicleCmdGate::filterControlCommand(const AckermannCont // filter in manual mode. prev_values.longitudinal = out.longitudinal; // TODO(Horibe): to be removed - // When ego is stopped and the input command is stopping, - // use the actual vehicle longitudinal state for the next filtering - // this is to prevent the jerk limits being applied on the "stop acceleration" - // which may be negative and cause delays when restarting the vehicle. - if (ego_is_stopped && input_cmd_is_stopping) { - prev_values.longitudinal = current_status_cmd.longitudinal; - } - filter_.setPrevCmd(prev_values); filter_on_transition_.setPrevCmd(prev_values); From dd6cd800f62d58fb03e1fc64ad0c2c81e77a0b58 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 5 Jul 2023 18:48:01 +0900 Subject: [PATCH 093/118] feat: rename traffic signal element (#4129) * feat(traffic_light_arbiter): rename traffic signal element Signed-off-by: Takagi, Isamu * feat(traffic_light_selector): remove traffic light selector Signed-off-by: Takagi, Isamu * fix(traffic_light_arbiter): fix node name Signed-off-by: Takagi, Isamu * update topic name Signed-off-by: Takagi, Isamu * update message type Signed-off-by: Takagi, Isamu * update message type Signed-off-by: Takagi, Isamu --------- Signed-off-by: Takagi, Isamu Co-authored-by: Kenzo Lobos Tsunekawa --- .../include/traffic_light_arbiter/traffic_light_arbiter.hpp | 3 +-- .../launch/traffic_light_arbiter.launch.xml | 2 +- .../traffic_light_arbiter/src/traffic_light_arbiter.cpp | 2 +- perception/traffic_light_multi_camera_fusion/src/node.cpp | 4 ++-- .../src/traffic_light_map_visualizer/node.cpp | 6 +++--- 5 files changed, 8 insertions(+), 9 deletions(-) diff --git a/perception/traffic_light_arbiter/include/traffic_light_arbiter/traffic_light_arbiter.hpp b/perception/traffic_light_arbiter/include/traffic_light_arbiter/traffic_light_arbiter.hpp index eb7a13088b2c6..afb5984c288fc 100644 --- a/perception/traffic_light_arbiter/include/traffic_light_arbiter/traffic_light_arbiter.hpp +++ b/perception/traffic_light_arbiter/include/traffic_light_arbiter/traffic_light_arbiter.hpp @@ -18,7 +18,6 @@ #include #include -#include #include #include @@ -31,7 +30,7 @@ class TrafficLightArbiter : public rclcpp::Node explicit TrafficLightArbiter(const rclcpp::NodeOptions & options); private: - using Element = autoware_perception_msgs::msg::TrafficLightElement; + using Element = autoware_perception_msgs::msg::TrafficSignalElement; using LaneletMapBin = autoware_auto_mapping_msgs::msg::HADMapBin; using TrafficSignalArray = autoware_perception_msgs::msg::TrafficSignalArray; using TrafficSignal = autoware_perception_msgs::msg::TrafficSignal; diff --git a/perception/traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml b/perception/traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml index 9e261981d4096..42944450378d6 100644 --- a/perception/traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml +++ b/perception/traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp b/perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp index fac3bc1092615..eb940fc18c32d 100644 --- a/perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp +++ b/perception/traffic_light_arbiter/src/traffic_light_arbiter.cpp @@ -45,7 +45,7 @@ std::vector filter_traffic_signals(const LaneletMapConstPt } // namespace lanelet TrafficLightArbiter::TrafficLightArbiter(const rclcpp::NodeOptions & options) -: Node("traffic_light_selector", options) +: Node("traffic_light_arbiter", options) { external_time_tolerance_ = this->declare_parameter("external_time_tolerance", 5.0); perception_time_tolerance_ = this->declare_parameter("perception_time_tolerance", 1.0); diff --git a/perception/traffic_light_multi_camera_fusion/src/node.cpp b/perception/traffic_light_multi_camera_fusion/src/node.cpp index 7500193a3b643..d7e82af4af079 100644 --- a/perception/traffic_light_multi_camera_fusion/src/node.cpp +++ b/perception/traffic_light_multi_camera_fusion/src/node.cpp @@ -97,11 +97,11 @@ V at_or(const std::unordered_map & map, const K & key, const V & value) return map.count(key) ? map.at(key) : value; } -autoware_perception_msgs::msg::TrafficLightElement convert( +autoware_perception_msgs::msg::TrafficSignalElement convert( const tier4_perception_msgs::msg::TrafficLightElement & input) { typedef tier4_perception_msgs::msg::TrafficLightElement OldElem; - typedef autoware_perception_msgs::msg::TrafficLightElement NewElem; + typedef autoware_perception_msgs::msg::TrafficSignalElement NewElem; static const std::unordered_map color_map( {{OldElem::RED, NewElem::RED}, {OldElem::AMBER, NewElem::AMBER}, diff --git a/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp b/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp index ced36476e00ef..a9d107e78a1c4 100644 --- a/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp +++ b/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp @@ -167,18 +167,18 @@ void TrafficLightMapVisualizerNode::trafficSignalsCallback( visualization_msgs::msg::Marker marker; if ( isAttributeValue(pt, "color", "red") && - elem.color == autoware_perception_msgs::msg::TrafficLightElement::RED) { + elem.color == autoware_perception_msgs::msg::TrafficSignalElement::RED) { lightAsMarker( get_node_logging_interface(), pt, &marker, "traffic_light", current_time); } else if ( // NOLINT isAttributeValue(pt, "color", "green") && - elem.color == autoware_perception_msgs::msg::TrafficLightElement::GREEN) { + elem.color == autoware_perception_msgs::msg::TrafficSignalElement::GREEN) { lightAsMarker( get_node_logging_interface(), pt, &marker, "traffic_light", current_time); } else if ( // NOLINT isAttributeValue(pt, "color", "yellow") && - elem.color == autoware_perception_msgs::msg::TrafficLightElement::AMBER) { + elem.color == autoware_perception_msgs::msg::TrafficSignalElement::AMBER) { lightAsMarker( get_node_logging_interface(), pt, &marker, "traffic_light", current_time); } else { From e95909d21e2b7ff0cf19585baeca0187c0f638c1 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 5 Jul 2023 18:57:34 +0900 Subject: [PATCH 094/118] feat(avoidance): improve avoidance stop & decel behavior (#4141) * feat(path_shifter): add utils Signed-off-by: satoshi-ota * feat(avoidance): shorten avoidance stop distance Signed-off-by: satoshi-ota * feat(avoidance): insert slow down speed Signed-off-by: satoshi-ota * fix(avoidance): don't set stoppable=true for objects that ego doesn't have to avoid Signed-off-by: satoshi-ota * refactor(avoidance): rename unreadable variable name Signed-off-by: satoshi-ota * docs(avoidance): add new parameter description Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../config/avoidance/avoidance.param.yaml | 3 + .../behavior_path_planner_avoidance_design.md | 19 +++-- .../utils/avoidance/avoidance_module_data.hpp | 9 +++ .../utils/avoidance/helper.hpp | 9 +-- .../utils/path_shifter/path_shifter.hpp | 3 + .../src/marker_util/avoidance/debug.cpp | 6 +- .../avoidance/avoidance_module.cpp | 80 ++++++++++++++----- .../src/scene_module/avoidance/manager.cpp | 6 ++ .../src/utils/avoidance/utils.cpp | 40 ++++++---- .../src/utils/path_shifter/path_shifter.cpp | 12 +++ 10 files changed, 133 insertions(+), 54 deletions(-) diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml index 7c785efa0d5a9..d5f908ae9856f 100644 --- a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml +++ b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml @@ -144,6 +144,8 @@ min_avoidance_distance: 10.0 # [m] min_nominal_avoidance_speed: 7.0 # [m/s] min_sharp_avoidance_speed: 1.0 # [m/s] + min_slow_down_speed: 1.38 # [m/s] + buf_slow_down_speed: 0.56 # [m/s] # For yield maneuver yield: @@ -153,6 +155,7 @@ stop: min_distance: 10.0 # [m] max_distance: 20.0 # [m] + stop_buffer: 1.0 # [m] constraints: # vehicle slows down under longitudinal constraints diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md index b290a1efa90da..e1de6b5a59314 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md @@ -677,14 +677,16 @@ namespace: `avoidance.avoidance.lateral.` namespace: `avoidance.avoidance.longitudinal.` -| Name | Unit | Type | Description | Default value | -| :----------------------------------- | :---- | :----- | :----------------------------------------------------------------------------------------------------- | :------------ | -| prepare_time | [s] | double | Avoidance shift starts from point ahead of this time x ego_speed to avoid sudden path change. | 2.0 | -| longitudinal_collision_safety_buffer | [s] | double | Longitudinal collision buffer between target object and shift line. | 0.0 | -| min_prepare_distance | [m] | double | Minimum distance for "prepare_time" x "ego_speed". | 1.0 | -| min_avoidance_distance | [m] | double | Minimum distance of avoidance path (i.e. this distance is needed even if its lateral jerk is very low) | 10.0 | -| min_nominal_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a nominal situation (\*1). | 7.0 | -| min_sharp_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a sharp situation (\*1). | 1.0 | +| Name | Unit | Type | Description | Default value | +| :----------------------------------- | :---- | :----- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------- | +| prepare_time | [s] | double | Avoidance shift starts from point ahead of this time x ego_speed to avoid sudden path change. | 2.0 | +| longitudinal_collision_safety_buffer | [s] | double | Longitudinal collision buffer between target object and shift line. | 0.0 | +| min_prepare_distance | [m] | double | Minimum distance for "prepare_time" x "ego_speed". | 1.0 | +| min_avoidance_distance | [m] | double | Minimum distance of avoidance path (i.e. this distance is needed even if its lateral jerk is very low) | 10.0 | +| min_nominal_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a nominal situation (\*1). | 7.0 | +| min_sharp_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a sharp situation (\*1). | 1.0 | +| min_slow_down_speed | [m/s] | double | Minimum slow speed for avoidance prepare section. | 1.38 (5km/h) | +| buf_slow_down_speed | [m/s] | double | Buffer for controller tracking error. Basically, vehicle always cannot follow velocity profile precisely. Therefore, the module inserts lower speed than target speed that satisfies conditions to avoid object within accel/jerk constraints so that the avoidance path always can be output even if the current speed is a little bit higher than target speed. | 0.57 (2.0km/h) | ### Yield maneuver parameters @@ -702,6 +704,7 @@ namespace: `avoidance.stop.` | :----------- | :--- | :----- | :---------------------------------------------------------------------------------------------------- | :------------ | | min_distance | [m] | double | Minimum stop distance in the situation where avoidance maneuver is not approved or in yield maneuver. | 10.0 | | max_distance | [m] | double | Maximum stop distance in the situation where avoidance maneuver is not approved or in yield maneuver. | 20.0 | +| stop_buffer | [m] | double | Buffer distance in the situation where avoidance maneuver is not approved or in yield maneuver. | 1.0 | ### Constraints parameters diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp index 0b016db9c9c2c..2485dee6128b0 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp @@ -196,6 +196,9 @@ struct AvoidanceParameters // maximum stop distance double stop_max_distance; + // stop buffer + double stop_buffer; + // start avoidance after this time to avoid sudden path change double prepare_time; @@ -216,6 +219,12 @@ struct AvoidanceParameters // distance for avoidance. Need a sharp avoidance path to avoid the object. double min_sharp_avoidance_speed; + // minimum slow down speed + double min_slow_down_speed; + + // slow down speed buffer + double buf_slow_down_speed; + // The margin is configured so that the generated avoidance trajectory does not come near to the // road shoulder. double road_shoulder_safety_margin{1.0}; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp index 194c62aaeec5a..a756c9518825d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp @@ -74,13 +74,6 @@ class AvoidanceHelper return std::max(getEgoSpeed(), parameters_->min_sharp_avoidance_speed); } - float getMaximumAvoidanceEgoSpeed() const - { - return parameters_->target_velocity_matrix.at(parameters_->col_size - 1); - } - - float getMinimumAvoidanceEgoSpeed() const { return parameters_->target_velocity_matrix.front(); } - double getNominalPrepareDistance() const { const auto & p = parameters_; @@ -103,7 +96,7 @@ class AvoidanceHelper { const auto & p = parameters_; const auto distance_by_jerk = PathShifter::calcLongitudinalDistFromJerk( - shift_length, p->nominal_lateral_jerk, getMinimumAvoidanceEgoSpeed()); + shift_length, p->max_lateral_jerk, p->min_sharp_avoidance_speed); return std::max(p->min_avoidance_distance, distance_by_jerk); } diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp index 76119a18646ab..93c3a4a768c0b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp @@ -136,6 +136,9 @@ class PathShifter // Utility Functions //////////////////////////////////////// + static double calcFeasibleVelocityFromJerk( + const double lateral, const double jerk, const double distance); + static double calcLongitudinalDistFromJerk( const double lateral, const double jerk, const double velocity); diff --git a/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp b/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp index 10fcec3d8a324..0235bbb57f464 100644 --- a/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp +++ b/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp @@ -120,9 +120,11 @@ MarkerArray createObjectInfoMarkerArray(const ObjectDataArray & objects, std::st marker.id = uuidToInt32(object.object.object_id); marker.pose = object.object.kinematics.initial_pose_with_covariance.pose; std::ostringstream string_stream; - string_stream << std::fixed << std::setprecision(2); + string_stream << std::fixed << std::setprecision(2) << std::boolalpha; string_stream << "ratio:" << object.shiftable_ratio << " [-]\n" - << "lateral: " << object.lateral << " [-]\n" + << "lateral:" << object.lateral << " [m]\n" + << "necessity:" << object.avoid_required << " [-]\n" + << "stoppable:" << object.is_stoppable << " [-]\n" << "stop_factor:" << object.to_stop_factor_distance << " [m]\n" << "move_time:" << object.move_time << " [s]\n" << "stop_time:" << object.stop_time << " [s]\n"; 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 587afb1fdee57..8b729e4fd8835 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 @@ -343,8 +343,8 @@ ObjectData AvoidanceModule::createObjectData( const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; const auto object_closest_index = findNearestIndex(path_points, object_pose.position); const auto object_closest_pose = path_points.at(object_closest_index).point.pose; - const auto t = utils::getHighestProbLabel(object.classification); - const auto object_parameter = parameters_->object_parameters.at(t); + const auto object_type = utils::getHighestProbLabel(object.classification); + const auto object_parameter = parameters_->object_parameters.at(object_type); ObjectData object_data{}; @@ -571,8 +571,8 @@ void AvoidanceModule::fillDebugData(const AvoidancePlanningData & data, DebugDat } const auto o_front = data.stop_target_object.get(); - const auto t = utils::getHighestProbLabel(o_front.object.classification); - const auto object_parameter = parameters_->object_parameters.at(t); + const auto object_type = utils::getHighestProbLabel(o_front.object.classification); + const auto object_parameter = parameters_->object_parameters.at(object_type); const auto & base_link2front = planner_data_->parameters.base_link2front; const auto & vehicle_width = planner_data_->parameters.vehicle_width; @@ -620,6 +620,8 @@ void AvoidanceModule::updateEgoBehavior(const AvoidancePlanningData & data, Shif return; } + insertPrepareVelocity(path); + switch (data.state) { case AvoidanceState::NOT_AVOID: { break; @@ -631,7 +633,6 @@ void AvoidanceModule::updateEgoBehavior(const AvoidancePlanningData & data, Shif break; } case AvoidanceState::AVOID_PATH_NOT_READY: { - insertPrepareVelocity(path); insertWaitPoint(parameters_->use_constraints_for_decel, path); break; } @@ -860,8 +861,8 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects( const auto nominal_return_distance = helper_.getNominalAvoidanceDistance(return_shift); // use each object param - const auto t = utils::getHighestProbLabel(o.object.classification); - const auto object_parameter = parameters_->object_parameters.at(t); + const auto object_type = utils::getHighestProbLabel(o.object.classification); + const auto object_parameter = parameters_->object_parameters.at(object_type); /** * Is there enough distance from ego to object for avoidance? @@ -3231,15 +3232,15 @@ double AvoidanceModule::calcDistanceToStopLine(const ObjectData & object) const // D4: o_front.longitudinal // D5: base_link2front - const auto t = utils::getHighestProbLabel(object.object.classification); - const auto object_parameter = parameters_->object_parameters.at(t); + const auto object_type = utils::getHighestProbLabel(object.object.classification); + const auto object_parameter = parameters_->object_parameters.at(object_type); const auto avoid_margin = object_parameter.safety_buffer_lateral * object.distance_factor + object_parameter.avoid_margin_lateral + 0.5 * vehicle_width; const auto variable = helper_.getMinimumAvoidanceDistance( helper_.getShiftLength(object, utils::avoidance::isOnRight(object), avoid_margin)); - const auto constant = - p->min_prepare_distance + object_parameter.safety_buffer_longitudinal + base_link2front; + const auto constant = p->min_prepare_distance + object_parameter.safety_buffer_longitudinal + + base_link2front + p->stop_buffer; return object.longitudinal - std::clamp(variable + constant, p->stop_min_distance, p->stop_max_distance); @@ -3350,23 +3351,64 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const { const auto & data = avoidance_data_; + // do nothing if there is no avoidance target. if (data.target_objects.empty()) { return; } - if (!!data.stop_target_object) { - if (data.stop_target_object.get().reason != AvoidanceDebugFactor::TOO_LARGE_JERK) { - return; - } + // insert slow down speed only when the avoidance maneuver is not initiated. + if (data.avoiding_now) { + return; } - if (data.avoiding_now) { + // insert slow down speed only when no shift line is approved. + if (!path_shifter_.getShiftLines().empty()) { return; } - const auto decel_distance = helper_.getFeasibleDecelDistance(0.0); - utils::avoidance::insertDecelPoint( - getEgoPosition(), decel_distance, 0.0, shifted_path.path, slow_pose_); + const auto object = data.target_objects.front(); + + // calculate shift length for front object. + const auto & vehicle_width = planner_data_->parameters.vehicle_width; + const auto object_type = utils::getHighestProbLabel(object.object.classification); + const auto object_parameter = parameters_->object_parameters.at(object_type); + const auto avoid_margin = object_parameter.safety_buffer_lateral * object.distance_factor + + object_parameter.avoid_margin_lateral + 0.5 * vehicle_width; + const auto shift_length = + helper_.getShiftLength(object, utils::avoidance::isOnRight(object), avoid_margin); + + // check slow down feasibility + const auto min_avoid_distance = helper_.getMinimumAvoidanceDistance(shift_length); + const auto distance_to_object = object.longitudinal; + const auto remaining_distance = distance_to_object - min_avoid_distance; + const auto decel_distance = + helper_.getFeasibleDecelDistance(parameters_->min_sharp_avoidance_speed); + if (remaining_distance < decel_distance) { + return; + } + + // decide slow down lower limit. + const auto lower_speed = object.avoid_required ? 0.0 : parameters_->min_slow_down_speed; + + // insert slow down speed. + const auto start_idx = planner_data_->findEgoIndex(shifted_path.path.points); + for (size_t i = start_idx; i < shifted_path.path.points.size(); ++i) { + const auto distance_from_ego = calcSignedArcLength(shifted_path.path.points, start_idx, i); + + // slow down speed is inserted only in front of the object. + const auto shift_longitudinal_distance = distance_to_object - distance_from_ego; + if (shift_longitudinal_distance < min_avoid_distance) { + break; + } + + // target speed with nominal jerk limits. + const double v_target = PathShifter::calcFeasibleVelocityFromJerk( + shift_length, parameters_->nominal_lateral_jerk, shift_longitudinal_distance); + const double v_original = shifted_path.path.points.at(i).point.longitudinal_velocity_mps; + const double v_insert = std::max(v_target - parameters_->buf_slow_down_speed, lower_speed); + + shifted_path.path.points.at(i).point.longitudinal_velocity_mps = std::min(v_original, v_insert); + } } std::shared_ptr AvoidanceModule::get_debug_msg_array() const diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp index f9a652a4cec27..55b06fd66fa87 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp @@ -163,6 +163,8 @@ AvoidanceModuleManager::AvoidanceModuleManager( p.min_avoidance_distance = get_parameter(node, ns + "min_avoidance_distance"); p.min_nominal_avoidance_speed = get_parameter(node, ns + "min_nominal_avoidance_speed"); p.min_sharp_avoidance_speed = get_parameter(node, ns + "min_sharp_avoidance_speed"); + p.min_slow_down_speed = get_parameter(node, ns + "min_slow_down_speed"); + p.buf_slow_down_speed = get_parameter(node, ns + "buf_slow_down_speed"); } // yield @@ -176,6 +178,7 @@ AvoidanceModuleManager::AvoidanceModuleManager( std::string ns = "avoidance.stop."; p.stop_min_distance = get_parameter(node, ns + "min_distance"); p.stop_max_distance = get_parameter(node, ns + "max_distance"); + p.stop_buffer = get_parameter(node, ns + "stop_buffer"); } // constraints @@ -288,12 +291,15 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "prepare_time", p->prepare_time); + updateParam(parameters, ns + "min_slow_down_speed", p->min_slow_down_speed); + updateParam(parameters, ns + "buf_slow_down_speed", p->buf_slow_down_speed); } { const std::string ns = "avoidance.stop."; updateParam(parameters, ns + "max_distance", p->stop_max_distance); updateParam(parameters, ns + "min_distance", p->stop_min_distance); + updateParam(parameters, ns + "stop_buffer", p->stop_buffer); } { diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp index 5fd1457042693..d92adaae62c97 100644 --- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp +++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp @@ -101,28 +101,28 @@ bool isOnRight(const ObjectData & obj) bool isTargetObjectType( const PredictedObject & object, const std::shared_ptr & parameters) { - const auto t = utils::getHighestProbLabel(object.classification); + const auto object_type = utils::getHighestProbLabel(object.classification); - if (parameters->object_parameters.count(t) == 0) { + if (parameters->object_parameters.count(object_type) == 0) { return false; } - return parameters->object_parameters.at(t).is_target; + return parameters->object_parameters.at(object_type).is_target; } bool isVehicleTypeObject(const ObjectData & object) { - const auto t = utils::getHighestProbLabel(object.object.classification); + const auto object_type = utils::getHighestProbLabel(object.object.classification); - if (t == ObjectClassification::UNKNOWN) { + if (object_type == ObjectClassification::UNKNOWN) { return false; } - if (t == ObjectClassification::PEDESTRIAN) { + if (object_type == ObjectClassification::PEDESTRIAN) { return false; } - if (t == ObjectClassification::BICYCLE) { + if (object_type == ObjectClassification::BICYCLE) { return false; } @@ -422,8 +422,8 @@ std::vector generateObstaclePolygonsForDrivableArea( continue; } - const auto t = utils::getHighestProbLabel(object.object.classification); - const auto object_parameter = parameters->object_parameters.at(t); + const auto object_type = utils::getHighestProbLabel(object.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); // generate obstacle polygon const double diff_poly_buffer = @@ -535,8 +535,8 @@ void fillObjectEnvelopePolygon( { using boost::geometry::within; - const auto t = utils::getHighestProbLabel(object_data.object.classification); - const auto object_parameter = parameters->object_parameters.at(t); + const auto object_type = utils::getHighestProbLabel(object_data.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); const auto & envelope_buffer_margin = object_parameter.envelope_buffer_margin * object_data.distance_factor; @@ -567,8 +567,8 @@ void fillObjectMovingTime( ObjectData & object_data, ObjectDataArray & stopped_objects, const std::shared_ptr & parameters) { - const auto t = utils::getHighestProbLabel(object_data.object.classification); - const auto object_parameter = parameters->object_parameters.at(t); + const auto object_type = utils::getHighestProbLabel(object_data.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); const auto & object_vel = object_data.object.kinematics.initial_twist_with_covariance.twist.linear.x; @@ -618,8 +618,8 @@ void fillAvoidanceNecessity( ObjectData & object_data, const ObjectDataArray & registered_objects, const double vehicle_width, const std::shared_ptr & parameters) { - const auto t = utils::getHighestProbLabel(object_data.object.classification); - const auto object_parameter = parameters->object_parameters.at(t); + const auto object_type = utils::getHighestProbLabel(object_data.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); const auto safety_margin = 0.5 * vehicle_width + object_parameter.safety_buffer_lateral * object_data.distance_factor; @@ -657,6 +657,12 @@ void fillObjectStoppableJudge( { if (!parameters->use_constraints_for_decel) { object_data.is_stoppable = true; + return; + } + + if (!object_data.avoid_required) { + object_data.is_stoppable = false; + return; } const auto id = object_data.object.object_id; @@ -796,8 +802,8 @@ void filterTargetObjects( const auto object_closest_index = findNearestIndex(path_points, object_pose.position); const auto object_closest_pose = path_points.at(object_closest_index).point.pose; - const auto t = utils::getHighestProbLabel(o.object.classification); - const auto object_parameter = parameters->object_parameters.at(t); + const auto object_type = utils::getHighestProbLabel(o.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); if (!isTargetObjectType(o.object, parameters)) { o.reason = AvoidanceDebugFactor::OBJECT_IS_NOT_TYPE; diff --git a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp index c1058969434d9..eb752220d3690 100644 --- a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp @@ -554,6 +554,18 @@ double PathShifter::calcShiftTimeFromJerk(const double lateral, const double jer return t_total; } +double PathShifter::calcFeasibleVelocityFromJerk( + const double lateral, const double jerk, const double distance) +{ + const double j = std::abs(jerk); + const double l = std::abs(lateral); + const double d = std::abs(distance); + if (j < 1.0e-8) { + return 1.0e10; // TODO(Horibe) maybe invalid arg? + } + return d / (4.0 * std::pow(0.5 * l / j, 1.0 / 3.0)); +} + double PathShifter::calcLongitudinalDistFromJerk( const double lateral, const double jerk, const double velocity) { From c9280db0f945217d9f95e49d2f76ee4adab1fdac Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 5 Jul 2023 19:10:59 +0900 Subject: [PATCH 095/118] fix(avoidance): don't output new candidate path if there is huge offset between the ego and previous output path (#4150) * fix(avoidance): don't output new candidate path if there is huge offset between the ego and previous output path Signed-off-by: satoshi-ota * docs(avoidance): add parameter description Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../config/avoidance/avoidance.param.yaml | 1 + .../behavior_path_planner_avoidance_design.md | 15 ++++++++------- .../utils/avoidance/avoidance_module_data.hpp | 3 +++ .../scene_module/avoidance/avoidance_module.cpp | 15 +++++++++++++++ .../src/scene_module/avoidance/manager.cpp | 1 + 5 files changed, 28 insertions(+), 7 deletions(-) diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml index d5f908ae9856f..f73520e8d7c40 100644 --- a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml +++ b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml @@ -127,6 +127,7 @@ safety_check_idling_time: 1.5 # [s] safety_check_accel_for_rss: 2.5 # [m/ss] safety_check_hysteresis_factor: 2.0 # [-] + safety_check_ego_offset: 1.0 # [m] # For avoidance maneuver avoidance: diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md index e1de6b5a59314..33ff0db7cc150 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design.md @@ -655,13 +655,14 @@ namespace: `avoidance.target_filtering.` namespace: `avoidance.safety_check.` -| Name | Unit | Type | Description | Default value | -| :----------------------------- | ------ | ------ | --------------------------------------------------------------------------------- | ------------- | -| safety_check_backward_distance | [m] | double | Backward distance to search the dynamic objects. | 50.0 | -| safety_check_time_horizon | [s] | double | Time horizon to check lateral/longitudinal margin is enough or not. | 10.0 | -| safety_check_idling_time | [t] | double | Time delay constant that be use for longitudinal margin calculation based on RSS. | 1.5 | -| safety_check_accel_for_rss | [m/ss] | double | Accel constant that be used for longitudinal margin calculation based on RSS. | 2.5 | -| safety_check_hysteresis_factor | [-] | double | Hysteresis factor that be used for chattering prevention. | 2.0 | +| Name | Unit | Type | Description | Default value | +| :----------------------------- | ------ | ------ | ---------------------------------------------------------------------------------------------------------- | ------------- | +| safety_check_backward_distance | [m] | double | Backward distance to search the dynamic objects. | 50.0 | +| safety_check_time_horizon | [s] | double | Time horizon to check lateral/longitudinal margin is enough or not. | 10.0 | +| safety_check_idling_time | [t] | double | Time delay constant that be use for longitudinal margin calculation based on RSS. | 1.5 | +| safety_check_accel_for_rss | [m/ss] | double | Accel constant that be used for longitudinal margin calculation based on RSS. | 2.5 | +| safety_check_hysteresis_factor | [-] | double | Hysteresis factor that be used for chattering prevention. | 2.0 | +| safety_check_ego_offset | [m] | double | Output new avoidance path **only when** the offset between ego and previous output path is less than this. | 1.0 | ### Avoidance maneuver parameters diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp index 2485dee6128b0..63166b0cbf7df 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp @@ -187,6 +187,9 @@ struct AvoidanceParameters // transit hysteresis (unsafe to safe) double safety_check_hysteresis_factor; + // don't output new candidate path if the offset between ego and path is larger than this. + double safety_check_ego_offset; + // keep target velocity in yield maneuver double yield_velocity; 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 8b729e4fd8835..6cf187268e4ca 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 @@ -494,6 +494,21 @@ void AvoidanceModule::fillEgoStatus( const auto can_yield_maneuver = canYieldManeuver(data); + const size_t ego_seg_idx = + planner_data_->findEgoSegmentIndex(helper_.getPreviousSplineShiftPath().path.points); + const auto offset = std::abs(motion_utils::calcLateralOffset( + helper_.getPreviousSplineShiftPath().path.points, getEgoPosition(), ego_seg_idx)); + + // don't output new candidate path if the offset between the ego and previous output path is + // larger than threshold. + // TODO(Satoshi OTA): remove this workaround + if (offset > parameters_->safety_check_ego_offset) { + data.safe_new_sl.clear(); + data.candidate_path = helper_.getPreviousSplineShiftPath(); + RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 500, "unsafe. canceling candidate path..."); + return; + } + /** * If the avoidance path is safe, use unapproved_new_sl for avoidance path generation. */ diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp index 55b06fd66fa87..9b7a8b68b969d 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp @@ -142,6 +142,7 @@ AvoidanceModuleManager::AvoidanceModuleManager( p.safety_check_accel_for_rss = get_parameter(node, ns + "safety_check_accel_for_rss"); p.safety_check_hysteresis_factor = get_parameter(node, ns + "safety_check_hysteresis_factor"); + p.safety_check_ego_offset = get_parameter(node, ns + "safety_check_ego_offset"); } // avoidance maneuver (lateral) From af4ce27ed0779af11dd849202b7d8d965d81e0ea Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 6 Jul 2023 04:17:50 +0900 Subject: [PATCH 096/118] feat(map_height_fitter): add service node (#4128) * add map height fitter node Signed-off-by: Takagi, Isamu * fix response success Signed-off-by: Takagi, Isamu --------- Signed-off-by: Takagi, Isamu --- .../src/pose_initializer/gnss_module.cpp | 9 ++- map/map_height_fitter/CMakeLists.txt | 6 +- .../map_height_fitter/map_height_fitter.hpp | 3 +- .../launch/map_height_fitter.launch.xml | 10 ++++ map/map_height_fitter/package.xml | 1 + .../src/map_height_fitter.cpp | 52 +++++++++-------- map/map_height_fitter/src/node.cpp | 58 +++++++++++++++++++ .../src/initial_pose_adaptor.cpp | 9 +-- 8 files changed, 116 insertions(+), 32 deletions(-) create mode 100644 map/map_height_fitter/launch/map_height_fitter.launch.xml create mode 100644 map/map_height_fitter/src/node.cpp diff --git a/localization/pose_initializer/src/pose_initializer/gnss_module.cpp b/localization/pose_initializer/src/pose_initializer/gnss_module.cpp index 7e87c43de83da..e8762c8c6f493 100644 --- a/localization/pose_initializer/src/pose_initializer/gnss_module.cpp +++ b/localization/pose_initializer/src/pose_initializer/gnss_module.cpp @@ -43,7 +43,10 @@ geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose() Initialize::Service::Response::ERROR_GNSS, "The GNSS pose is out of date."); } - auto result = *pose_; - result.pose.pose.position = fitter_.fit(result.pose.pose.position, result.header.frame_id); - return result; + PoseWithCovarianceStamped pose = *pose_; + const auto fitted = fitter_.fit(pose.pose.pose.position, pose.header.frame_id); + if (fitted) { + pose.pose.pose.position = fitted.value(); + } + return pose; } diff --git a/map/map_height_fitter/CMakeLists.txt b/map/map_height_fitter/CMakeLists.txt index ddab6db192aaa..fb5b3feac6418 100644 --- a/map/map_height_fitter/CMakeLists.txt +++ b/map/map_height_fitter/CMakeLists.txt @@ -10,4 +10,8 @@ ament_auto_add_library(map_height_fitter SHARED ) target_link_libraries(map_height_fitter ${PCL_LIBRARIES}) -ament_auto_package() +ament_auto_add_executable(node + src/node.cpp +) + +ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp b/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp index c5056073c82cb..95ca3f3dfbea0 100644 --- a/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp +++ b/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp @@ -20,6 +20,7 @@ #include #include +#include #include namespace map_height_fitter @@ -32,7 +33,7 @@ class MapHeightFitter final public: MapHeightFitter(rclcpp::Node * node); ~MapHeightFitter(); - Point fit(const Point & position, const std::string & frame); + std::optional fit(const Point & position, const std::string & frame); private: struct Impl; diff --git a/map/map_height_fitter/launch/map_height_fitter.launch.xml b/map/map_height_fitter/launch/map_height_fitter.launch.xml new file mode 100644 index 0000000000000..2edbdb831590d --- /dev/null +++ b/map/map_height_fitter/launch/map_height_fitter.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/map/map_height_fitter/package.xml b/map/map_height_fitter/package.xml index ab4f5ce205385..b288da6aca2cb 100644 --- a/map/map_height_fitter/package.xml +++ b/map/map_height_fitter/package.xml @@ -21,6 +21,7 @@ tf2 tf2_geometry_msgs tf2_ros + tier4_localization_msgs ament_lint_auto autoware_lint_common diff --git a/map/map_height_fitter/src/map_height_fitter.cpp b/map/map_height_fitter/src/map_height_fitter.cpp index 5fb0243d1042a..1eb1edd04a68a 100644 --- a/map/map_height_fitter/src/map_height_fitter.cpp +++ b/map/map_height_fitter/src/map_height_fitter.cpp @@ -32,9 +32,9 @@ struct MapHeightFitter::Impl explicit Impl(rclcpp::Node * node); void on_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg); - void get_partial_point_cloud_map(const Point & point); + bool get_partial_point_cloud_map(const Point & point); double get_ground_height(const tf2::Vector3 & point) const; - Point fit(const Point & position, const std::string & frame); + std::optional fit(const Point & position, const std::string & frame); tf2::BufferCore tf2_buffer_; tf2_ros::TransformListener tf2_listener_; @@ -83,17 +83,17 @@ void MapHeightFitter::Impl::on_map(const sensor_msgs::msg::PointCloud2::ConstSha pcl::fromROSMsg(*msg, *map_cloud_); } -void MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point) +bool MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point) { const auto logger = node_->get_logger(); if (!cli_map_) { RCLCPP_WARN_STREAM(logger, "Partial map loading in pointcloud_map_loader is not enabled"); - return; + return false; } if (!cli_map_->service_is_ready()) { RCLCPP_WARN_STREAM(logger, "Partial map loading in pointcloud_map_loader is not ready"); - return; + return false; } const auto req = std::make_shared(); @@ -107,7 +107,7 @@ void MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point) while (status != std::future_status::ready) { RCLCPP_INFO(logger, "waiting response"); if (!rclcpp::ok()) { - return; + return false; } status = future.wait_for(std::chrono::seconds(1)); } @@ -131,6 +131,7 @@ void MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point) map_frame_ = res->header.frame_id; map_cloud_ = pcl::PointCloud::Ptr(new pcl::PointCloud); pcl::fromROSMsg(pcd_msg, *map_cloud_); + return true; } double MapHeightFitter::Impl::get_ground_height(const tf2::Vector3 & point) const @@ -162,32 +163,37 @@ double MapHeightFitter::Impl::get_ground_height(const tf2::Vector3 & point) cons return std::isfinite(height) ? height : point.getZ(); } -Point MapHeightFitter::Impl::fit(const Point & position, const std::string & frame) +std::optional MapHeightFitter::Impl::fit(const Point & position, const std::string & frame) { const auto logger = node_->get_logger(); tf2::Vector3 point(position.x, position.y, position.z); - RCLCPP_INFO(logger, "map fit1: %.3f %.3f %.3f", point.getX(), point.getY(), point.getZ()); + RCLCPP_INFO(logger, "original point: %.3f %.3f %.3f", point.getX(), point.getY(), point.getZ()); if (cli_map_) { - map_cloud_.reset(); - get_partial_point_cloud_map(position); + if (!get_partial_point_cloud_map(position)) { + return std::nullopt; + } } - if (map_cloud_) { - try { - const auto stamped = tf2_buffer_.lookupTransform(map_frame_, frame, tf2::TimePointZero); - tf2::Transform transform{tf2::Quaternion{}, tf2::Vector3{}}; - tf2::fromMsg(stamped.transform, transform); - point = transform * point; - point.setZ(get_ground_height(point)); - point = transform.inverse() * point; - } catch (tf2::TransformException & exception) { - RCLCPP_WARN_STREAM(logger, "failed to lookup transform: " << exception.what()); - } + if (!map_cloud_) { + RCLCPP_WARN_STREAM(logger, "point cloud map is not ready"); + return std::nullopt; + } + + try { + const auto stamped = tf2_buffer_.lookupTransform(map_frame_, frame, tf2::TimePointZero); + tf2::Transform transform{tf2::Quaternion{}, tf2::Vector3{}}; + tf2::fromMsg(stamped.transform, transform); + point = transform * point; + point.setZ(get_ground_height(point)); + point = transform.inverse() * point; + } catch (tf2::TransformException & exception) { + RCLCPP_WARN_STREAM(logger, "failed to lookup transform: " << exception.what()); + return std::nullopt; } - RCLCPP_INFO(logger, "map fit2: %.3f %.3f %.3f", point.getX(), point.getY(), point.getZ()); + RCLCPP_INFO(logger, "modified point: %.3f %.3f %.3f", point.getX(), point.getY(), point.getZ()); Point result; result.x = point.getX(); @@ -205,7 +211,7 @@ MapHeightFitter::~MapHeightFitter() { } -Point MapHeightFitter::fit(const Point & position, const std::string & frame) +std::optional MapHeightFitter::fit(const Point & position, const std::string & frame) { return impl_->fit(position, frame); } diff --git a/map/map_height_fitter/src/node.cpp b/map/map_height_fitter/src/node.cpp new file mode 100644 index 0000000000000..55702dc08450d --- /dev/null +++ b/map/map_height_fitter/src/node.cpp @@ -0,0 +1,58 @@ +// Copyright 2023 The Autoware Contributors +// +// 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 "map_height_fitter/map_height_fitter.hpp" + +#include + +#include + +using tier4_localization_msgs::srv::PoseWithCovarianceStamped; + +class MapHeightFitterNode : public rclcpp::Node +{ +public: + MapHeightFitterNode() : Node("map_height_fitter"), fitter_(this) + { + const auto on_service = [this]( + const PoseWithCovarianceStamped::Request::SharedPtr req, + const PoseWithCovarianceStamped::Response::SharedPtr res) { + const auto & pose = req->pose_with_covariance; + const auto fitted = fitter_.fit(pose.pose.pose.position, pose.header.frame_id); + if (fitted) { + res->pose_with_covariance = req->pose_with_covariance; + res->pose_with_covariance.pose.pose.position = fitted.value(); + res->success = true; + } else { + res->success = false; + } + }; + srv_ = create_service("~/service", on_service); + } + +private: + map_height_fitter::MapHeightFitter fitter_; + rclcpp::Service::SharedPtr srv_; +}; + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + rclcpp::executors::MultiThreadedExecutor executor; + auto node = std::make_shared(); + executor.add_node(node); + executor.spin(); + executor.remove_node(node); + rclcpp::shutdown(); +} diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp index a3dd1e7d0d9de..5d34653244ea2 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp @@ -47,10 +47,11 @@ InitialPoseAdaptor::InitialPoseAdaptor() : Node("initial_pose_adaptor"), fitter_ void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg) { - const auto & point = msg->pose.pose.position; - const auto & frame = msg->header.frame_id; - auto pose = *msg; - pose.pose.pose.position = fitter_.fit(point, frame); + PoseWithCovarianceStamped pose = *msg; + const auto fitted = fitter_.fit(pose.pose.pose.position, pose.header.frame_id); + if (fitted) { + pose.pose.pose.position = fitted.value(); + } pose.pose.covariance = rviz_particle_covariance_; const auto req = std::make_shared(); From d905e383b05c2143b0a862c218b473ede56f3037 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 6 Jul 2023 09:56:25 +0900 Subject: [PATCH 097/118] refactor(behavior_velocity_crosswalk_module): clean up the code (#4157) * refactor Signed-off-by: Takayuki Murooka * use tier4_autoware_utils's boost types Signed-off-by: Takayuki Murooka * return Point instead of Point2d Signed-off-by: Takayuki Murooka * remove unnecessary lambda function Signed-off-by: Takayuki Murooka * add Line2d in tier4_autoware_utils Signed-off-by: Takayuki Murooka * remove unnecessary member variable Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../geometry/boost_geometry.hpp | 1 + .../src/scene_crosswalk.cpp | 162 ++++++++---------- .../src/scene_crosswalk.hpp | 30 ++-- .../src/scene_walkway.cpp | 47 ++--- .../src/scene_walkway.hpp | 5 +- .../src/util.cpp | 40 +++-- .../src/util.hpp | 6 +- 7 files changed, 132 insertions(+), 159 deletions(-) diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_geometry.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_geometry.hpp index 453675c4fb201..91f9ab09a1e08 100644 --- a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_geometry.hpp +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_geometry.hpp @@ -34,6 +34,7 @@ using Box2d = boost::geometry::model::box; using LineString2d = boost::geometry::model::linestring; using LinearRing2d = boost::geometry::model::ring; using Polygon2d = boost::geometry::model::polygon; +using Line2d = boost::geometry::model::linestring; using MultiPoint2d = boost::geometry::model::multi_point; using MultiLineString2d = boost::geometry::model::multi_linestring; using MultiPolygon2d = boost::geometry::model::multi_polygon; diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 2ac4521c4c79e..473ec745c93ac 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -29,9 +29,6 @@ namespace behavior_velocity_planner { namespace bg = boost::geometry; -using Point = bg::model::d2::point_xy; -using Polygon = bg::model::polygon; -using Line = bg::model::linestring; using motion_utils::calcArcLength; using motion_utils::calcLateralOffset; using motion_utils::calcLongitudinalOffsetPoint; @@ -42,6 +39,8 @@ using motion_utils::insertTargetPoint; using tier4_autoware_utils::createPoint; using tier4_autoware_utils::getPoint; using tier4_autoware_utils::getPose; +using tier4_autoware_utils::Point2d; +using tier4_autoware_utils::Polygon2d; using tier4_autoware_utils::pose2transform; using tier4_autoware_utils::toHexString; @@ -55,7 +54,7 @@ geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const p.z = z; return p; } -geometry_msgs::msg::Polygon toMsg(const Polygon & polygon, const double z) +geometry_msgs::msg::Polygon toMsg(const Polygon2d & polygon, const double z) { geometry_msgs::msg::Polygon ret; for (const auto & p : polygon.outer()) { @@ -63,11 +62,11 @@ geometry_msgs::msg::Polygon toMsg(const Polygon & polygon, const double z) } return ret; } -Polygon createOneStepPolygon( +Polygon2d createOneStepPolygon( const geometry_msgs::msg::Pose & p_front, const geometry_msgs::msg::Pose & p_back, const geometry_msgs::msg::Polygon & base_polygon) { - Polygon one_step_polygon{}; + Polygon2d one_step_polygon{}; { geometry_msgs::msg::Polygon out_polygon{}; @@ -76,7 +75,7 @@ Polygon createOneStepPolygon( tf2::doTransform(base_polygon, out_polygon, geometry_tf); for (const auto & p : out_polygon.points) { - one_step_polygon.outer().push_back(Point(p.x, p.y)); + one_step_polygon.outer().push_back(Point2d(p.x, p.y)); } } @@ -87,11 +86,11 @@ Polygon createOneStepPolygon( tf2::doTransform(base_polygon, out_polygon, geometry_tf); for (const auto & p : out_polygon.points) { - one_step_polygon.outer().push_back(Point(p.x, p.y)); + one_step_polygon.outer().push_back(Point2d(p.x, p.y)); } } - Polygon hull_polygon{}; + Polygon2d hull_polygon{}; bg::convex_hull(one_step_polygon, hull_polygon); bg::correct(hull_polygon); @@ -102,22 +101,18 @@ void sortCrosswalksByDistance( lanelet::ConstLanelets & crosswalks) { const auto compare = [&](const lanelet::ConstLanelet & l1, const lanelet::ConstLanelet & l2) { - const std::vector l1_intersects = + const auto l1_intersects = getPolygonIntersects(ego_path, l1.polygon2d().basicPolygon(), ego_pos, 2); - const std::vector l2_intersects = + const auto l2_intersects = getPolygonIntersects(ego_path, l2.polygon2d().basicPolygon(), ego_pos, 2); if (l1_intersects.empty() || l2_intersects.empty()) { return true; } - const auto dist_l1 = calcSignedArcLength( - ego_path.points, size_t(0), - createPoint(l1_intersects.front().x(), l1_intersects.front().y(), ego_pos.z)); + const auto dist_l1 = calcSignedArcLength(ego_path.points, size_t(0), l1_intersects.front()); - const auto dist_l2 = calcSignedArcLength( - ego_path.points, size_t(0), - createPoint(l2_intersects.front().x(), l2_intersects.front().y(), ego_pos.z)); + const auto dist_l2 = calcSignedArcLength(ego_path.points, size_t(0), l2_intersects.front()); return dist_l1 < dist_l2; }; @@ -169,23 +164,17 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto logger_, planner_param_.show_processing_time, "- step1: %f ms", stop_watch_.toc("total_processing_time", false)); - path_intersects_.clear(); - const auto & ego_pos = planner_data_->current_odometry->pose.position; - const auto intersects = + const auto path_intersects = getPolygonIntersects(ego_path, crosswalk_.polygon2d().basicPolygon(), ego_pos, 2); - for (const auto & p : intersects) { - path_intersects_.push_back(createPoint(p.x(), p.y(), ego_pos.z)); - } - for (const auto & p : crosswalk_.polygon2d().basicPolygon()) { debug_data_.crosswalk_polygon.push_back(createPoint(p.x(), p.y(), ego_pos.z)); } if (crosswalk_.hasAttribute("safety_slow_down_speed")) { // Safety slow down is on - if (applySafetySlowDownSpeed(*path)) { + if (applySafetySlowDownSpeed(*path, path_intersects)) { ego_path = *path; } } @@ -194,8 +183,9 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto logger_, planner_param_.show_processing_time, "- step2: %f ms", stop_watch_.toc("total_processing_time", false)); - const auto nearest_stop_point_with_factor = findNearestStopPointWithFactor(ego_path); - const auto rtc_stop_point_with_factor = findRTCStopPointWithFactor(ego_path); + const auto nearest_stop_point_with_factor = + findNearestStopPointWithFactor(ego_path, path_intersects); + const auto rtc_stop_point_with_factor = findRTCStopPointWithFactor(ego_path, path_intersects); RCLCPP_INFO_EXPRESSION( logger_, planner_param_.show_processing_time, "- step3: %f ms", @@ -204,24 +194,23 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto setSafe(!nearest_stop_point_with_factor); if (isActivated()) { - if (!nearest_stop_point_with_factor) { - if (!rtc_stop_point_with_factor) { - setDistance(std::numeric_limits::lowest()); - return true; - } + if (nearest_stop_point_with_factor) { + const auto target_velocity = + calcTargetVelocity(nearest_stop_point_with_factor->first, ego_path); + insertDecelPointWithDebugInfo( + nearest_stop_point_with_factor->first, + std::max(planner_param_.min_slow_down_velocity, target_velocity), *path); + return true; + } + if (rtc_stop_point_with_factor) { const auto crosswalk_distance = calcSignedArcLength(ego_path.points, ego_pos, getPoint(rtc_stop_point_with_factor->first)); setDistance(crosswalk_distance); return true; } - const auto target_velocity = - calcTargetVelocity(nearest_stop_point_with_factor->first, ego_path); - insertDecelPointWithDebugInfo( - nearest_stop_point_with_factor->first, - std::max(planner_param_.min_slow_down_velocity, target_velocity), *path); - + setDistance(std::numeric_limits::lowest()); return true; } @@ -253,39 +242,29 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto } boost::optional> CrosswalkModule::getStopLine( - const PathWithLaneId & ego_path, bool & exist_stopline_in_map) const + const PathWithLaneId & ego_path, bool & exist_stopline_in_map, + const std::vector & path_intersects) const { const auto & ego_pos = planner_data_->current_odometry->pose.position; - - const auto get_stop_point = - [&](const auto & stop_line) -> boost::optional { - const auto intersects = getLinestringIntersects( - ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos, 2); - - if (intersects.empty()) { - return boost::none; - } - - return createPoint(intersects.front().x(), intersects.front().y(), ego_pos.z); - }; - for (const auto & stop_line : stop_lines_) { - const auto p_stop_line = get_stop_point(stop_line); - if (!p_stop_line) { + const auto p_stop_lines = getLinestringIntersects( + ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos, 2); + if (p_stop_lines.empty()) { continue; } exist_stopline_in_map = true; - const auto dist_ego_to_stop = calcSignedArcLength(ego_path.points, ego_pos, p_stop_line.get()); - return std::make_pair(dist_ego_to_stop, p_stop_line.get()); + const auto dist_ego_to_stop = + calcSignedArcLength(ego_path.points, ego_pos, p_stop_lines.front()); + return std::make_pair(dist_ego_to_stop, p_stop_lines.front()); } { exist_stopline_in_map = false; - if (!path_intersects_.empty()) { - const auto p_stop_line = path_intersects_.front(); + if (!path_intersects.empty()) { + const auto p_stop_line = path_intersects.front(); const auto dist_ego_to_stop = calcSignedArcLength(ego_path.points, ego_pos, p_stop_line) - planner_param_.stop_line_distance; return std::make_pair(dist_ego_to_stop, p_stop_line); @@ -296,12 +275,13 @@ boost::optional> CrosswalkModule::g } boost::optional> -CrosswalkModule::findRTCStopPointWithFactor(const PathWithLaneId & ego_path) +CrosswalkModule::findRTCStopPointWithFactor( + const PathWithLaneId & ego_path, const std::vector & path_intersects) { const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; bool exist_stopline_in_map; - const auto p_stop_line = getStopLine(ego_path, exist_stopline_in_map); + const auto p_stop_line = getStopLine(ego_path, exist_stopline_in_map, path_intersects); if (!p_stop_line) { return {}; } @@ -322,7 +302,8 @@ CrosswalkModule::findRTCStopPointWithFactor(const PathWithLaneId & ego_path) } boost::optional> -CrosswalkModule::findNearestStopPointWithFactor(const PathWithLaneId & ego_path) +CrosswalkModule::findNearestStopPointWithFactor( + const PathWithLaneId & ego_path, const std::vector & path_intersects) { StopFactor stop_factor; @@ -335,13 +316,14 @@ CrosswalkModule::findNearestStopPointWithFactor(const PathWithLaneId & ego_path) return {}; } - const auto crosswalk_attention_range = getAttentionRange(sparse_resample_path); + const auto crosswalk_attention_range = getAttentionRange(sparse_resample_path, path_intersects); const auto & ego_pos = planner_data_->current_odometry->pose.position; const auto & objects_ptr = planner_data_->predicted_objects; const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; bool exist_stopline_in_map; - const auto p_stop_line = getStopLine(sparse_resample_path, exist_stopline_in_map); + const auto p_stop_line = + getStopLine(sparse_resample_path, exist_stopline_in_map, path_intersects); if (!p_stop_line) { return {}; } @@ -355,7 +337,7 @@ CrosswalkModule::findNearestStopPointWithFactor(const PathWithLaneId & ego_path) const auto ego_polygon = createVehiclePolygon(planner_data_->vehicle_info_); - Polygon attention_area; + Polygon2d attention_area; for (size_t j = 0; j < sparse_resample_path.points.size() - 1; ++j) { const auto & p_ego_front = sparse_resample_path.points.at(j).point.pose; const auto & p_ego_back = sparse_resample_path.points.at(j + 1).point.pose; @@ -376,7 +358,7 @@ CrosswalkModule::findNearestStopPointWithFactor(const PathWithLaneId & ego_path) debug_data_.ego_polygons.push_back(toMsg(ego_one_step_polygon, ego_pos.z)); - std::vector unions; + std::vector unions; bg::union_(attention_area, ego_one_step_polygon, unions); if (!unions.empty()) { attention_area = unions.front(); @@ -390,7 +372,8 @@ CrosswalkModule::findNearestStopPointWithFactor(const PathWithLaneId & ego_path) const auto obj_uuid = toHexString(object.object_id); if (isVehicle(object)) { - found_stuck_vehicle = found_stuck_vehicle || isStuckVehicle(sparse_resample_path, object); + found_stuck_vehicle = + found_stuck_vehicle || isStuckVehicle(sparse_resample_path, object, path_intersects); } if (!isTargetType(object)) { @@ -495,7 +478,8 @@ CrosswalkModule::findNearestStopPointWithFactor(const PathWithLaneId & ego_path) return std::make_pair(stop_pose.get().position, stop_factor); } -std::pair CrosswalkModule::getAttentionRange(const PathWithLaneId & ego_path) +std::pair CrosswalkModule::getAttentionRange( + const PathWithLaneId & ego_path, const std::vector & path_intersects) { stop_watch_.tic(__func__); @@ -503,12 +487,12 @@ std::pair CrosswalkModule::getAttentionRange(const PathWithLaneI double near_attention_range = 0.0; double far_attention_range = 0.0; - if (path_intersects_.size() < 2) { + if (path_intersects.size() < 2) { return std::make_pair(near_attention_range, far_attention_range); } - near_attention_range = calcSignedArcLength(ego_path.points, ego_pos, path_intersects_.front()); - far_attention_range = calcSignedArcLength(ego_path.points, ego_pos, path_intersects_.back()); + near_attention_range = calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()); + far_attention_range = calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()); near_attention_range -= planner_param_.crosswalk_attention_range; far_attention_range += planner_param_.crosswalk_attention_range; @@ -631,28 +615,24 @@ void CrosswalkModule::clampAttentionRangeByNeighborCrosswalks( auto reverse_ego_path = ego_path; std::reverse(reverse_ego_path.points.begin(), reverse_ego_path.points.end()); - const std::vector prev_crosswalk_intersects = getPolygonIntersects( + const auto prev_crosswalk_intersects = getPolygonIntersects( reverse_ego_path, prev_crosswalk.get().polygon2d().basicPolygon(), ego_pos, 2); if (!prev_crosswalk_intersects.empty()) { - const auto dist_to_prev_crosswalk = calcSignedArcLength( - ego_path.points, ego_pos, - createPoint( - prev_crosswalk_intersects.front().x(), prev_crosswalk_intersects.front().y(), ego_pos.z)); + const auto dist_to_prev_crosswalk = + calcSignedArcLength(ego_path.points, ego_pos, prev_crosswalk_intersects.front()); near_attention_range = std::max(near_attention_range, dist_to_prev_crosswalk); } } if (next_crosswalk) { - const std::vector next_crosswalk_intersects = + const auto next_crosswalk_intersects = getPolygonIntersects(ego_path, next_crosswalk.get().polygon2d().basicPolygon(), ego_pos, 2); if (!next_crosswalk_intersects.empty()) { - const auto dist_to_next_crosswalk = calcSignedArcLength( - ego_path.points, ego_pos, - createPoint( - next_crosswalk_intersects.front().x(), next_crosswalk_intersects.front().y(), ego_pos.z)); + const auto dist_to_next_crosswalk = + calcSignedArcLength(ego_path.points, ego_pos, next_crosswalk_intersects.front()); far_attention_range = std::min(far_attention_range, dist_to_next_crosswalk); } @@ -674,7 +654,7 @@ void CrosswalkModule::clampAttentionRangeByNeighborCrosswalks( } std::vector CrosswalkModule::getCollisionPoints( - const PathWithLaneId & ego_path, const PredictedObject & object, const Polygon & attention_area, + const PathWithLaneId & ego_path, const PredictedObject & object, const Polygon2d & attention_area, const std::pair & crosswalk_attention_range) { stop_watch_.tic(__func__); @@ -695,12 +675,12 @@ std::vector CrosswalkModule::getCollisionPoints( const auto p_obj_back = obj_path.path.at(i + 1); const auto obj_one_step_polygon = createOneStepPolygon(p_obj_front, p_obj_back, obj_polygon); - std::vector tmp_intersects{}; + std::vector tmp_intersects{}; bg::intersection(obj_one_step_polygon, attention_area, tmp_intersects); if (bg::within(obj_one_step_polygon, attention_area)) { for (const auto & p : obj_one_step_polygon.outer()) { - const Point point{p.x(), p.y()}; + const Point2d point{p.x(), p.y()}; tmp_intersects.push_back(point); } } @@ -789,9 +769,10 @@ CollisionPointState CrosswalkModule::getCollisionPointState( return CollisionPointState::YIELD; } -bool CrosswalkModule::applySafetySlowDownSpeed(PathWithLaneId & output) +bool CrosswalkModule::applySafetySlowDownSpeed( + PathWithLaneId & output, const std::vector & path_intersects) { - if (path_intersects_.empty()) { + if (path_intersects.empty()) { return false; } @@ -808,7 +789,7 @@ bool CrosswalkModule::applySafetySlowDownSpeed(PathWithLaneId & output) // the range until to the point where ego will have a const safety slow down speed auto safety_slow_point_range = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects_.front()); + calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()); const auto & safety_slow_margin = planner_data_->vehicle_info_.max_longitudinal_offset_m + safety_slow_down_distance; safety_slow_point_range -= safety_slow_margin; @@ -824,7 +805,7 @@ bool CrosswalkModule::applySafetySlowDownSpeed(PathWithLaneId & output) } else { // the range until to the point where ego will start accelerate auto safety_slow_end_point_range = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects_.back()); + calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()); if (safety_slow_end_point_range > 0) { // insert constant ego speed until the end of the crosswalk @@ -838,7 +819,8 @@ bool CrosswalkModule::applySafetySlowDownSpeed(PathWithLaneId & output) } bool CrosswalkModule::isStuckVehicle( - const PathWithLaneId & ego_path, const PredictedObject & object) const + const PathWithLaneId & ego_path, const PredictedObject & object, + const std::vector & path_intersects) const { const auto & obj_vel = object.kinematics.initial_twist_with_covariance.twist.linear; if (planner_param_.stuck_vehicle_velocity < std::hypot(obj_vel.x, obj_vel.y)) { @@ -851,13 +833,13 @@ bool CrosswalkModule::isStuckVehicle( return false; } - if (path_intersects_.size() < 2) { + if (path_intersects.size() < 2) { return false; } const auto & ego_pos = planner_data_->current_odometry->pose.position; const double near_attention_range = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects_.back()); + calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()); const double far_attention_range = near_attention_range + planner_param_.stuck_vehicle_attention_range; diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index d53bc30471426..2edade84bb87b 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -29,9 +29,6 @@ #include #include -#include -#include -#include #include #include @@ -55,6 +52,7 @@ using autoware_auto_perception_msgs::msg::TrafficLight; using autoware_auto_planning_msgs::msg::PathWithLaneId; using lanelet::autoware::Crosswalk; using tier4_api_msgs::msg::CrosswalkStatus; +using tier4_autoware_utils::Polygon2d; using tier4_autoware_utils::StopWatch; class CrosswalkModule : public SceneModuleInterface @@ -108,21 +106,24 @@ class CrosswalkModule : public SceneModuleInterface int64_t module_id_; boost::optional> findRTCStopPointWithFactor( - const PathWithLaneId & ego_path); + const PathWithLaneId & ego_path, + const std::vector & path_intersects); boost::optional> findNearestStopPointWithFactor( - const PathWithLaneId & ego_path); + const PathWithLaneId & ego_path, + const std::vector & path_intersects); boost::optional> getStopLine( - const PathWithLaneId & ego_path, bool & exist_stopline_in_map) const; + const PathWithLaneId & ego_path, bool & exist_stopline_in_map, + const std::vector & path_intersects) const; std::vector getCollisionPoints( const PathWithLaneId & ego_path, const PredictedObject & object, - const boost::geometry::model::polygon> & - attention_area, - const std::pair & crosswalk_attention_range); + const Polygon2d & attention_area, const std::pair & crosswalk_attention_range); - std::pair getAttentionRange(const PathWithLaneId & ego_path); + std::pair getAttentionRange( + const PathWithLaneId & ego_path, + const std::vector & path_intersects); void insertDecelPointWithDebugInfo( const geometry_msgs::msg::Point & stop_point, const float target_velocity, @@ -138,12 +139,15 @@ class CrosswalkModule : public SceneModuleInterface CollisionPointState getCollisionPointState(const double ttc, const double ttv) const; - bool applySafetySlowDownSpeed(PathWithLaneId & output); + bool applySafetySlowDownSpeed( + PathWithLaneId & output, const std::vector & path_intersects); float calcTargetVelocity( const geometry_msgs::msg::Point & stop_point, const PathWithLaneId & ego_path) const; - bool isStuckVehicle(const PathWithLaneId & ego_path, const PredictedObject & object) const; + bool isStuckVehicle( + const PathWithLaneId & ego_path, const PredictedObject & object, + const std::vector & path_intersects) const; bool isRedSignalForPedestrians() const; @@ -161,8 +165,6 @@ class CrosswalkModule : public SceneModuleInterface lanelet::ConstLineStrings3d stop_lines_; - std::vector path_intersects_; - // Parameter PlannerParam planner_param_; diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_walkway.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_walkway.cpp index 1265e73223eff..119591c225e36 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_walkway.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_walkway.cpp @@ -22,9 +22,6 @@ namespace behavior_velocity_planner { namespace bg = boost::geometry; -using Point = bg::model::d2::point_xy; -using Polygon = bg::model::polygon; -using Line = bg::model::linestring; using motion_utils::calcLongitudinalOffsetPose; using motion_utils::calcSignedArcLength; using motion_utils::findNearestSegmentIndex; @@ -58,39 +55,29 @@ WalkwayModule::WalkwayModule( } boost::optional> WalkwayModule::getStopLine( - const PathWithLaneId & ego_path, bool & exist_stopline_in_map) const + const PathWithLaneId & ego_path, bool & exist_stopline_in_map, + const std::vector & path_intersects) const { const auto & ego_pos = planner_data_->current_odometry->pose.position; - - const auto get_stop_point = - [&](const auto & stop_line) -> boost::optional { - const auto intersects = getLinestringIntersects( - ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos, 2); - - if (intersects.empty()) { - return boost::none; - } - - return createPoint(intersects.front().x(), intersects.front().y(), ego_pos.z); - }; - for (const auto & stop_line : stop_lines_) { - const auto p_stop_line = get_stop_point(stop_line); - if (!p_stop_line) { + const auto p_stop_lines = getLinestringIntersects( + ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos, 2); + if (p_stop_lines.empty()) { continue; } exist_stopline_in_map = true; - const auto dist_ego_to_stop = calcSignedArcLength(ego_path.points, ego_pos, p_stop_line.get()); - return std::make_pair(dist_ego_to_stop, p_stop_line.get()); + const auto dist_ego_to_stop = + calcSignedArcLength(ego_path.points, ego_pos, p_stop_lines.front()); + return std::make_pair(dist_ego_to_stop, p_stop_lines.front()); } { exist_stopline_in_map = false; - if (!path_intersects_.empty()) { - const auto p_stop_line = path_intersects_.front(); + if (!path_intersects.empty()) { + const auto p_stop_line = path_intersects.front(); const auto dist_ego_to_stop = calcSignedArcLength(ego_path.points, ego_pos, p_stop_line) - planner_param_.stop_line_distance; return std::make_pair(dist_ego_to_stop, p_stop_line); @@ -110,23 +97,17 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ const auto input = *path; - path_intersects_.clear(); - const auto & ego_pos = planner_data_->current_odometry->pose.position; - const auto intersects = + const auto path_intersects = getPolygonIntersects(input, walkway_.polygon2d().basicPolygon(), ego_pos, 2); - for (const auto & p : intersects) { - path_intersects_.push_back(createPoint(p.x(), p.y(), ego_pos.z)); - } - - if (path_intersects_.empty()) { + if (path_intersects.empty()) { return false; } if (state_ == State::APPROACH) { bool exist_stopline_in_map; - const auto p_stop_line = getStopLine(input, exist_stopline_in_map); + const auto p_stop_line = getStopLine(input, exist_stopline_in_map, path_intersects); if (!p_stop_line) { return false; } @@ -148,7 +129,7 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ /* get stop point and stop factor */ StopFactor stop_factor; stop_factor.stop_pose = stop_pose.get(); - stop_factor.stop_factor_points.push_back(path_intersects_.front()); + 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_odometry->pose, stop_pose.get(), diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_walkway.hpp b/planning/behavior_velocity_crosswalk_module/src/scene_walkway.hpp index 40ae4d9bbf1b0..a32038e17fab4 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_walkway.hpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_walkway.hpp @@ -58,7 +58,8 @@ class WalkwayModule : public SceneModuleInterface int64_t module_id_; [[nodiscard]] boost::optional> getStopLine( - const PathWithLaneId & ego_path, bool & exist_stopline_in_map) const; + const PathWithLaneId & ego_path, bool & exist_stopline_in_map, + const std::vector & path_intersects) const; enum class State { APPROACH, STOP, SURPASSED }; @@ -66,8 +67,6 @@ class WalkwayModule : public SceneModuleInterface lanelet::ConstLineStrings3d stop_lines_; - std::vector path_intersects_; - // State machine State state_; diff --git a/planning/behavior_velocity_crosswalk_module/src/util.cpp b/planning/behavior_velocity_crosswalk_module/src/util.cpp index 3c8d456ab8864..3674f5e415b1a 100644 --- a/planning/behavior_velocity_crosswalk_module/src/util.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/util.cpp @@ -42,28 +42,26 @@ namespace behavior_velocity_planner { - namespace bg = boost::geometry; -using Point = bg::model::d2::point_xy; -using Polygon = bg::model::polygon; -using Line = bg::model::linestring; using motion_utils::calcSignedArcLength; using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::Line2d; +using tier4_autoware_utils::Point2d; -std::vector getPolygonIntersects( +std::vector getPolygonIntersects( const PathWithLaneId & ego_path, const lanelet::BasicPolygon2d & polygon, const geometry_msgs::msg::Point & ego_pos, const size_t max_num = std::numeric_limits::max()) { - std::vector intersects{}; + std::vector intersects{}; bool found_max_num = false; for (size_t i = 0; i < ego_path.points.size() - 1; ++i) { const auto & p_back = ego_path.points.at(i).point.pose.position; const auto & p_front = ego_path.points.at(i + 1).point.pose.position; - const Line segment{{p_back.x, p_back.y}, {p_front.x, p_front.y}}; + const Line2d segment{{p_back.x, p_back.y}, {p_front.x, p_front.y}}; - std::vector tmp_intersects{}; + std::vector tmp_intersects{}; bg::intersection(segment, polygon, tmp_intersects); for (const auto & p : tmp_intersects) { @@ -79,7 +77,7 @@ std::vector getPolygonIntersects( } } - const auto compare = [&](const Point & p1, const Point & p2) { + const auto compare = [&](const Point2d & p1, const Point2d & p2) { const auto dist_l1 = calcSignedArcLength(ego_path.points, size_t(0), createPoint(p1.x(), p1.y(), ego_pos.z)); @@ -91,23 +89,28 @@ std::vector getPolygonIntersects( std::sort(intersects.begin(), intersects.end(), compare); - return intersects; + // convert tier4_autoware_utils::Point2d to geometry::msg::Point + std::vector geometry_points; + for (const auto & p : intersects) { + geometry_points.push_back(createPoint(p.x(), p.y(), ego_pos.z)); + } + return geometry_points; } -std::vector getLinestringIntersects( +std::vector getLinestringIntersects( const PathWithLaneId & ego_path, const lanelet::BasicLineString2d & linestring, const geometry_msgs::msg::Point & ego_pos, const size_t max_num = std::numeric_limits::max()) { - std::vector intersects{}; + std::vector intersects{}; bool found_max_num = false; for (size_t i = 0; i < ego_path.points.size() - 1; ++i) { const auto & p_back = ego_path.points.at(i).point.pose.position; const auto & p_front = ego_path.points.at(i + 1).point.pose.position; - const Line segment{{p_back.x, p_back.y}, {p_front.x, p_front.y}}; + const Line2d segment{{p_back.x, p_back.y}, {p_front.x, p_front.y}}; - std::vector tmp_intersects{}; + std::vector tmp_intersects{}; bg::intersection(segment, linestring, tmp_intersects); for (const auto & p : tmp_intersects) { @@ -123,7 +126,7 @@ std::vector getLinestringIntersects( } } - const auto compare = [&](const Point & p1, const Point & p2) { + const auto compare = [&](const Point2d & p1, const Point2d & p2) { const auto dist_l1 = calcSignedArcLength(ego_path.points, size_t(0), createPoint(p1.x(), p1.y(), ego_pos.z)); @@ -135,7 +138,12 @@ std::vector getLinestringIntersects( std::sort(intersects.begin(), intersects.end(), compare); - return intersects; + // convert tier4_autoware_utils::Point2d to geometry::msg::Point + std::vector geometry_points; + for (const auto & p : intersects) { + geometry_points.push_back(createPoint(p.x(), p.y(), ego_pos.z)); + } + return geometry_points; } lanelet::Optional getStopLineFromMap( diff --git a/planning/behavior_velocity_crosswalk_module/src/util.hpp b/planning/behavior_velocity_crosswalk_module/src/util.hpp index 10602b11c3c2e..d585cf521dc73 100644 --- a/planning/behavior_velocity_crosswalk_module/src/util.hpp +++ b/planning/behavior_velocity_crosswalk_module/src/util.hpp @@ -36,9 +36,9 @@ namespace behavior_velocity_planner { -namespace bg = boost::geometry; using autoware_auto_planning_msgs::msg::PathPointWithLaneId; using autoware_auto_planning_msgs::msg::PathWithLaneId; +using tier4_autoware_utils::Point2d; enum class CollisionPointState { YIELD, EGO_PASS_FIRST, EGO_PASS_LATER, IGNORE }; @@ -72,11 +72,11 @@ struct DebugData std::vector obj_polygons; }; -std::vector> getPolygonIntersects( +std::vector getPolygonIntersects( const PathWithLaneId & ego_path, const lanelet::BasicPolygon2d & polygon, const geometry_msgs::msg::Point & ego_pos, const size_t max_num); -std::vector> getLinestringIntersects( +std::vector getLinestringIntersects( const PathWithLaneId & ego_path, const lanelet::BasicLineString2d & linestring, const geometry_msgs::msg::Point & ego_pos, const size_t max_num); From f8e74c5ee4abb5591ea6e6135010dc84fc18e627 Mon Sep 17 00:00:00 2001 From: beyzanurkaya <32412808+beyzanurkaya@users.noreply.github.com> Date: Thu, 6 Jul 2023 08:23:10 +0300 Subject: [PATCH 098/118] feat(behavior_velocity_intersection_module): consider NPC vehicles driving on the wrong direction lane on intersection (#3947) * add missing argument Signed-off-by: beyza * add consider_wrong_direction_vehicle var Signed-off-by: beyza * get consider_wrong_direction_vehicle param Signed-off-by: beyza * change the angle condition Signed-off-by: beyza * add option for the wrong direction NPCs Signed-off-by: beyza * add missing param Signed-off-by: beyza * add size condition for adj_followings Signed-off-by: beyza * add missing param Signed-off-by: beyza * style(pre-commit): autofix --------- Signed-off-by: beyza Co-authored-by: beyza Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../config/intersection.param.yaml | 2 +- .../src/manager.cpp | 2 ++ .../src/scene_intersection.cpp | 4 ++- .../src/scene_intersection.hpp | 1 + .../src/scene_merge_from_private_road.cpp | 2 ++ .../src/scene_merge_from_private_road.hpp | 2 ++ .../src/util.cpp | 33 ++++++++++++++----- .../src/util.hpp | 2 +- 8 files changed, 36 insertions(+), 12 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml index 719d0b7ac78d5..5afc318dfdbff 100644 --- a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml +++ b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml @@ -11,7 +11,7 @@ stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection use_intersection_area: false path_interpolation_ds: 0.2 # [m] - + consider_wrong_direction_vehicle: false stuck_vehicle: use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length. diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp index 8ccd725756e09..22fbfd00b1cf0 100644 --- a/planning/behavior_velocity_intersection_module/src/manager.cpp +++ b/planning/behavior_velocity_intersection_module/src/manager.cpp @@ -53,6 +53,8 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node) node.declare_parameter(ns + ".common.use_intersection_area"); ip.common.path_interpolation_ds = node.declare_parameter(ns + ".common.path_interpolation_ds"); + ip.common.consider_wrong_direction_vehicle = + node.declare_parameter(ns + ".common.consider_wrong_direction_vehicle"); ip.stuck_vehicle.use_stuck_stopline = node.declare_parameter(ns + ".stuck_vehicle.use_stuck_stopline"); diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index 0512e90197237..bc6b54c23edd6 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -660,7 +660,9 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( planning_utils::getLaneletsOnPath(*path, lanelet_map_ptr, current_pose); intersection_lanelets_ = util::getObjectiveLanelets( lanelet_map_ptr, routing_graph_ptr, assigned_lanelet, lanelets_on_path, associative_ids_, - interpolated_path_info, planner_param_.common.attention_area_length, tl_arrow_solid_on); + interpolated_path_info, planner_param_.common.attention_area_length, + planner_param_.occlusion.occlusion_attention_area_length, + planner_param_.common.consider_wrong_direction_vehicle, tl_arrow_solid_on); } const auto & conflicting_lanelets = intersection_lanelets_.value().conflicting; diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp index 38cf17d2eba7d..2bd8cb28941d8 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp @@ -59,6 +59,7 @@ class IntersectionModule : public SceneModuleInterface double intersection_max_acc; //! used for calculating intersection velocity double stop_overshoot_margin; //! overshoot margin for stuck, collision detection bool use_intersection_area; + bool consider_wrong_direction_vehicle; double path_interpolation_ds; } common; struct StuckVehicle diff --git a/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp index 2cac559bc0687..84136b6b7beb6 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp @@ -91,6 +91,8 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopR intersection_lanelets_ = util::getObjectiveLanelets( lanelet_map_ptr, routing_graph_ptr, assigned_lanelet, lanelets_on_path, associative_ids_, interpolated_path_info, planner_param_.attention_area_length, + planner_param_.occlusion_attention_area_length, + planner_param_.consider_wrong_direction_vehicle, false /* tl_arrow_solid on does not matter here*/); } const auto & first_conflicting_area = intersection_lanelets_.value().first_conflicting_area; diff --git a/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp b/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp index da41bb4d695cd..aa334f11be84d 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp +++ b/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.hpp @@ -60,6 +60,8 @@ class MergeFromPrivateRoadModule : public SceneModuleInterface double stop_line_margin; double stop_duration_sec; double path_interpolation_ds; + double occlusion_attention_area_length; + bool consider_wrong_direction_vehicle; }; MergeFromPrivateRoadModule( diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index 88b2599dae03a..51d8e286fe764 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -402,7 +402,7 @@ IntersectionLanelets getObjectiveLanelets( const lanelet::ConstLanelet assigned_lanelet, const lanelet::ConstLanelets & lanelets_on_path, const std::set & associative_ids, const InterpolatedPathInfo & interpolated_path_info, const double detection_area_length, const double occlusion_detection_area_length, - const bool tl_arrow_solid_on) + const bool consider_wrong_direction_vehicle, const bool tl_arrow_solid_on) { const auto turn_direction = assigned_lanelet.attributeOr("turn_direction", "else"); @@ -446,6 +446,7 @@ IntersectionLanelets getObjectiveLanelets( // get conflicting lanes on assigned lanelet const auto & conflicting_lanelets = lanelet::utils::getConflictingLanelets(routing_graph_ptr, assigned_lanelet); + const auto & adjacent_followings = routing_graph_ptr->following(conflicting_lanelets.back()); // final objective lanelets lanelet::ConstLanelets detection_lanelets; @@ -460,14 +461,26 @@ IntersectionLanelets getObjectiveLanelets( if (turn_direction == std::string("straight") && has_traffic_light) { // if assigned lanelet is "straight" with traffic light, detection area is not necessary } else { - // otherwise we need to know the priority from RightOfWay - for (const auto & conflicting_lanelet : conflicting_lanelets) { - if ( - lanelet::utils::contains(yield_lanelets, conflicting_lanelet) || - lanelet::utils::contains(ego_lanelets, conflicting_lanelet)) { - continue; + if (consider_wrong_direction_vehicle) { + for (const auto & conflicting_lanelet : conflicting_lanelets) { + if (lanelet::utils::contains(yield_lanelets, conflicting_lanelet)) { + continue; + } + detection_lanelets.push_back(conflicting_lanelet); + if (!adjacent_followings.empty()) { + detection_lanelets.push_back(adjacent_followings.front()); + } + } + } else { + // otherwise we need to know the priority from RightOfWay + for (const auto & conflicting_lanelet : conflicting_lanelets) { + if ( + lanelet::utils::contains(yield_lanelets, conflicting_lanelet) || + lanelet::utils::contains(ego_lanelets, conflicting_lanelet)) { + continue; + } + detection_lanelets.push_back(conflicting_lanelet); } - detection_lanelets.push_back(conflicting_lanelet); } } @@ -988,7 +1001,9 @@ bool checkAngleForTargetLanelets( const double ll_angle = lanelet::utils::getLaneletAngle(ll, pose.position); const double pose_angle = tf2::getYaw(pose.orientation); const double angle_diff = tier4_autoware_utils::normalizeRadian(ll_angle - pose_angle); - if (std::fabs(angle_diff) < detection_area_angle_thr) { + if ( + std::fabs(angle_diff) < detection_area_angle_thr / 2 || + std::fabs(angle_diff) > detection_area_angle_thr) { return true; } } diff --git a/planning/behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_intersection_module/src/util.hpp index c65a4e6e886a0..89931a5db10fc 100644 --- a/planning/behavior_velocity_intersection_module/src/util.hpp +++ b/planning/behavior_velocity_intersection_module/src/util.hpp @@ -58,7 +58,7 @@ IntersectionLanelets getObjectiveLanelets( const lanelet::ConstLanelet assigned_lanelet, const lanelet::ConstLanelets & lanelets_on_path, const std::set & associative_ids, const InterpolatedPathInfo & interpolated_path_info, const double detection_area_length, const double occlusion_detection_area_length, - const bool tl_arrow_solid_on = false); + const bool consider_wrong_direction_vehicle, const bool tl_arrow_solid_on = false); /** * @brief Generate a stop line for stuck vehicle From b5de8a3ebda58181b19e7f51c67e0faa80d587fd Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Thu, 6 Jul 2023 11:02:32 +0300 Subject: [PATCH 099/118] feat(routing-no-drivable-lanes): proposing solution for routing no_drivable_lane (#3954) * feat(routing-no-drivable-lanes): proposing solution for routing no-drivable lanes using getRouteVia method Signed-off-by: AhmedEbrahim * style(pre-commit): autofix * feat(routing-no-drivable-lanes): fixing review comments / adding comments to added functions / proper naming Signed-off-by: AhmedEbrahim * style(pre-commit): autofix --------- Signed-off-by: AhmedEbrahim Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/route_handler/route_handler.hpp | 19 ++++++ planning/route_handler/src/route_handler.cpp | 61 ++++++++++++++++++- 2 files changed, 77 insertions(+), 3 deletions(-) diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp index 927b423873d5f..8b5c7524e7a25 100644 --- a/planning/route_handler/include/route_handler/route_handler.hpp +++ b/planning/route_handler/include/route_handler/route_handler.hpp @@ -425,6 +425,25 @@ class RouteHandler // for path PathWithLaneId updatePathTwist(const PathWithLaneId & path) const; + /** + * @brief Checks if a path has a no_drivable_lane or not + * @param path lanelet path + * @return true if the lanelet path includes at least one no_drivable_lane, false if it does not + * include any. + */ + bool hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath & path) const; + /** + * @brief Searches for a path between start and goal lanelets that does not include any + * no_drivable_lane. If there is more than one path fount, the function returns the shortest path + * that does not include any no_drivable_lane. + * @param start_lanelet start lanelet + * @param goal_lanelet goal lanelet + * @param drivable_lane_path output path that does not include no_drivable_lane. + * @return true if a path without any no_drivable_lane found, false if this path is not found. + */ + bool findDrivableLanePath( + const lanelet::Lanelet & start_lanelet, const lanelet::Lanelet & goal_lanelet, + lanelet::routing::LaneletPath & drivable_lane_path) const; }; } // namespace route_handler #endif // ROUTE_HANDLER__ROUTE_HANDLER_HPP_ diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index 534bd344f6443..f3db1cadf02a1 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -1994,11 +1994,28 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints( return false; } - const auto shortest_path = optional_route->shortestPath(); - path_lanelets->reserve(shortest_path.size()); - for (const auto & llt : shortest_path) { + const lanelet::routing::LaneletPath shortest_path = optional_route->shortestPath(); + bool shortest_path_has_no_drivable_lane = hasNoDrivableLaneInPath(shortest_path); + lanelet::routing::LaneletPath drivable_lane_path; + bool drivable_lane_path_found = false; + + if (shortest_path_has_no_drivable_lane) { + drivable_lane_path_found = + findDrivableLanePath(start_lanelet, goal_lanelet, drivable_lane_path); + } + + lanelet::routing::LaneletPath path; + if (drivable_lane_path_found) { + path = drivable_lane_path; + } else { + path = shortest_path; + } + + path_lanelets->reserve(path.size()); + for (const auto & llt : path) { path_lanelets->push_back(llt); } + return true; } @@ -2042,4 +2059,42 @@ lanelet::ConstLanelets RouteHandler::getMainLanelets( return main_lanelets; } +bool RouteHandler::hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath & path) const +{ + for (const auto & llt : path) { + const std::string no_drivable_lane_attribute = llt.attributeOr("no_drivable_lane", "no"); + if (no_drivable_lane_attribute == "yes") { + return true; + } + } + + return false; +} + +bool RouteHandler::findDrivableLanePath( + const lanelet::Lanelet & start_lanelet, const lanelet::Lanelet & goal_lanelet, + lanelet::routing::LaneletPath & drivable_lane_path) const +{ + double drivable_lane_path_length2d = std::numeric_limits::max(); + bool drivable_lane_path_found = false; + + for (const auto & llt : road_lanelets_) { + lanelet::ConstLanelets via_lanelet; + via_lanelet.push_back(llt); + const lanelet::Optional optional_route = + routing_graph_ptr_->getRouteVia(start_lanelet, via_lanelet, goal_lanelet, 0); + + if ((optional_route) && (!hasNoDrivableLaneInPath(optional_route->shortestPath()))) { + if (optional_route->length2d() < drivable_lane_path_length2d) { + drivable_lane_path_length2d = optional_route->length2d(); + drivable_lane_path = optional_route->shortestPath(); + drivable_lane_path_found = true; + } + } + via_lanelet.clear(); + } + + return drivable_lane_path_found; +} + } // namespace route_handler From 1419f329161518b400183cfeba63150d26f8f1c6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 6 Jul 2023 23:07:23 +0900 Subject: [PATCH 100/118] fix(dynamic_avoidance): ignore objects on LC target lane (#4137) * fix(dynamic_avoidance): ignore objects on LC target lane Signed-off-by: Takayuki Murooka * update config Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../dynamic_avoidance/dynamic_avoidance.param.yaml | 2 ++ .../dynamic_avoidance/dynamic_avoidance_module.hpp | 1 + .../dynamic_avoidance/dynamic_avoidance_module.cpp | 12 +++++++++++- .../src/scene_module/dynamic_avoidance/manager.cpp | 4 ++++ 4 files changed, 18 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml b/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml index 0b8f35bac3131..85f60e21cf528 100644 --- a/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml @@ -16,6 +16,8 @@ successive_num_to_entry_dynamic_avoidance_condition: 5 + min_obj_lat_offset_to_ego_path: 0.3 # [m] + drivable_area_generation: lat_offset_from_obstacle: 0.8 # [m] max_lat_offset_to_avoid: 0.5 # [m] diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp index 32735b72913fa..6d2b66ff025c1 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp @@ -48,6 +48,7 @@ struct DynamicAvoidanceParameters bool avoid_pedestrian{false}; double min_obstacle_vel{0.0}; int successive_num_to_entry_dynamic_avoidance_condition{0}; + double min_obj_lat_offset_to_ego_path{0.0}; // drivable area generation double lat_offset_from_obstacle{0.0}; diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index 262fbb55301ba..11198a49360fb 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -325,7 +325,8 @@ DynamicAvoidanceModule::calcTargetObjectsCandidate() const const auto objects_in_right_lanes = getObjectsInLanes(input_objects, right_lanes); const auto objects_in_left_lanes = getObjectsInLanes(input_objects, left_lanes); - // 4. check if object will cut into the ego lane or cut out to the next lane. + // 4. check if object will not cut into the ego lane or cut out to the next lane, + // or close to the ego's path considering ego's lane change. // NOTE: The oncoming object will be ignored. constexpr double epsilon_path_lat_diff = 0.3; std::vector output_objects_candidate; @@ -380,6 +381,15 @@ DynamicAvoidanceModule::calcTargetObjectsCandidate() const continue; } + // Ignore object that is close to the ego's path. + const double lat_offset_to_path = + motion_utils::calcLateralOffset(prev_module_path->points, object.pose.position); + if ( + std::abs(lat_offset_to_path) < planner_data_->parameters.vehicle_width / 2.0 + + parameters_->min_obj_lat_offset_to_ego_path) { + continue; + } + // get previous object if it exists const auto prev_target_object_candidate = DynamicAvoidanceObjectCandidate::getObjectFromUuid( prev_target_objects_candidate_, object.uuid); diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp index 08188343f1d64..cfc57e480af85 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp @@ -42,6 +42,8 @@ DynamicAvoidanceModuleManager::DynamicAvoidanceModuleManager( p.min_obstacle_vel = node->declare_parameter(ns + "min_obstacle_vel"); p.successive_num_to_entry_dynamic_avoidance_condition = node->declare_parameter(ns + "successive_num_to_entry_dynamic_avoidance_condition"); + p.min_obj_lat_offset_to_ego_path = + node->declare_parameter(ns + "min_obj_lat_offset_to_ego_path"); } { // drivable_area_generation @@ -92,6 +94,8 @@ void DynamicAvoidanceModuleManager::updateModuleParams( updateParam( parameters, ns + "successive_num_to_entry_dynamic_avoidance_condition", p->successive_num_to_entry_dynamic_avoidance_condition); + updateParam( + parameters, ns + "min_obj_lat_offset_to_ego_path", p->min_obj_lat_offset_to_ego_path); } { // drivable_area_generation From cde4c92bcb1ebb7f94d97d92a9ef65d72dea793c Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Fri, 7 Jul 2023 00:51:08 +0900 Subject: [PATCH 101/118] feat(elevation_map_loader): add error handling for std::runtime_error (#4187) * feat(elevation_map_loader): Add error handling for std::runtime_error Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(elevation_map_loader): add error message output Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> --------- Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> --- .../elevation_map_loader/src/elevation_map_loader_node.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/perception/elevation_map_loader/src/elevation_map_loader_node.cpp b/perception/elevation_map_loader/src/elevation_map_loader_node.cpp index ff3d998aabc0b..096e084a70286 100644 --- a/perception/elevation_map_loader/src/elevation_map_loader_node.cpp +++ b/perception/elevation_map_loader/src/elevation_map_loader_node.cpp @@ -141,7 +141,8 @@ void ElevationMapLoaderNode::publish() try { is_bag_loaded = grid_map::GridMapRosConverter::loadFromBag( *data_manager_.elevation_map_path_, "elevation_map", elevation_map_); - } catch (rosbag2_storage_plugins::SqliteException & e) { + } catch (const std::runtime_error & e) { + RCLCPP_ERROR(this->get_logger(), e.what()); is_bag_loaded = false; } if (!is_bag_loaded) { From ca37348c7fe6fb3e4fed7fd54c06027a335bac2d Mon Sep 17 00:00:00 2001 From: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Fri, 7 Jul 2023 07:57:00 +0900 Subject: [PATCH 102/118] feat(traffic_light_occlusion_predictor): add traffic_light_occlusion_predictor (#4050) * add traffic_light_occlusion_predictor Signed-off-by: Mingyu Li * update README Signed-off-by: Mingyu Li * update occlusion package I/F Signed-off-by: Mingyu Li * revert wrong update of README.md Signed-off-by: Mingyu Li * update perception_utils Signed-off-by: Mingyu Li * add _deg to variables and update README Signed-off-by: Mingyu Li * fix Cmakelists Signed-off-by: Shunsuke Miura --------- Signed-off-by: Mingyu Li Signed-off-by: Shunsuke Miura Co-authored-by: Shunsuke Miura --- common/perception_utils/CMakeLists.txt | 1 + .../perception_utils/prime_synchronizer.hpp | 354 ++++++++++++++++++ .../perception_utils/traffic_light_utils.hpp | 52 +++ common/perception_utils/package.xml | 2 + .../src/traffic_light_utils.cpp | 79 ++++ .../ros/pcl_conversion.hpp | 72 ++++ common/tier4_autoware_utils/package.xml | 1 + .../CMakeLists.txt | 32 ++ .../README.md | 36 ++ ...affic_light_occlusion_predictor.param.yaml | 11 + .../images/occlusion.png | Bin 0 -> 281848 bytes .../nodelet.hpp | 102 +++++ .../occlusion_predictor.hpp | 95 +++++ ...affic_light_occlusion_predictor.launch.xml | 20 + .../package.xml | 36 ++ .../src/nodelet.cpp | 138 +++++++ .../src/occlusion_predictor.cpp | 250 +++++++++++++ 17 files changed, 1281 insertions(+) create mode 100644 common/perception_utils/include/perception_utils/prime_synchronizer.hpp create mode 100644 common/perception_utils/include/perception_utils/traffic_light_utils.hpp create mode 100644 common/perception_utils/src/traffic_light_utils.cpp create mode 100644 common/tier4_autoware_utils/include/tier4_autoware_utils/ros/pcl_conversion.hpp create mode 100644 perception/traffic_light_occlusion_predictor/CMakeLists.txt create mode 100644 perception/traffic_light_occlusion_predictor/README.md create mode 100644 perception/traffic_light_occlusion_predictor/config/traffic_light_occlusion_predictor.param.yaml create mode 100644 perception/traffic_light_occlusion_predictor/images/occlusion.png create mode 100644 perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp create mode 100644 perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp create mode 100644 perception/traffic_light_occlusion_predictor/launch/traffic_light_occlusion_predictor.launch.xml create mode 100644 perception/traffic_light_occlusion_predictor/package.xml create mode 100644 perception/traffic_light_occlusion_predictor/src/nodelet.cpp create mode 100644 perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp diff --git a/common/perception_utils/CMakeLists.txt b/common/perception_utils/CMakeLists.txt index 338874a41a3f7..146591c865b5d 100644 --- a/common/perception_utils/CMakeLists.txt +++ b/common/perception_utils/CMakeLists.txt @@ -8,6 +8,7 @@ find_package(Boost REQUIRED) ament_auto_add_library(perception_utils SHARED src/predicted_path_utils.cpp + src/traffic_light_utils.cpp src/conversion.cpp ) diff --git a/common/perception_utils/include/perception_utils/prime_synchronizer.hpp b/common/perception_utils/include/perception_utils/prime_synchronizer.hpp new file mode 100644 index 0000000000000..5af44595b8fb2 --- /dev/null +++ b/common/perception_utils/include/perception_utils/prime_synchronizer.hpp @@ -0,0 +1,354 @@ +// Copyright 2023 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 PERCEPTION_UTILS__PRIME_SYNCHRONIZER_HPP_ +#define PERCEPTION_UTILS__PRIME_SYNCHRONIZER_HPP_ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace perception_utils +{ + +/** + * @brief This class implemented a multi-topic approximate time synchronizer. + * Different from message_filters::sync::ApproximateTime, this class assumes there's a primary topic + * and more than one secondary topics and the registered callback function will always been called + * for every primary topic message, while for message_filters::sync::ApproximateTime, the callback + * function will be called only when all topics are synchronized. + * + * For every primary topic message M1, when this class receives it, the class would check whether it + * could gather one message of every secondary topic whose timestamp is similar to that of M1. If + * yes, the registered callback function would be called at once with M1 and the gathered messages. + * Otherwise, it would wait for some time. After that, the class would collect secondary messages + * again. For secondary topics that can't find any message with similar timestamp to M1, nullptr + * would be used instead and the registered function would be called. + * + * This class assumes the message types of the primary topic and secondary topics are defined during + * compile-time. It should be noted that the registered callback function is too slow, it would + * block the thread and the primary message couldn't be received. + * + * @tparam PrimeMsgT Primary topic message type + * @tparam SecondaryMsgT Secondary topic message types + */ +template +class PrimeSynchronizer +{ + typedef double StampT; + +public: + /** + * @brief Construct a new Prime Synchronizer object + * + * @param node_ptr node handler pointer + * @param topics topic vector. topics[0] corresponds to primary topic and the others + * correspond to secondary topics + * @param qos qos vector. configured for every topic + * @param callback registered callback function, would be called when the messages are + * synchronized + * @param max_delay_t maximum timestamp different (seconds) between primary topic message and + * any other secondary topic message + * @param max_wait_t maximum wait time (seconds) before the messages are synchronized + */ + PrimeSynchronizer( + rclcpp::Node * node_ptr, const std::vector & topics, + const std::vector & qos, + std::function + callback, + StampT max_delay_t = 0.2, StampT max_wait_t = 0.1) + : node_ptr_(node_ptr), callback_(callback), max_delay_t_(max_delay_t), max_wait_t_(max_wait_t) + { + assert((topics.size() == sizeof...(SecondaryMsgT) + 1) && "Incorrect topic number"); + assert(topics.size() == qos.size() && "topic size not equal to qos size!"); + prime_subscriber_ = node_ptr_->create_subscription( + topics[0], qos[0], std::bind(&PrimeSynchronizer::primeCallback, this, std::placeholders::_1)); + initSecondaryListener( + std::vector(topics.begin() + 1, topics.end()), + std::vector(qos.begin() + 1, qos.end())); + std::chrono::nanoseconds wait_duration(static_cast(1e9 * max_wait_t)); + timer_ = rclcpp::create_timer( + node_ptr_, node_ptr_->get_clock(), wait_duration, + std::bind(&PrimeSynchronizer::timerCallback, this)); + timer_->cancel(); + } + +private: + /** + * @brief initialize the secondary topic subscribers. + * Have to use template recursion method to indexing the subscriber tuple + * + * @tparam Idx secondary subscriber tuple index + * @param topics topics vector + * @param qos qos vector + */ + template + void initSecondaryListener( + const std::vector & topics, const std::vector & qos) + { + if constexpr (Idx < sizeof...(SecondaryMsgT)) { + typedef std::tuple_element_t> type; + std::get(sec_subscriber_) = node_ptr_->create_subscription( + topics[Idx], qos[Idx], + std::bind(&PrimeSynchronizer::secondaryCallback, this, std::placeholders::_1)); + initSecondaryListener(topics, qos); + } + } + + /** + * @brief Collect the Idx-th secondary messages with similar timestamp to prime message, + * which is stored in argv[0] and write to argv[Idx + 1] + * + * @tparam Idx secondary subscriber tuple index + * @param argv output tuple + */ + template + void collectSecondaryMsg( + std::tuple & + argv) + { + if constexpr (Idx < sizeof...(SecondaryMsgT)) { + /* + if can't find any message for this topic, write nullptr + */ + if (std::get(sec_messages_).empty()) { + std::get(argv) = nullptr; + } else { + StampT prime_stamp = convertStampFormat(std::get<0>(argv)->header.stamp); + StampT min_delay = std::numeric_limits::max(); + auto best_sec_msg = std::get(sec_messages_).begin()->second; + /* + find the message with closest timestamp to primary message + */ + for (const auto & sec_msg_p : std::get(sec_messages_)) { + StampT delay = std::abs(prime_stamp - sec_msg_p.first); + if (delay < min_delay) { + min_delay = delay; + best_sec_msg = sec_msg_p.second; + } + } + std::get(argv) = min_delay < max_delay_t_ ? best_sec_msg : nullptr; + } + collectSecondaryMsg(argv); + } + } + + /** + * @brief check if all messages in argv are valid (not equal to nullptr) + * + * @tparam Idx + * @param argv + * @return true All messages are not nullptr + * @return false At least one message in the tuplc is nullptr + */ + template + bool isArgvValid( + const std::tuple< + typename PrimeMsgT::ConstSharedPtr, typename SecondaryMsgT::ConstSharedPtr...> & argv) + { + if constexpr (Idx < sizeof...(SecondaryMsgT) + 1) { + return (std::get(argv) != nullptr) && isArgvValid(argv); + } + return true; + } + + inline StampT convertStampFormat(const std_msgs::msg::Header::_stamp_type & stamp) + { + return rclcpp::Time(stamp).seconds(); + } + + /** + * @brief callback function when primary message is received + * + * @param msg + */ + void primeCallback(const typename PrimeMsgT::ConstSharedPtr msg) + { + prime_cnt++; + timer_->cancel(); + assert(prime_messages_.size() <= 1); + /* + if there are old prime messages waiting for synchronization with secondary messages, + stop waiting and call the registered callback function with prime message and synchronized + secondary messages. For secondary topics that are not synchronized, use nullptr. + */ + for (auto & p : prime_messages_) { + tryCallback(p.first, true); + } + prime_messages_.clear(); + /* + update the prime messages + */ + StampT stamp = convertStampFormat(msg->header.stamp); + prime_messages_.insert(std::make_pair(stamp, msg)); + /* + check if secondary messages are all ready to synchronize with prime message. + If yes, process it immediately + */ + if (tryCallback(stamp, false)) { + prime_messages_.clear(); + } else { + timer_->reset(); + } + // RCLCPP_INFO_STREAM(node_ptr_->get_logger(), "primary message count = " << prime_cnt); + } + + /** + * @brief callback function when secondary message is received. + * + * @tparam M Type of the secondary message + * @tparam Idx Idx of the type + * @param msg + */ + template + void secondaryCallback(const typename M::ConstSharedPtr msg) + { + /* + insert the new secondary message + */ + StampT stamp = convertStampFormat(msg->header.stamp); + auto & msg_map = std::get(sec_messages_); + msg_map.insert(std::make_pair(stamp, msg)); + assert(prime_messages_.size() <= 1); + /* + check if any prime message can gather all secondary messages. + */ + for (auto it = prime_messages_.begin(); it != prime_messages_.end();) { + /* + Try to synchronize. If succeeds, remove the handled primary message + */ + if (tryCallback(it->first, false)) { + timer_->cancel(); + it = prime_messages_.erase(it); + } else { + it++; + } + } + + /* + this should not happen. Just in case. + */ + if (prime_messages_.empty() && msg_map.empty()) { + RCLCPP_ERROR_STREAM(node_ptr_->get_logger(), "Empty prime_messages and secondary_messages"); + return; + } + /* + remove old secondary messages. + */ + StampT stamp_thres = + prime_messages_.empty() ? msg_map.rbegin()->first : prime_messages_.begin()->first; + for (auto it = msg_map.begin(); it != msg_map.end();) { + if (stamp_thres - it->first > max_delay_t_) { + it = msg_map.erase(it); + } else { + it++; + } + } + } + + /** + * @brief Timer callback. The maximum wait time exceeds. Handle all stored primary messages. + * + */ + void timerCallback() + { + timer_->cancel(); + assert(prime_messages_.size() <= 1); + for (auto & p : prime_messages_) { + tryCallback(p.first, true); + } + prime_messages_.clear(); + } + + /** + * @brief Try to synchronize. If ignoreInvalidSecMsg is set to true, + * the registered function would be called with the primary message with given timestamp and + * collected secondary messages even if not all secondary messages are collected. Otherwise, the + * registered function would not be called except all secondary messages are collected. + * + * @param stamp + * @param ignoreInvalidSecMsg + * @return true + * @return false + */ + bool tryCallback(StampT stamp, bool ignoreInvalidSecMsg = true) + { + if (prime_messages_.count(stamp) == 0) { + return true; + } + std::tuple argv; + std::get<0>(argv) = prime_messages_[stamp]; + collectSecondaryMsg(argv); + if (ignoreInvalidSecMsg || isArgvValid(argv)) { + std::apply(callback_, argv); + return true; + } + return false; + } + /** + * @brief node pointer + * + */ + rclcpp::Node * node_ptr_; + /** + * @brief The registered callback function that would be called when the prime message and sub + * messages are synchronized or timeout + * + */ + std::function + callback_; + /** + * @brief the prime message subscriber + * + */ + typename rclcpp::Subscription::SharedPtr prime_subscriber_; + /** + * @brief the secondary message subscriber tuple + * + */ + std::tuple::SharedPtr...> sec_subscriber_; + /** + * @brief map to store the prime messages using timestamp of the messages as key. + * + */ + std::map prime_messages_; + rclcpp::TimerBase::SharedPtr timer_; + /** + * @brief tuple of maps to store the secondary messages using timestamp of the messages as key + * + */ + std::tuple...> sec_messages_; + /* + maximum wait time (seconds) before the secondary messages are collected + */ + double max_wait_t_; + /* + maximum delay time (seconds) between a secondary message and the primary message + */ + double max_delay_t_; + int prime_cnt = 0; +}; + +} // namespace perception_utils + +#endif // PERCEPTION_UTILS__PRIME_SYNCHRONIZER_HPP_ diff --git a/common/perception_utils/include/perception_utils/traffic_light_utils.hpp b/common/perception_utils/include/perception_utils/traffic_light_utils.hpp new file mode 100644 index 0000000000000..be21536953ce7 --- /dev/null +++ b/common/perception_utils/include/perception_utils/traffic_light_utils.hpp @@ -0,0 +1,52 @@ +// Copyright 2023 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 PERCEPTION_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ +#define PERCEPTION_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ + +#include "tier4_perception_msgs/msg/traffic_light_element.hpp" +#include "tier4_perception_msgs/msg/traffic_light_roi.hpp" +#include "tier4_perception_msgs/msg/traffic_signal.hpp" + +#include +#include +#include +#include + +namespace perception_utils +{ + +namespace traffic_light +{ + +bool isRoiValid( + const tier4_perception_msgs::msg::TrafficLightRoi & roi, uint32_t width, uint32_t height); + +void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi); + +bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal); + +void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence = -1); + +tf2::Vector3 getTrafficLightTopLeft(const lanelet::ConstLineString3d & traffic_light); + +tf2::Vector3 getTrafficLightBottomRight(const lanelet::ConstLineString3d & traffic_light); + +tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_light); + +} // namespace traffic_light + +} // namespace perception_utils + +#endif // PERCEPTION_UTILS__TRAFFIC_LIGHT_UTILS_HPP_ diff --git a/common/perception_utils/package.xml b/common/perception_utils/package.xml index bc1d1b8b6bece..2fa9ccfbb430c 100644 --- a/common/perception_utils/package.xml +++ b/common/perception_utils/package.xml @@ -16,9 +16,11 @@ autoware_auto_perception_msgs geometry_msgs interpolation + lanelet2_extension libboost-dev rclcpp tier4_autoware_utils + tier4_perception_msgs ament_cmake_ros ament_lint_auto diff --git a/common/perception_utils/src/traffic_light_utils.cpp b/common/perception_utils/src/traffic_light_utils.cpp new file mode 100644 index 0000000000000..5ff3b3d422945 --- /dev/null +++ b/common/perception_utils/src/traffic_light_utils.cpp @@ -0,0 +1,79 @@ +// Copyright 2023 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 "perception_utils/traffic_light_utils.hpp" + +namespace perception_utils +{ + +namespace traffic_light +{ + +bool isRoiValid( + const tier4_perception_msgs::msg::TrafficLightRoi & roi, uint32_t width, uint32_t height) +{ + uint32_t x1 = roi.roi.x_offset; + uint32_t x2 = roi.roi.x_offset + roi.roi.width; + uint32_t y1 = roi.roi.y_offset; + uint32_t y2 = roi.roi.y_offset + roi.roi.height; + return roi.roi.width > 0 && roi.roi.height > 0 && x1 < width && y1 < height && x2 < width && + y2 < height; +} + +void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi) +{ + roi.roi.height = roi.roi.width = 0; +} + +bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficSignal & signal) +{ + return signal.elements.size() == 1 && + signal.elements[0].shape == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN && + signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; +} + +void setSignalUnknown(tier4_perception_msgs::msg::TrafficSignal & signal, float confidence) +{ + signal.elements.resize(1); + signal.elements[0].shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; + signal.elements[0].color = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; + // the default value is -1, which means to not set confidence + if (confidence >= 0) { + signal.elements[0].confidence = confidence; + } +} + +tf2::Vector3 getTrafficLightTopLeft(const lanelet::ConstLineString3d & traffic_light) +{ + const auto & tl_bl = traffic_light.front(); + const double tl_height = traffic_light.attributeOr("height", 0.0); + return tf2::Vector3(tl_bl.x(), tl_bl.y(), tl_bl.z() + tl_height); +} + +tf2::Vector3 getTrafficLightBottomRight(const lanelet::ConstLineString3d & traffic_light) +{ + const auto & tl_bl = traffic_light.back(); + return tf2::Vector3(tl_bl.x(), tl_bl.y(), tl_bl.z()); +} + +tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_light) +{ + tf2::Vector3 top_left = getTrafficLightTopLeft(traffic_light); + tf2::Vector3 bottom_right = getTrafficLightBottomRight(traffic_light); + return (top_left + bottom_right) / 2; +} + +} // namespace traffic_light + +} // namespace perception_utils diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/pcl_conversion.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/pcl_conversion.hpp new file mode 100644 index 0000000000000..c66a63eb1ac51 --- /dev/null +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/pcl_conversion.hpp @@ -0,0 +1,72 @@ +// Copyright 2023 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 TIER4_AUTOWARE_UTILS__ROS__PCL_CONVERSION_HPP_ +#define TIER4_AUTOWARE_UTILS__ROS__PCL_CONVERSION_HPP_ + +#include +#include + +#include + +namespace tier4_autoware_utils +{ +/** + * @brief a faster implementation of converting sensor_msgs::msg::PointCloud2 to + * pcl::PointCloud and transform the cloud + * + * @tparam Scalar + * @param cloud input PointCloud2 message + * @param pcl_cloud output transformed pcl cloud + * @param transform eigen transformation matrix + */ +template +void transformPointCloudFromROSMsg( + const sensor_msgs::msg::PointCloud2 & cloud, pcl::PointCloud & pcl_cloud, + const Eigen::Matrix & transform) +{ + // Copy info fields + pcl_conversions::toPCL(cloud.header, pcl_cloud.header); + pcl_cloud.width = cloud.width; + pcl_cloud.height = cloud.height; + pcl_cloud.is_dense = cloud.is_dense == 1; + + pcl::MsgFieldMap field_map; + std::vector msg_fields; + pcl_conversions::toPCL(cloud.fields, msg_fields); + pcl::createMapping(msg_fields, field_map); + + // transform point data + std::uint32_t num_points = cloud.width * cloud.height; + pcl_cloud.points.resize(num_points); + std::uint8_t * cloud_data = reinterpret_cast(&pcl_cloud.points[0]); + pcl::detail::Transformer tf(transform); + + for (std::uint32_t row = 0; row < cloud.height; ++row) { + const std::uint8_t * row_data = &cloud.data[row * cloud.row_step]; + for (std::uint32_t col = 0; col < cloud.width; ++col) { + const std::uint8_t * msg_data = row_data + col * cloud.point_step; + for (const pcl::detail::FieldMapping & mapping : field_map) { + const float * msg_ptr = reinterpret_cast(msg_data); + float * pcl_ptr = reinterpret_cast(cloud_data + mapping.struct_offset); + tf.se3(msg_ptr, pcl_ptr); + } + cloud_data += sizeof(pcl::PointXYZ); + } + } +} + +} // namespace tier4_autoware_utils + +#endif // TIER4_AUTOWARE_UTILS__ROS__PCL_CONVERSION_HPP_ diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml index ff3fa65f034b3..fd9b315f8e4d5 100644 --- a/common/tier4_autoware_utils/package.xml +++ b/common/tier4_autoware_utils/package.xml @@ -19,6 +19,7 @@ diagnostic_msgs geometry_msgs libboost-dev + pcl_conversions pcl_ros rclcpp tf2 diff --git a/perception/traffic_light_occlusion_predictor/CMakeLists.txt b/perception/traffic_light_occlusion_predictor/CMakeLists.txt new file mode 100644 index 0000000000000..481561ed92be8 --- /dev/null +++ b/perception/traffic_light_occlusion_predictor/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.14) +project(traffic_light_occlusion_predictor) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(Eigen3 REQUIRED) +find_package(PCL 1.8 REQUIRED) + +include_directories( + SYSTEM + ${EIGEN3_INCLUDE_DIR} + ${PCL_INCLUDE_DIRS} +) + +ament_auto_add_library(traffic_light_occlusion_predictor SHARED + src/nodelet.cpp + src/occlusion_predictor.cpp +) + +rclcpp_components_register_node(traffic_light_occlusion_predictor + PLUGIN "traffic_light::TrafficLightOcclusionPredictorNodelet" + EXECUTABLE traffic_light_occlusion_predictor_node +) + +link_directories(${PCL_LIBRARY_DIRS}) +target_link_libraries(traffic_light_occlusion_predictor ${PCL_LIBRARIES}) + +ament_auto_package(INSTALL_TO_SHARE + config + launch +) diff --git a/perception/traffic_light_occlusion_predictor/README.md b/perception/traffic_light_occlusion_predictor/README.md new file mode 100644 index 0000000000000..312f9abccc464 --- /dev/null +++ b/perception/traffic_light_occlusion_predictor/README.md @@ -0,0 +1,36 @@ +# The `traffic_light_occlusion_predictor` Package + +## Overview + +`traffic_light_occlusion_predictor` receives the detected traffic lights rois and calculates the occlusion ratios of each roi with point cloud. + +For each traffic light roi, hundreds of pixels would be selected and projected into the 3D space. Then from the camera point of view, the number of projected pixels that are occluded by the point cloud is counted and used for calculating the occlusion ratio for the roi. As shown in follow image, the red pixels are occluded and the occlusion ratio is the number of red pixels divided by the total pixel numbers. + +![image](images/occlusion.png) + +If no point cloud is received or all point clouds have very large stamp difference with the camera image, the occlusion ratio of each roi would be set as 0. + +## Input topics + +| Name | Type | Description | +| -------------------- | --------------------------------------------------- | ------------------------ | +| `~input/vector_map` | autoware_auto_mapping_msgs::HADMapBin | vector map | +| `~/input/rois` | autoware_auto_perception_msgs::TrafficLightRoiArray | traffic light detections | +| `~input/camera_info` | sensor_msgs::CameraInfo | target camera parameter | +| `~/input/cloud` | sensor_msgs::PointCloud2 | LiDAR point cloud | + +## Output topics + +| Name | Type | Description | +| -------------------- | --------------------------------------------------------- | ---------------------------- | +| `~/output/occlusion` | autoware_auto_perception_msgs::TrafficLightOcclusionArray | occlusion ratios of each roi | + +## Node parameters + +| Parameter | Type | Description | +| ------------------------------------ | ------ | ------------------------------------------------------------- | +| `azimuth_occlusion_resolution_deg` | double | azimuth resolution of LiDAR point cloud (degree) | +| `elevation_occlusion_resolution_deg` | double | elevation resolution of LiDAR point cloud (degree) | +| `max_valid_pt_dist` | double | The points within this distance would be used for calculation | +| `max_image_cloud_delay` | double | The maximum delay between LiDAR point cloud and camera image | +| `max_wait_t` | double | The maximum time waiting for the LiDAR point cloud | diff --git a/perception/traffic_light_occlusion_predictor/config/traffic_light_occlusion_predictor.param.yaml b/perception/traffic_light_occlusion_predictor/config/traffic_light_occlusion_predictor.param.yaml new file mode 100644 index 0000000000000..d0230e2b12c42 --- /dev/null +++ b/perception/traffic_light_occlusion_predictor/config/traffic_light_occlusion_predictor.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + azimuth_occlusion_resolution_deg: 0.15 # degree + elevation_occlusion_resolution_deg: 0.08 # degree + max_valid_pt_dist: 50.0 + # the node would wait at most max_wait_t seconds for cloud whose timestamp different with the image is less than max_image_cloud_delay. + # If no cloud with timestamp difference smaller than max_image_cloud_delay is found, the node would publish occlusion ratio of all + # traffic lights as 0 + max_image_cloud_delay: 0.5 + max_wait_t: 0.05 + max_occlusion_ratio: 50 diff --git a/perception/traffic_light_occlusion_predictor/images/occlusion.png b/perception/traffic_light_occlusion_predictor/images/occlusion.png new file mode 100644 index 0000000000000000000000000000000000000000..94e2dc4469f3553b4854e8c281962573462f8be3 GIT binary patch literal 281848 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b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp new file mode 100644 index 0000000000000..2117b650efc41 --- /dev/null +++ b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/nodelet.hpp @@ -0,0 +1,102 @@ +// Copyright 2023 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 TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__NODELET_HPP_ +#define TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__NODELET_HPP_ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace traffic_light +{ +class TrafficLightOcclusionPredictorNodelet : public rclcpp::Node +{ +public: + explicit TrafficLightOcclusionPredictorNodelet(const rclcpp::NodeOptions & node_options); + +private: + struct Config + { + double azimuth_occlusion_resolution_deg; + double elevation_occlusion_resolution_deg; + double max_valid_pt_dist; + double max_image_cloud_delay; + double max_wait_t; + int max_occlusion_ratio; + }; + +private: + /** + * @brief receive the lanelet2 map + * + * @param input_msg + */ + void mapCallback(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr input_msg); + /** + * @brief subscribers + * + */ + void syncCallback( + const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr in_signal_msg, + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr in_roi_msg, + const sensor_msgs::msg::CameraInfo::ConstSharedPtr in_cam_info_msg, + const sensor_msgs::msg::PointCloud2::ConstSharedPtr in_cloud_msg); + + rclcpp::Subscription::SharedPtr map_sub_; + /** + * @brief publishers + * + */ + rclcpp::Publisher::SharedPtr signal_pub_; + + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; + std::map traffic_light_position_map_; + Config config_; + /** + * @brief main class for calculating the occlusion probability + * + */ + std::shared_ptr cloud_occlusion_predictor_; + + typedef perception_utils::PrimeSynchronizer< + tier4_perception_msgs::msg::TrafficSignalArray, + tier4_perception_msgs::msg::TrafficLightRoiArray, sensor_msgs::msg::CameraInfo, + sensor_msgs::msg::PointCloud2> + SynchronizerType; + + std::shared_ptr synchronizer_; +}; +} // namespace traffic_light +#endif // TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__NODELET_HPP_ diff --git a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp new file mode 100644 index 0000000000000..9c14cd992fac8 --- /dev/null +++ b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp @@ -0,0 +1,95 @@ +// Copyright 2023-2026 the Autoware Foundation +// +// 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 TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__OCCLUSION_PREDICTOR_HPP_ +#define TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__OCCLUSION_PREDICTOR_HPP_ + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +namespace traffic_light +{ + +struct Ray +{ + float azimuth; + float elevation; + float dist; +}; + +class CloudOcclusionPredictor +{ +public: + CloudOcclusionPredictor( + rclcpp::Node * node_ptr, float max_valid_pt_distance, float azimuth_occlusion_resolution_deg, + float elevation_occlusion_resolution_deg); + + void predict( + const sensor_msgs::msg::CameraInfo::ConstSharedPtr & camera_info_msg, + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & rois_msg, + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & cloud_msg, + const tf2_ros::Buffer & tf_buffer, + const std::map & traffic_light_position_map, + std::vector & occlusion_ratios); + +private: + uint32_t predict(const pcl::PointXYZ & roi_top_left, const pcl::PointXYZ & roi_bottom_right); + + void filterCloud( + const pcl::PointCloud & cloud_in, const std::vector & roi_tls, + const std::vector & roi_brs, pcl::PointCloud & cloud_out); + + void sampleTrafficLightRoi( + const pcl::PointXYZ & top_left, const pcl::PointXYZ & bottom_right, + uint32_t horizontal_sample_num, uint32_t vertical_sample_num, + pcl::PointCloud & cloud_out); + + void calcRoiVectex3D( + const tier4_perception_msgs::msg::TrafficLightRoi & roi, + const image_geometry::PinholeCameraModel & pinhole_model, + const std::map & traffic_light_position_map, + const tf2::Transform & tf_camera2map, pcl::PointXYZ & top_left, pcl::PointXYZ & bottom_right); + + std::map > > lidar_rays_; + rclcpp::Node * node_ptr_; + float max_valid_pt_distance_; + float azimuth_occlusion_resolution_deg_; + float elevation_occlusion_resolution_deg_; +}; + +} // namespace traffic_light + +#endif // TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__OCCLUSION_PREDICTOR_HPP_ diff --git a/perception/traffic_light_occlusion_predictor/launch/traffic_light_occlusion_predictor.launch.xml b/perception/traffic_light_occlusion_predictor/launch/traffic_light_occlusion_predictor.launch.xml new file mode 100644 index 0000000000000..795267b920e24 --- /dev/null +++ b/perception/traffic_light_occlusion_predictor/launch/traffic_light_occlusion_predictor.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/perception/traffic_light_occlusion_predictor/package.xml b/perception/traffic_light_occlusion_predictor/package.xml new file mode 100644 index 0000000000000..813f2914b7c4b --- /dev/null +++ b/perception/traffic_light_occlusion_predictor/package.xml @@ -0,0 +1,36 @@ + + + + traffic_light_occlusion_predictor + 0.1.0 + The traffic_light_occlusion_predictor package + Mingyu Li + Apache License 2.0 + + ament_cmake_auto + + autoware_cmake + + autoware_auto_geometry + autoware_auto_mapping_msgs + geometry_msgs + image_geometry + lanelet2_extension + pcl_msgs + perception_utils + rclcpp + rclcpp_components + sensor_msgs + tf2 + tf2_eigen + tf2_ros + tier4_autoware_utils + tier4_perception_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp new file mode 100644 index 0000000000000..90d96b4c9cbfc --- /dev/null +++ b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp @@ -0,0 +1,138 @@ +// Copyright 2023 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 "traffic_light_occlusion_predictor/nodelet.hpp" + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#define EIGEN_MPL2_ONLY +#include +#include + +namespace traffic_light +{ + +TrafficLightOcclusionPredictorNodelet::TrafficLightOcclusionPredictorNodelet( + const rclcpp::NodeOptions & node_options) +: Node("traffic_light_occlusion_predictor_node", node_options), + tf_buffer_(this->get_clock()), + tf_listener_(tf_buffer_) +{ + using std::placeholders::_1; + using std::placeholders::_2; + using std::placeholders::_3; + using std::placeholders::_4; + + // subscribers + map_sub_ = create_subscription( + "~/input/vector_map", rclcpp::QoS{1}.transient_local(), + std::bind(&TrafficLightOcclusionPredictorNodelet::mapCallback, this, _1)); + + // publishers + signal_pub_ = + create_publisher("~/output/traffic_signals", 1); + // configuration parameters + config_.azimuth_occlusion_resolution_deg = + declare_parameter("azimuth_occlusion_resolution_deg", 0.15); + config_.elevation_occlusion_resolution_deg = + declare_parameter("elevation_occlusion_resolution_deg", 0.08); + config_.max_valid_pt_dist = declare_parameter("max_valid_pt_dist", 50.0); + config_.max_image_cloud_delay = declare_parameter("max_image_cloud_delay", 1.0); + config_.max_wait_t = declare_parameter("max_wait_t", 0.02); + config_.max_occlusion_ratio = declare_parameter("max_occlusion_ratio", 50); + + cloud_occlusion_predictor_ = std::make_shared( + this, config_.max_valid_pt_dist, config_.azimuth_occlusion_resolution_deg, + config_.elevation_occlusion_resolution_deg); + + const std::vector topics{ + "~/input/traffic_signals", "~/input/rois", "~/input/camera_info", "~/input/cloud"}; + const std::vector qos(topics.size(), rclcpp::SensorDataQoS()); + synchronizer_ = std::make_shared( + this, topics, qos, + std::bind(&TrafficLightOcclusionPredictorNodelet::syncCallback, this, _1, _2, _3, _4), + config_.max_image_cloud_delay, config_.max_wait_t); +} + +void TrafficLightOcclusionPredictorNodelet::mapCallback( + const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr input_msg) +{ + traffic_light_position_map_.clear(); + auto lanelet_map_ptr = std::make_shared(); + + lanelet::utils::conversion::fromBinMsg(*input_msg, lanelet_map_ptr); + lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr); + std::vector all_lanelet_traffic_lights = + lanelet::utils::query::autowareTrafficLights(all_lanelets); + for (auto tl_itr = all_lanelet_traffic_lights.begin(); tl_itr != all_lanelet_traffic_lights.end(); + ++tl_itr) { + lanelet::AutowareTrafficLightConstPtr tl = *tl_itr; + + auto lights = tl->trafficLights(); + for (auto lsp : lights) { + if (!lsp.isLineString()) { // traffic lights must be linestrings + continue; + } + lanelet::ConstLineString3d string3d = static_cast(lsp); + traffic_light_position_map_[lsp.id()] = + perception_utils::traffic_light::getTrafficLightCenter(string3d); + } + } +} + +void TrafficLightOcclusionPredictorNodelet::syncCallback( + const tier4_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr in_signal_msg, + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr in_roi_msg, + const sensor_msgs::msg::CameraInfo::ConstSharedPtr in_cam_info_msg, + const sensor_msgs::msg::PointCloud2::ConstSharedPtr in_cloud_msg) +{ + tier4_perception_msgs::msg::TrafficSignalArray out_msg = *in_signal_msg; + std::vector occlusion_ratios; + if ( + in_cloud_msg == nullptr || in_cam_info_msg == nullptr || in_roi_msg == nullptr || + in_roi_msg->rois.size() != in_signal_msg->signals.size()) { + occlusion_ratios.resize(in_roi_msg->rois.size(), 0); + } else { + cloud_occlusion_predictor_->predict( + in_cam_info_msg, in_roi_msg, in_cloud_msg, tf_buffer_, traffic_light_position_map_, + occlusion_ratios); + } + for (size_t i = 0; i < occlusion_ratios.size(); i++) { + if (occlusion_ratios[i] >= config_.max_occlusion_ratio) { + perception_utils::traffic_light::setSignalUnknown(out_msg.signals[i]); + } + } + signal_pub_->publish(out_msg); +} + +} // namespace traffic_light + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::TrafficLightOcclusionPredictorNodelet) diff --git a/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp new file mode 100644 index 0000000000000..eff8921a897a3 --- /dev/null +++ b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp @@ -0,0 +1,250 @@ +// Copyright 2023-2026 the Autoware Foundation +// +// 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 "traffic_light_occlusion_predictor/occlusion_predictor.hpp" + +namespace +{ + +traffic_light::Ray point2ray(const pcl::PointXYZ & pt) +{ + traffic_light::Ray ray; + ray.dist = std::sqrt(pt.x * pt.x + pt.y * pt.y + pt.z * pt.z); + ray.elevation = RAD2DEG(std::atan2(pt.y, std::hypot(pt.x, pt.z))); + ray.azimuth = RAD2DEG(std::atan2(pt.x, pt.z)); + return ray; +} + +} // namespace + +namespace traffic_light +{ + +CloudOcclusionPredictor::CloudOcclusionPredictor( + rclcpp::Node * node_ptr, float max_valid_pt_distance, float azimuth_occlusion_resolution_deg, + float elevation_occlusion_resolution_deg) +: node_ptr_(node_ptr), + max_valid_pt_distance_(max_valid_pt_distance), + azimuth_occlusion_resolution_deg_(azimuth_occlusion_resolution_deg), + elevation_occlusion_resolution_deg_(elevation_occlusion_resolution_deg) +{ +} + +void CloudOcclusionPredictor::predict( + const sensor_msgs::msg::CameraInfo::ConstSharedPtr & camera_info_msg, + const tier4_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr & rois_msg, + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & cloud_msg, + const tf2_ros::Buffer & tf_buffer, + const std::map & traffic_light_position_map, + std::vector & occlusion_ratios) +{ + if (camera_info_msg == nullptr || rois_msg == nullptr || cloud_msg == nullptr) { + return; + } + occlusion_ratios.resize(rois_msg->rois.size()); + // get transformation from cloud to camera + Eigen::Matrix4d camera2cloud; + try { + camera2cloud = + tf2::transformToEigen(tf_buffer.lookupTransform( + camera_info_msg->header.frame_id, cloud_msg->header.frame_id, + rclcpp::Time(camera_info_msg->header.stamp), + rclcpp::Duration::from_seconds(0.2))) + .matrix(); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_ptr_->get_logger(), "Error: cannot get transform from << " + << camera_info_msg->header.frame_id << " to " + << cloud_msg->header.frame_id); + return; + } + // get transformation from map to camera + tf2::Transform tf_camera2map; + try { + geometry_msgs::msg::TransformStamped tf_stamped = tf_buffer.lookupTransform( + camera_info_msg->header.frame_id, "map", rclcpp::Time(camera_info_msg->header.stamp), + rclcpp::Duration::from_seconds(0.2)); + tf2::fromMsg(tf_stamped.transform, tf_camera2map); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_ptr_->get_logger(), + "Error: cannot get transform from << " << camera_info_msg->header.frame_id << " to map"); + return; + } + + std::vector roi_tls(rois_msg->rois.size()), roi_brs(rois_msg->rois.size()); + image_geometry::PinholeCameraModel pinhole_model; + pinhole_model.fromCameraInfo(*camera_info_msg); + for (size_t i = 0; i < rois_msg->rois.size(); i++) { + calcRoiVectex3D( + rois_msg->rois[i], pinhole_model, traffic_light_position_map, tf_camera2map, roi_tls[i], + roi_brs[i]); + } + + lidar_rays_.clear(); + // points in camera frame + pcl::PointCloud cloud_camera; + // points within roi + pcl::PointCloud cloud_roi; + tier4_autoware_utils::transformPointCloudFromROSMsg(*cloud_msg, cloud_camera, camera2cloud); + + filterCloud(cloud_camera, roi_tls, roi_brs, cloud_roi); + + for (const pcl::PointXYZ & pt : cloud_roi) { + Ray ray = ::point2ray(pt); + lidar_rays_[static_cast(ray.azimuth)][static_cast(ray.elevation)].push_back(ray); + } + for (size_t i = 0; i < roi_tls.size(); i++) { + occlusion_ratios[i] = predict(roi_tls[i], roi_brs[i]); + } +} + +void CloudOcclusionPredictor::calcRoiVectex3D( + const tier4_perception_msgs::msg::TrafficLightRoi & roi, + const image_geometry::PinholeCameraModel & pinhole_model, + const std::map & traffic_light_position_map, + const tf2::Transform & tf_camera2map, pcl::PointXYZ & top_left, pcl::PointXYZ & bottom_right) +{ + if (traffic_light_position_map.count(roi.traffic_light_id) == 0) { + return; + } + double dist2cam = (tf_camera2map * traffic_light_position_map.at(roi.traffic_light_id)).length(); + { + cv::Point2d pixel(roi.roi.x_offset, roi.roi.y_offset); + cv::Point2d rectified_pixel = pinhole_model.rectifyPoint(pixel); + cv::Point3d ray = pinhole_model.projectPixelTo3dRay(rectified_pixel); + double ray_len = std::sqrt(ray.ddot(ray)); + top_left.x = dist2cam * ray.x / ray_len; + top_left.y = dist2cam * ray.y / ray_len; + top_left.z = dist2cam * ray.z / ray_len; + } + { + cv::Point2d pixel(roi.roi.x_offset + roi.roi.width, roi.roi.y_offset + roi.roi.height); + cv::Point2d rectified_pixel = pinhole_model.rectifyPoint(pixel); + cv::Point3d ray = pinhole_model.projectPixelTo3dRay(rectified_pixel); + double ray_len = std::sqrt(ray.ddot(ray)); + bottom_right.x = dist2cam * ray.x / ray_len; + bottom_right.y = dist2cam * ray.y / ray_len; + bottom_right.z = dist2cam * ray.z / ray_len; + } +} + +void CloudOcclusionPredictor::filterCloud( + const pcl::PointCloud & cloud_in, const std::vector & roi_tls, + const std::vector & roi_brs, pcl::PointCloud & cloud_out) +{ + float min_x = 0, max_x = 0, min_y = 0, max_y = 0, min_z = 0, max_z = 0; + for (const auto & pt : roi_tls) { + min_x = std::min(min_x, pt.x); + max_x = std::max(max_x, pt.x); + min_y = std::min(min_y, pt.y); + max_y = std::max(max_y, pt.y); + min_z = std::min(min_z, pt.z); + max_z = std::max(max_z, pt.z); + } + for (const auto & pt : roi_brs) { + min_x = std::min(min_x, pt.x); + max_x = std::max(max_x, pt.x); + min_y = std::min(min_y, pt.y); + max_y = std::max(max_y, pt.y); + min_z = std::min(min_z, pt.z); + max_z = std::max(max_z, pt.z); + } + const float min_dist_to_cam = 1.0f; + cloud_out.clear(); + for (const auto & pt : cloud_in) { + if ( + pt.x < min_x || pt.x > max_x || pt.y < min_y || pt.y > max_y || pt.z < min_z || + pt.z > max_z) { + continue; + } + float dist = pt.getVector3fMap().squaredNorm(); + if ( + dist <= min_dist_to_cam * min_dist_to_cam || + dist >= max_valid_pt_distance_ * max_valid_pt_distance_) { + continue; + } + cloud_out.push_back(pt); + } +} + +void CloudOcclusionPredictor::sampleTrafficLightRoi( + const pcl::PointXYZ & top_left, const pcl::PointXYZ & bottom_right, + uint32_t horizontal_sample_num, uint32_t vertical_sample_num, + pcl::PointCloud & cloud_out) +{ + cloud_out.clear(); + float x1 = top_left.x; + float y1 = top_left.y; + float z1 = top_left.z; + float x2 = bottom_right.x; + float y2 = bottom_right.y; + float z2 = bottom_right.z; + for (uint32_t i1 = 0; i1 < horizontal_sample_num; i1++) { + for (uint32_t i2 = 0; i2 < vertical_sample_num; i2++) { + float x = x1 + (x2 - x1) * i1 / (horizontal_sample_num - 1); + float y = y1 + (y2 - y1) * i2 / (vertical_sample_num - 1); + float z = z1 + (z2 - z1) * i1 / (horizontal_sample_num - 1); + cloud_out.push_back(pcl::PointXYZ(x, y, z)); + } + } +} + +uint32_t CloudOcclusionPredictor::predict( + const pcl::PointXYZ & roi_top_left, const pcl::PointXYZ & roi_bottom_right) +{ + const uint32_t horizontal_sample_num = 20; + const uint32_t vertical_sample_num = 20; + static_assert(horizontal_sample_num > 1 && vertical_sample_num > 1); + const float min_dist_from_occlusion_to_tl = 5.0f; + + pcl::PointCloud tl_sample_cloud; + sampleTrafficLightRoi( + roi_top_left, roi_bottom_right, horizontal_sample_num, vertical_sample_num, tl_sample_cloud); + uint32_t occluded_num = 0; + for (const pcl::PointXYZ & tl_pt : tl_sample_cloud) { + Ray tl_ray = ::point2ray(tl_pt); + bool occluded = false; + // the azimuth and elevation range to search for points that may occlude tl_pt + int min_azimuth = static_cast(tl_ray.azimuth - azimuth_occlusion_resolution_deg_); + int max_azimuth = static_cast(tl_ray.azimuth + azimuth_occlusion_resolution_deg_); + int min_elevation = static_cast(tl_ray.elevation - elevation_occlusion_resolution_deg_); + int max_elevation = static_cast(tl_ray.elevation + elevation_occlusion_resolution_deg_); + /** + * search among lidar rays whose azimuth and elevation angle are close to the tl_ray. + * for a lidar ray r1 whose azimuth and elevation are very close to tl_pt, + * and the distance from r1 to camera is smaller than the distance from tl_pt to camera, + * then tl_pt is occluded by r1. + */ + for (int azimuth = min_azimuth; (azimuth <= max_azimuth) && !occluded; azimuth++) { + for (int elevation = min_elevation; (elevation <= max_elevation) && !occluded; elevation++) { + for (const Ray & lidar_ray : lidar_rays_[azimuth][elevation]) { + if ( + std::abs(lidar_ray.azimuth - tl_ray.azimuth) <= azimuth_occlusion_resolution_deg_ && + std::abs(lidar_ray.elevation - tl_ray.elevation) <= + elevation_occlusion_resolution_deg_ && + lidar_ray.dist < tl_ray.dist - min_dist_from_occlusion_to_tl) { + occluded = true; + break; + } + } + } + } + occluded_num += occluded; + } + return 100 * occluded_num / tl_sample_cloud.size(); +} + +} // namespace traffic_light From db72d847d61fafcaed0b8528dd97647c5b1dc56a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 7 Jul 2023 12:09:10 +0900 Subject: [PATCH 103/118] feat(avoidance): extend lanelets for target filtering (#4189) Signed-off-by: satoshi-ota --- .../src/utils/avoidance/utils.cpp | 24 ++++++++++++++++--- 1 file changed, 21 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp index d92adaae62c97..8ffd4b52e74af 100644 --- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp +++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp @@ -797,6 +797,25 @@ void filterTargetObjects( ? calcSignedArcLength(path_points, ego_pos, rh->getGoalPose().position) : std::numeric_limits::max(); + // extend lanelets if the reference path is cut for lane change. + const auto & ego_pose = planner_data->self_odometry->pose.pose; + lanelet::ConstLanelets extend_lanelets = data.current_lanelets; + while (rclcpp::ok()) { + const double lane_length = lanelet::utils::getLaneletLength2d(extend_lanelets); + const auto arclength = lanelet::utils::getArcCoordinates(extend_lanelets, ego_pose); + const auto next_lanelets = rh->getNextLanelets(extend_lanelets.back()); + + if (next_lanelets.empty()) { + break; + } + + if (lane_length - arclength.length < planner_data->parameters.forward_path_length) { + extend_lanelets.push_back(next_lanelets.front()); + } else { + break; + } + } + for (auto & o : objects) { const auto & object_pose = o.object.kinematics.initial_pose_with_covariance.pose; const auto object_closest_index = findNearestIndex(path_points, object_pose.position); @@ -955,16 +974,15 @@ void filterTargetObjects( // check traffic light const auto to_traffic_light = - utils::getDistanceToNextTrafficLight(object_pose, data.current_lanelets); + utils::getDistanceToNextTrafficLight(object_pose, extend_lanelets); { not_parked_object = to_traffic_light < parameters->object_ignore_section_traffic_light_in_front_distance; } // check crosswalk - const auto & ego_pose = planner_data->self_odometry->pose.pose; const auto to_crosswalk = - utils::getDistanceToCrosswalk(ego_pose, data.current_lanelets, *rh->getOverallGraphPtr()) - + utils::getDistanceToCrosswalk(ego_pose, extend_lanelets, *rh->getOverallGraphPtr()) - o.longitudinal; { const auto stop_for_crosswalk = From 4693a77e3d4b4f0f2bf0611fb517e7897f4d4510 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 7 Jul 2023 12:24:30 +0900 Subject: [PATCH 104/118] perf(behavior_path_planner): simplify calculateDistanceLimit for dynamic drivable area expansion (#4163) * Add a test for the calculateDistanceLimit function Signed-off-by: Maxime CLEMENT * Remove use of boost::geometry::within to improve performance Signed-off-by: Maxime CLEMENT * [TMP] run behavior_path_planner with gdb Signed-off-by: Maxime CLEMENT * Revert "[TMP] run behavior_path_planner with gdb" This reverts commit b291af4cb55ff2d83148f84bb9272bc61e1f86a8. --------- Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.cpp | 8 +++- .../drivable_area_expansion/expansion.cpp | 12 +----- .../test/test_drivable_area_expansion.cpp | 38 +++++++++++++++++++ 3 files changed, 46 insertions(+), 12 deletions(-) diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp index 819265b70abbe..21e3580c1f19a 100644 --- a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp @@ -33,13 +33,19 @@ void expandDrivableArea( { const auto uncrossable_lines = extractUncrossableLines(*route_handler.getLaneletMapPtr(), params.avoid_linestring_types); + multilinestring_t uncrossable_lines_in_range; + const auto & p = path.points.front().point.pose.position; + for (const auto & line : uncrossable_lines) + if (boost::geometry::distance(line, point_t{p.x, p.y}) < params.max_path_arc_length) + uncrossable_lines_in_range.push_back(line); const auto path_footprints = createPathFootprints(path, params); const auto predicted_paths = createObjectFootprints(dynamic_objects, params); const auto expansion_polygons = params.expansion_method == "lanelet" ? createExpansionLaneletPolygons( path_lanes, route_handler, path_footprints, predicted_paths, params) - : createExpansionPolygons(path, path_footprints, predicted_paths, uncrossable_lines, params); + : createExpansionPolygons( + path, path_footprints, predicted_paths, uncrossable_lines_in_range, params); const auto expanded_drivable_area = createExpandedDrivableAreaPolygon(path, expansion_polygons); updateDrivableAreaBounds(path, expanded_drivable_area); } diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp index 4bdbdedf44c77..79e15bf4e68d7 100644 --- a/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp +++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp @@ -25,10 +25,6 @@ double calculateDistanceLimit( const multilinestring_t & limit_lines) { auto dist_limit = std::numeric_limits::max(); - boost::geometry::for_each_point(limit_lines, [&](const auto & point) { - if (boost::geometry::within(point, expansion_polygon)) - dist_limit = std::min(dist_limit, boost::geometry::distance(point, base_ls)); - }); multipoint_t intersections; boost::geometry::intersection(expansion_polygon, limit_lines, intersections); for (const auto & p : intersections) @@ -42,16 +38,10 @@ double calculateDistanceLimit( { auto dist_limit = std::numeric_limits::max(); for (const auto & polygon : limit_polygons) { - for (const auto & p : polygon.outer()) { - if (boost::geometry::within(p, expansion_polygon)) { - dist_limit = std::min(dist_limit, boost::geometry::distance(p, base_ls)); - } - } multipoint_t intersections; boost::geometry::intersection(expansion_polygon, polygon, intersections); - for (const auto & p : intersections) { + for (const auto & p : intersections) dist_limit = std::min(dist_limit, boost::geometry::distance(p, base_ls)); - } } return dist_limit; } diff --git a/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp b/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp index d1e9873e92c4c..7c4967be14bb8 100644 --- a/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/expansion.hpp" #include "behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp" #include "behavior_path_planner/utils/drivable_area_expansion/types.hpp" #include "lanelet2_extension/utility/message_conversion.hpp" @@ -288,3 +289,40 @@ TEST(DrivableAreaExpansionProjection, expandDrivableArea) EXPECT_NEAR(path.right_bound[2].x, 2.0, eps); EXPECT_NEAR(path.right_bound[2].y, -1.0, eps); } + +TEST(DrivableAreaExpansion, calculateDistanceLimit) +{ + using drivable_area_expansion::calculateDistanceLimit; + using drivable_area_expansion::linestring_t; + using drivable_area_expansion::multilinestring_t; + using drivable_area_expansion::polygon_t; + + { + const linestring_t base_ls = {{0.0, 0.0}, {10.0, 0.0}}; + const multilinestring_t uncrossable_lines = {}; + const polygon_t expansion_polygon = { + {{0.0, -4.0}, {0.0, 4.0}, {10.0, 4.0}, {10.0, -4.0}, {10.0, -4.0}}, {}}; + const auto limit_distance = + calculateDistanceLimit(base_ls, expansion_polygon, uncrossable_lines); + EXPECT_NEAR(limit_distance, std::numeric_limits::max(), 1e-9); + } + { + const linestring_t base_ls = {{0.0, 0.0}, {10.0, 0.0}}; + const linestring_t uncrossable_line = {{0.0, 2.0}, {10.0, 2.0}}; + const polygon_t expansion_polygon = { + {{0.0, -4.0}, {0.0, 4.0}, {10.0, 4.0}, {10.0, -4.0}, {10.0, -4.0}}, {}}; + const auto limit_distance = + calculateDistanceLimit(base_ls, expansion_polygon, {uncrossable_line}); + EXPECT_NEAR(limit_distance, 2.0, 1e-9); + } + { + const linestring_t base_ls = {{0.0, 0.0}, {10.0, 0.0}}; + const multilinestring_t uncrossable_lines = { + {{0.0, 2.0}, {10.0, 2.0}}, {{0.0, 1.5}, {10.0, 1.0}}}; + const polygon_t expansion_polygon = { + {{0.0, -4.0}, {0.0, 4.0}, {10.0, 4.0}, {10.0, -4.0}, {10.0, -4.0}}, {}}; + const auto limit_distance = + calculateDistanceLimit(base_ls, expansion_polygon, uncrossable_lines); + EXPECT_NEAR(limit_distance, 1.0, 1e-9); + } +} From 86448a7ea39d9cfa7d58d6c0b50e9ada8d2c8649 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 7 Jul 2023 12:56:05 +0900 Subject: [PATCH 105/118] feat(probabilistic_occupancy_grid_map): add projective raytracing option from scan_origin (#4170) --- .../CMakeLists.txt | 18 +- .../README.md | 55 +-- .../binary_bayes_filter_updater.param.yaml | 2 +- .../config/grid_map_param.yaml | 22 ++ ...erscan_based_occupancy_grid_map.param.yaml | 4 +- ...tcloud_based_occupancy_grid_map.param.yaml | 11 +- ...id_map_side_view_2nd_projection.drawio.svg | 238 +++++++++++++ ...id_map.hpp => occupancy_grid_map_base.hpp} | 21 +- .../occupancy_grid_map_fixed.hpp | 47 +++ .../occupancy_grid_map_projective.hpp | 55 +++ ...intcloud_based_occupancy_grid_map_node.hpp | 6 +- .../launch/debug.launch.xml | 9 + .../package.xml | 4 + .../pointcloud-based-occupancy-grid-map.md | 28 +- .../occupancy_grid_map_base.cpp | 233 +++++++++++++ ...d_map.cpp => occupancy_grid_map_fixed.cpp} | 203 +----------- .../occupancy_grid_map_projective.cpp | 312 ++++++++++++++++++ ...intcloud_based_occupancy_grid_map_node.cpp | 50 ++- 18 files changed, 1062 insertions(+), 256 deletions(-) create mode 100644 perception/probabilistic_occupancy_grid_map/config/grid_map_param.yaml create mode 100644 perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg rename perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/{occupancy_grid_map.hpp => occupancy_grid_map_base.hpp} (91%) create mode 100644 perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml create mode 100644 perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp rename perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/{occupancy_grid_map.cpp => occupancy_grid_map_fixed.cpp} (57%) create mode 100644 perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp diff --git a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt index 777dda051b787..facb61d82abb0 100644 --- a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt +++ b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt @@ -13,16 +13,25 @@ include_directories( ${EIGEN3_INCLUDE_DIR} ) +ament_auto_add_library(${PROJECT_NAME}_common SHARED + src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp + src/utils/utils.cpp +) +target_link_libraries(${PROJECT_NAME}_common + ${PCL_LIBRARIES} +) + # PointcloudBasedOccupancyGridMap ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp - src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp - src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp - src/utils/utils.cpp + src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp + src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp + src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp ) target_link_libraries(pointcloud_based_occupancy_grid_map ${PCL_LIBRARIES} + ${PROJECT_NAME}_common ) rclcpp_components_register_node(pointcloud_based_occupancy_grid_map @@ -34,12 +43,11 @@ rclcpp_components_register_node(pointcloud_based_occupancy_grid_map ament_auto_add_library(laserscan_based_occupancy_grid_map SHARED src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp - src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp - src/utils/utils.cpp ) target_link_libraries(laserscan_based_occupancy_grid_map ${PCL_LIBRARIES} + ${PROJECT_NAME}_common ) rclcpp_components_register_node(laserscan_based_occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md index b9caaac29cb01..962bcdc6f154f 100644 --- a/perception/probabilistic_occupancy_grid_map/README.md +++ b/perception/probabilistic_occupancy_grid_map/README.md @@ -24,25 +24,29 @@ Config parameters are managed in `config/*.yaml` and here shows its outline. - Pointcloud based occupancy grid map -| Ros param name | Default value | -| --------------------------------- | ------------- | -| map_frame | "map" | -| base_link_frame | "base_link" | -| scan_origin_frame | "base_link" | -| gridmap_origin_frame | "base_link" | -| use_height_filter | true | -| enable_single_frame_mode | false | -| map_length | 100.0 [m] | -| map_width | 100.0 [m] | -| map_resolution | 0.5 [m] | -| input_obstacle_pointcloud | true | -| input_obstacle_and_raw_pointcloud | true | +| Ros param name | Default value | +| -------------------------------------------- | ------------- | +| map_frame | "map" | +| base_link_frame | "base_link" | +| scan_origin_frame | "base_link" | +| gridmap_origin_frame | "base_link" | +| use_height_filter | true | +| enable_single_frame_mode | false | +| filter_obstacle_pointcloud_by_raw_pointcloud | false | +| map_length | 150.0 [m] | +| map_resolution | 0.5 [m] | +| use_projection | false | +| projection_dz_threshold | 0.01 | +| obstacle_separation_threshold | 1.0 | +| input_obstacle_pointcloud | true | +| input_obstacle_and_raw_pointcloud | true | - Laserscan based occupancy grid map | Ros param name | Default value | | ------------------------ | ------------- | -| map_length | 100 [m] | +| map_length | 150 [m] | +| map_width | 150 [m] | | map_resolution | 0.5 [m] | | use_height_filter | true | | enable_single_frame_mode | false | @@ -55,15 +59,14 @@ Config parameters are managed in `config/*.yaml` and here shows its outline. Additional argument is shown below: -| Name | Default | Description | -| ----------------------------------------------- | ------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------- | -| `use_multithread` | `false` | whether to use multithread | -| `use_intra_process` | `false` | | -| `map_origin` | `` | parameter to override `map_origin_frame` which means grid map origin | -| `scan_origin` | `` | parameter to override `scan_origin_frame` which means scanning center | -| `output` | `occupancy_grid` | output name | -| `use_pointcloud_container` | `false` | | -| `container_name` | `occupancy_grid_map_container` | | -| `filter_obstacle_pointcloud_by_raw_pointcloud_` | `false` | only for pointcloud based method. If true, the node use raw pointcloud to filter obstacle pointcloud. Options for the limited FOV sensor. | -| `input_obstacle_pointcloud` | `false` | only for laserscan based method. If true, the node subscribe obstacle pointcloud | -| `input_obstacle_and_raw_pointcloud` | `true` | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud | +| Name | Default | Description | +| ----------------------------------- | ------------------------------ | --------------------------------------------------------------------------------------------- | +| `use_multithread` | `false` | whether to use multithread | +| `use_intra_process` | `false` | | +| `map_origin` | `` | parameter to override `map_origin_frame` which means grid map origin | +| `scan_origin` | `` | parameter to override `scan_origin_frame` which means scanning center | +| `output` | `occupancy_grid` | output name | +| `use_pointcloud_container` | `false` | | +| `container_name` | `occupancy_grid_map_container` | | +| `input_obstacle_pointcloud` | `false` | only for laserscan based method. If true, the node subscribe obstacle pointcloud | +| `input_obstacle_and_raw_pointcloud` | `true` | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud | diff --git a/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml b/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml index 4e335e35740ab..cb7bbe166f475 100644 --- a/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml @@ -5,4 +5,4 @@ occupied_to_free: 0.05 free_to_occupied: 0.2 free_to_free: 0.8 - v_ratio: 10.0 + v_ratio: 0.1 diff --git a/perception/probabilistic_occupancy_grid_map/config/grid_map_param.yaml b/perception/probabilistic_occupancy_grid_map/config/grid_map_param.yaml new file mode 100644 index 0000000000000..4a00b3131f671 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/config/grid_map_param.yaml @@ -0,0 +1,22 @@ +/**: + ros__parameters: + grid_map_topic: /perception/occupancy_grid_map/occupancy_grid_map_node/debug/grid_map + grid_map_visualizations: [grid_1st_step, grid_2nd_step, grid_3rd_step] + grid_1st_step: + type: occupancy_grid + params: + layer: filled_free_to_farthest + data_min: 0.0 + data_max: 100.0 + grid_2nd_step: + type: occupancy_grid + params: + layer: added_unknown + data_min: 0.0 + data_max: 100.0 + grid_3rd_step: + type: occupancy_grid + params: + layer: added_obstacle + data_min: 0.0 + data_max: 100.0 diff --git a/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml b/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml index b8ec4d7f24046..9dcc722587e92 100644 --- a/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml @@ -13,6 +13,6 @@ max_height: 2.0 enable_single_frame_mode: false - map_length: 100.0 - map_width: 100.0 + map_length: 150.0 + map_width: 150.0 map_resolution: 0.5 diff --git a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml b/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml index 6f00e9521c7ef..8077bdec5008e 100644 --- a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - map_length: 100.0 # [m] + map_length: 150.0 # [m] map_resolution: 0.5 # [m] height_filter: @@ -18,4 +18,13 @@ # center of the grid map gridmap_origin_frame: "base_link" # ray-tracing center: main sensor frame is preferable like: "velodyne_top" + # base_link should not be used with "OccupancyGridMapProjectiveBlindSpot" scan_origin_frame: "base_link" + + grid_map_type: "OccupancyGridMapFixedBlindSpot" + OccupancyGridMapFixedBlindSpot: + distance_margin: 1.0 + OccupancyGridMapProjectiveBlindSpot: + projection_dz_threshold: 0.01 # [m] for avoiding null division + obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length + pub_debug_grid: false diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg b/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg new file mode 100644 index 0000000000000..437b01bd04d58 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg @@ -0,0 +1,238 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ ground +
+
+
+ + ground + + + + + +
+
+
lidar
+
+
+ + lidar + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
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+
+
+ + projection length + + + + + +
+
+
ignored
+
+
+ + ignored + + + + + + + + + +
+
+
projected point
+
+
+ + projected point + + + + + + + Text is not SVG - cannot display + + + diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp similarity index 91% rename from perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp rename to perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp index 88f2cfbc146f3..8f8e1e503d388 100644 --- a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp @@ -49,8 +49,8 @@ * David V. Lu!! *********************************************************************/ -#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_ -#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_ +#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_ +#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_ #include #include @@ -64,23 +64,24 @@ namespace costmap_2d using geometry_msgs::msg::Pose; using sensor_msgs::msg::PointCloud2; -class OccupancyGridMap : public nav2_costmap_2d::Costmap2D +class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D { public: - OccupancyGridMap( + OccupancyGridMapInterface( const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution); - void updateWithPointCloud( + virtual void updateWithPointCloud( const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, - const Pose & robot_pose, const Pose & scan_origin); + const Pose & robot_pose, const Pose & scan_origin) = 0; void updateOrigin(double new_origin_x, double new_origin_y) override; - - void setCellValue(const double wx, const double wy, const unsigned char cost); - void raytrace( const double source_x, const double source_y, const double target_x, const double target_y, const unsigned char cost); + void setCellValue(const double wx, const double wy, const unsigned char cost); + using nav2_costmap_2d::Costmap2D::resetMaps; + + virtual void initRosParam(rclcpp::Node & node) = 0; private: bool worldToMap(double wx, double wy, unsigned int & mx, unsigned int & my) const; @@ -91,4 +92,4 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D } // namespace costmap_2d -#endif // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_ +#endif // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp new file mode 100644 index 0000000000000..5755cd2c889be --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp @@ -0,0 +1,47 @@ +// 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 POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_ +#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_ + +#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp" + +namespace costmap_2d +{ +using geometry_msgs::msg::Pose; +using sensor_msgs::msg::PointCloud2; + +class OccupancyGridMapFixedBlindSpot : public OccupancyGridMapInterface +{ +public: + OccupancyGridMapFixedBlindSpot( + const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution); + + void updateWithPointCloud( + const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, + const Pose & robot_pose, const Pose & scan_origin) override; + + using OccupancyGridMapInterface::raytrace; + using OccupancyGridMapInterface::setCellValue; + using OccupancyGridMapInterface::updateOrigin; + + void initRosParam(rclcpp::Node & node) override; + +private: + double distance_margin_; +}; + +} // namespace costmap_2d + +#endif // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp new file mode 100644 index 0000000000000..bc278772e9737 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp @@ -0,0 +1,55 @@ +// 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 POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_ +#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_ + +#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp" + +#include + +#include + +namespace costmap_2d +{ +using geometry_msgs::msg::Pose; +using sensor_msgs::msg::PointCloud2; + +class OccupancyGridMapProjectiveBlindSpot : public OccupancyGridMapInterface +{ +public: + OccupancyGridMapProjectiveBlindSpot( + const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution); + + void updateWithPointCloud( + const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, + const Pose & robot_pose, const Pose & scan_origin) override; + + using OccupancyGridMapInterface::raytrace; + using OccupancyGridMapInterface::setCellValue; + using OccupancyGridMapInterface::updateOrigin; + + void initRosParam(rclcpp::Node & node) override; + +private: + double projection_dz_threshold_; + double obstacle_separation_threshold_; + bool pub_debug_grid_; + grid_map::GridMap debug_grid_; + rclcpp::Publisher::SharedPtr debug_grid_map_publisher_ptr_; +}; + +} // namespace costmap_2d + +#endif // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp index 595937b89bbdc..e34899bb98b0c 100644 --- a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp @@ -15,7 +15,7 @@ #ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ #define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_ -#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp" +#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp" #include "updater/occupancy_grid_map_binary_bayes_filter_updater.hpp" #include "updater/occupancy_grid_map_updater_interface.hpp" @@ -41,6 +41,7 @@ namespace occupancy_grid_map { using builtin_interfaces::msg::Time; +using costmap_2d::OccupancyGridMapInterface; using costmap_2d::OccupancyGridMapUpdaterInterface; using laser_geometry::LaserProjection; using nav2_costmap_2d::Costmap2D; @@ -77,7 +78,8 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node using Sync = message_filters::Synchronizer; std::shared_ptr sync_ptr_; - std::shared_ptr occupancy_grid_map_updater_ptr_; + std::unique_ptr occupancy_grid_map_ptr_; + std::unique_ptr occupancy_grid_map_updater_ptr_; // ROS Parameters std::string map_frame_; diff --git a/perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml b/perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml new file mode 100644 index 0000000000000..72edb00ea606a --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml index 2bd3a9aa8133c..a6f4d46242a3f 100644 --- a/perception/probabilistic_occupancy_grid_map/package.xml +++ b/perception/probabilistic_occupancy_grid_map/package.xml @@ -6,6 +6,7 @@ generate probabilistic occupancy grid map Yukihiro Saito Yoshi Ri + Mamoru Sobue Apache License 2.0 Yukihiro Saito @@ -14,6 +15,9 @@ autoware_cmake eigen3_cmake_module + grid_map_costmap_2d + grid_map_msgs + grid_map_ros laser_geometry message_filters nav2_costmap_2d diff --git a/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md b/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md index c3ab03b1842d0..626d8fde6ebdf 100644 --- a/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md +++ b/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md @@ -6,8 +6,8 @@ ### 1st step -First of all, obstacle and raw pointcloud as input are transformed into a polar coordinate system and divided into bin per angle_increment. -At this time, each point belonging to each bin is stored as range data. In addition, the x,y information in the map coordinate is also stored for ray trace on map coordinate. +First of all, input obstacle/raw pointcloud are transformed into the polar coordinate centered around `scan_origin` and divided int ocircular bins per angle_increment respectively. +At this time, each point belonging to each bin is stored as range data. In addition, the x,y information in the map coordinate is also stored for raytracing on the map coordinate. The bin contains the following information for each point - range data from origin of raytrace @@ -30,8 +30,7 @@ The ray trace is done by Bresenham's line algorithm. ![pointcloud_based_occupancy_grid_map_side_view_1st](./image/pointcloud_based_occupancy_grid_map_side_view_1st.svg) 2. Fill in the unknown cells. - Assume that unknown is behind the obstacle, since the back of the obstacle is a blind spot. - Therefore, the unknown are assumed to be the cells that are more than a distance margin from each obstacle point. + Based on the assumption that `UNKNOWN` is behind the obstacle, the cells that are more than a distance margin from each obstacle point are filled with `UNKOWN` ![pointcloud_based_occupancy_grid_map_side_view_2nd](./image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg) @@ -41,9 +40,13 @@ The ray trace is done by Bresenham's line algorithm. - The obstacle point cloud is processed and may not match the raw pointcloud. - The input may be inaccurate and obstacle points may not be determined as obstacles. + When the parameter `grid_map_type` is "OccupancyGridMapProjectiveBlindSpot" and the `scan_origin` is a sensor frame like `velodyne_top` for instance, for each obstacle pointcloud, if there are no _visible_ raw pointclouds that are located above the projected ray from the `scan_origin` to that obstacle pointcloud, the cells between the obstacle pointcloud and the `projected point` are filled with `UNKNOWN`. Note that the `scan_origin` should not be `base_link` if this flag is true because otherwise all the cells behind the obstacle point clouds would be filled with `UNKNOWN`. + + ![pointcloud_based_occupancy_grid_map_side_view_2nd_projection](./image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg) + 3. Fill in the occupied cells. Fill in the point where the obstacle point is located with occupied. - In addition, If the distance between obstacle points is less than or equal to the distance margin, it is filled with occupied because the input may be inaccurate and obstacle points may not be determined as obstacles. + In addition, If the distance between obstacle points is less than or equal to the distance margin, that interval is filled with `OCCUPIED` because the input may be inaccurate and obstacle points may not be determined as obstacles. ![pointcloud_based_occupancy_grid_map_side_view_3rd](./image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg) @@ -85,6 +88,7 @@ $$ | `use_height_filter` | bool | whether to height filter for `~/input/obstacle_pointcloud` and `~/input/raw_pointcloud`? By default, the height is set to -1~2m. | | `map_length` | double | The length of the map. -100 if it is 50~50[m] | | `map_resolution` | double | The map cell resolution [m] | +| `grid_map_type` | string | The type of grid map for estimating `UNKNOWN` region behind obstacle point clouds | ## Assumptions / Known limits @@ -104,3 +108,17 @@ In several places we have modified the external code written in BSD3 license. - The update probability of the binary Bayesian filter is currently hard-coded and requires a code change to be modified. - Since there is no special support for moving objects, the probability of existence is not increased for fast objects. + +## How to debug + +If `grid_map_type` is "OccupancyGridMapProjectiveBlindSpot" and `pub_debug_grid` is `true`, it is possible to check the each process of grid map generation by running + +```shell +ros2 launch probabilistic_occupancy_grid_map debug.launch.xml +``` + +and visualizing the following occupancy grid map topics (which are listed in config/grid_map_param.yaml): + +- `/perception/occupancy_grid_map/grid_1st_step`: `FREE` cells are filled +- `/perception/occupancy_grid_map/grid_2nd_step`: `UNKNOWN` cells are filled +- `/perception/occupancy_grid_map/grid_3rd_step`: `OCCUPIED` cells are filled diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp new file mode 100644 index 0000000000000..4e71c4bda3f21 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp @@ -0,0 +1,233 @@ +// 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. +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ + +#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp" + +#include "cost_value.hpp" +#include "utils/utils.hpp" + +#include +#include +#include + +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#include +#else +#include + +#include +#endif + +#include +namespace costmap_2d +{ +using sensor_msgs::PointCloud2ConstIterator; + +OccupancyGridMapInterface::OccupancyGridMapInterface( + const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) +: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION) +{ +} + +bool OccupancyGridMapInterface::worldToMap( + double wx, double wy, unsigned int & mx, unsigned int & my) const +{ + if (wx < origin_x_ || wy < origin_y_) { + return false; + } + + mx = static_cast(std::floor((wx - origin_x_) / resolution_)); + my = static_cast(std::floor((wy - origin_y_) / resolution_)); + + if (mx < size_x_ && my < size_y_) { + return true; + } + + return false; +} + +void OccupancyGridMapInterface::updateOrigin(double new_origin_x, double new_origin_y) +{ + // project the new origin into the grid + int cell_ox{static_cast(std::floor((new_origin_x - origin_x_) / resolution_))}; + int cell_oy{static_cast(std::floor((new_origin_y - origin_y_) / resolution_))}; + + // compute the associated world coordinates for the origin cell + // because we want to keep things grid-aligned + double new_grid_ox{origin_x_ + cell_ox * resolution_}; + double new_grid_oy{origin_y_ + cell_oy * resolution_}; + + // To save casting from unsigned int to int a bunch of times + int size_x{static_cast(size_x_)}; + int size_y{static_cast(size_y_)}; + + // we need to compute the overlap of the new and existing windows + int lower_left_x{std::min(std::max(cell_ox, 0), size_x)}; + int lower_left_y{std::min(std::max(cell_oy, 0), size_y)}; + int upper_right_x{std::min(std::max(cell_ox + size_x, 0), size_x)}; + int upper_right_y{std::min(std::max(cell_oy + size_y, 0), size_y)}; + + unsigned int cell_size_x = upper_right_x - lower_left_x; + unsigned int cell_size_y = upper_right_y - lower_left_y; + + // we need a map to store the obstacles in the window temporarily + unsigned char * local_map = new unsigned char[cell_size_x * cell_size_y]; + + // copy the local window in the costmap to the local map + copyMapRegion( + costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, + cell_size_y); + + // now we'll set the costmap to be completely unknown if we track unknown space + resetMaps(); + + // update the origin with the appropriate world coordinates + origin_x_ = new_grid_ox; + origin_y_ = new_grid_oy; + + // compute the starting cell location for copying data back in + int start_x{lower_left_x - cell_ox}; + int start_y{lower_left_y - cell_oy}; + + // now we want to copy the overlapping information back into the map, but in its new location + copyMapRegion( + local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y); + + // make sure to clean up + delete[] local_map; +} + +void OccupancyGridMapInterface::setCellValue( + const double wx, const double wy, const unsigned char cost) +{ + MarkCell marker(costmap_, cost); + unsigned int mx{}; + unsigned int my{}; + if (!worldToMap(wx, wy, mx, my)) { + RCLCPP_DEBUG(logger_, "Computing map coords failed"); + return; + } + const unsigned int index = getIndex(mx, my); + marker(index); +} + +void OccupancyGridMapInterface::raytrace( + const double source_x, const double source_y, const double target_x, const double target_y, + const unsigned char cost) +{ + unsigned int x0{}; + unsigned int y0{}; + const double ox{source_x}; + const double oy{source_y}; + if (!worldToMap(ox, oy, x0, y0)) { + RCLCPP_DEBUG( + logger_, + "The origin for the sensor at (%.2f, %.2f) is out of map bounds. So, the costmap cannot " + "raytrace for it.", + ox, oy); + return; + } + + // we can pre-compute the endpoints of the map outside of the inner loop... we'll need these later + const double origin_x = origin_x_, origin_y = origin_y_; + const double map_end_x = origin_x + size_x_ * resolution_; + const double map_end_y = origin_y + size_y_ * resolution_; + + double wx = target_x; + double wy = target_y; + + // now we also need to make sure that the endpoint we're ray-tracing + // to isn't off the costmap and scale if necessary + const double a = wx - ox; + const double b = wy - oy; + + // the minimum value to raytrace from is the origin + if (wx < origin_x) { + const double t = (origin_x - ox) / a; + wx = origin_x; + wy = oy + b * t; + } + if (wy < origin_y) { + const double t = (origin_y - oy) / b; + wx = ox + a * t; + wy = origin_y; + } + + // the maximum value to raytrace to is the end of the map + if (wx > map_end_x) { + const double t = (map_end_x - ox) / a; + wx = map_end_x - .001; + wy = oy + b * t; + } + if (wy > map_end_y) { + const double t = (map_end_y - oy) / b; + wx = ox + a * t; + wy = map_end_y - .001; + } + + // now that the vector is scaled correctly... we'll get the map coordinates of its endpoint + unsigned int x1{}; + unsigned int y1{}; + + // check for legality just in case + if (!worldToMap(wx, wy, x1, y1)) { + return; + } + + constexpr unsigned int cell_raytrace_range = 10000; // large number to ignore range threshold + MarkCell marker(costmap_, cost); + raytraceLine(marker, x0, y0, x1, y1, cell_raytrace_range); +} + +} // namespace costmap_2d diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp similarity index 57% rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp rename to perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp index b26e9a14a2b5e..cf861ffddfd08 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp @@ -11,49 +11,13 @@ // 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. -/********************************************************************* - * - * Software License Agreement (BSD License) - * - * Copyright (c) 2008, 2013, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * Author: Eitan Marder-Eppstein - * David V. Lu!! - *********************************************************************/ -#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp" +#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp" #include "cost_value.hpp" #include "utils/utils.hpp" +#include #include #include @@ -73,79 +37,12 @@ namespace costmap_2d { using sensor_msgs::PointCloud2ConstIterator; -OccupancyGridMap::OccupancyGridMap( +OccupancyGridMapFixedBlindSpot::OccupancyGridMapFixedBlindSpot( const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) -: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION) +: OccupancyGridMapInterface(cells_size_x, cells_size_y, resolution) { } -bool OccupancyGridMap::worldToMap(double wx, double wy, unsigned int & mx, unsigned int & my) const -{ - if (wx < origin_x_ || wy < origin_y_) { - return false; - } - - mx = static_cast(std::floor((wx - origin_x_) / resolution_)); - my = static_cast(std::floor((wy - origin_y_) / resolution_)); - - if (mx < size_x_ && my < size_y_) { - return true; - } - - return false; -} - -void OccupancyGridMap::updateOrigin(double new_origin_x, double new_origin_y) -{ - // project the new origin into the grid - int cell_ox{static_cast(std::floor((new_origin_x - origin_x_) / resolution_))}; - int cell_oy{static_cast(std::floor((new_origin_y - origin_y_) / resolution_))}; - - // compute the associated world coordinates for the origin cell - // because we want to keep things grid-aligned - double new_grid_ox{origin_x_ + cell_ox * resolution_}; - double new_grid_oy{origin_y_ + cell_oy * resolution_}; - - // To save casting from unsigned int to int a bunch of times - int size_x{static_cast(size_x_)}; - int size_y{static_cast(size_y_)}; - - // we need to compute the overlap of the new and existing windows - int lower_left_x{std::min(std::max(cell_ox, 0), size_x)}; - int lower_left_y{std::min(std::max(cell_oy, 0), size_y)}; - int upper_right_x{std::min(std::max(cell_ox + size_x, 0), size_x)}; - int upper_right_y{std::min(std::max(cell_oy + size_y, 0), size_y)}; - - unsigned int cell_size_x = upper_right_x - lower_left_x; - unsigned int cell_size_y = upper_right_y - lower_left_y; - - // we need a map to store the obstacles in the window temporarily - unsigned char * local_map = new unsigned char[cell_size_x * cell_size_y]; - - // copy the local window in the costmap to the local map - copyMapRegion( - costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, - cell_size_y); - - // now we'll set the costmap to be completely unknown if we track unknown space - resetMaps(); - - // update the origin with the appropriate world coordinates - origin_x_ = new_grid_ox; - origin_y_ = new_grid_oy; - - // compute the starting cell location for copying data back in - int start_x{lower_left_x - cell_ox}; - int start_y{lower_left_y - cell_oy}; - - // now we want to copy the overlapping information back into the map, but in its new location - copyMapRegion( - local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y); - - // make sure to clean up - delete[] local_map; -} - /** * @brief update Gridmap with PointCloud * @@ -154,7 +51,7 @@ void OccupancyGridMap::updateOrigin(double new_origin_x, double new_origin_y) * @param robot_pose frame of the input point cloud (usually base_link) * @param scan_origin manually chosen grid map origin frame */ -void OccupancyGridMap::updateWithPointCloud( +void OccupancyGridMapFixedBlindSpot::updateWithPointCloud( const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, const Pose & robot_pose, const Pose & scan_origin) { @@ -222,7 +119,6 @@ void OccupancyGridMap::updateWithPointCloud( } // First step: Initialize cells to the final point with freespace - constexpr double distance_margin = 1.0; for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); auto & raw_pointcloud_angle_bin = raw_pointcloud_angle_bins.at(bin_index); @@ -235,7 +131,7 @@ void OccupancyGridMap::updateWithPointCloud( } else if (obstacle_pointcloud_angle_bin.empty()) { end_distance = raw_pointcloud_angle_bin.back(); } else { - end_distance = obstacle_pointcloud_angle_bin.back().range + distance_margin < + end_distance = obstacle_pointcloud_angle_bin.back().range + distance_margin_ < raw_pointcloud_angle_bin.back().range ? raw_pointcloud_angle_bin.back() : obstacle_pointcloud_angle_bin.back(); @@ -255,7 +151,7 @@ void OccupancyGridMap::updateWithPointCloud( while (raw_distance_iter != raw_pointcloud_angle_bin.end()) { if ( raw_distance_iter->range < - obstacle_pointcloud_angle_bin.at(dist_index).range + distance_margin) + obstacle_pointcloud_angle_bin.at(dist_index).range + distance_margin_) raw_distance_iter++; else break; @@ -278,7 +174,7 @@ void OccupancyGridMap::updateWithPointCloud( auto next_obstacle_point_distance = std::abs( obstacle_pointcloud_angle_bin.at(dist_index + 1).range - obstacle_pointcloud_angle_bin.at(dist_index).range); - if (next_obstacle_point_distance <= distance_margin) { + if (next_obstacle_point_distance <= distance_margin_) { continue; } else if (no_freespace_point) { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); @@ -318,7 +214,7 @@ void OccupancyGridMap::updateWithPointCloud( auto next_obstacle_point_distance = std::abs( obstacle_pointcloud_angle_bin.at(dist_index + 1).range - obstacle_pointcloud_angle_bin.at(dist_index).range); - if (next_obstacle_point_distance <= distance_margin) { + if (next_obstacle_point_distance <= distance_margin_) { const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::LETHAL_OBSTACLE); @@ -328,85 +224,10 @@ void OccupancyGridMap::updateWithPointCloud( } } -void OccupancyGridMap::setCellValue(const double wx, const double wy, const unsigned char cost) -{ - MarkCell marker(costmap_, cost); - unsigned int mx{}; - unsigned int my{}; - if (!worldToMap(wx, wy, mx, my)) { - RCLCPP_DEBUG(logger_, "Computing map coords failed"); - return; - } - const unsigned int index = getIndex(mx, my); - marker(index); -} - -void OccupancyGridMap::raytrace( - const double source_x, const double source_y, const double target_x, const double target_y, - const unsigned char cost) +void OccupancyGridMapFixedBlindSpot::initRosParam(rclcpp::Node & node) { - unsigned int x0{}; - unsigned int y0{}; - const double ox{source_x}; - const double oy{source_y}; - if (!worldToMap(ox, oy, x0, y0)) { - RCLCPP_DEBUG( - logger_, - "The origin for the sensor at (%.2f, %.2f) is out of map bounds. So, the costmap cannot " - "raytrace for it.", - ox, oy); - return; - } - - // we can pre-compute the endpoints of the map outside of the inner loop... we'll need these later - const double origin_x = origin_x_, origin_y = origin_y_; - const double map_end_x = origin_x + size_x_ * resolution_; - const double map_end_y = origin_y + size_y_ * resolution_; - - double wx = target_x; - double wy = target_y; - - // now we also need to make sure that the endpoint we're ray-tracing - // to isn't off the costmap and scale if necessary - const double a = wx - ox; - const double b = wy - oy; - - // the minimum value to raytrace from is the origin - if (wx < origin_x) { - const double t = (origin_x - ox) / a; - wx = origin_x; - wy = oy + b * t; - } - if (wy < origin_y) { - const double t = (origin_y - oy) / b; - wx = ox + a * t; - wy = origin_y; - } - - // the maximum value to raytrace to is the end of the map - if (wx > map_end_x) { - const double t = (map_end_x - ox) / a; - wx = map_end_x - .001; - wy = oy + b * t; - } - if (wy > map_end_y) { - const double t = (map_end_y - oy) / b; - wx = ox + a * t; - wy = map_end_y - .001; - } - - // now that the vector is scaled correctly... we'll get the map coordinates of its endpoint - unsigned int x1{}; - unsigned int y1{}; - - // check for legality just in case - if (!worldToMap(wx, wy, x1, y1)) { - return; - } - - constexpr unsigned int cell_raytrace_range = 10000; // large number to ignore range threshold - MarkCell marker(costmap_, cost); - raytraceLine(marker, x0, y0, x1, y1, cell_raytrace_range); + distance_margin_ = + node.declare_parameter("OccupancyGridMapFixedBlindSpot.distance_margin"); } } // namespace costmap_2d diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp new file mode 100644 index 0000000000000..e2282f7c711c8 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp @@ -0,0 +1,312 @@ +// 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 "pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp" + +#include "cost_value.hpp" +#include "utils/utils.hpp" + +#include +#include +#include +#include + +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#include +#else +#include + +#include +#endif + +#include +namespace costmap_2d +{ +using sensor_msgs::PointCloud2ConstIterator; + +OccupancyGridMapProjectiveBlindSpot::OccupancyGridMapProjectiveBlindSpot( + const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution) +: OccupancyGridMapInterface(cells_size_x, cells_size_y, resolution) +{ +} + +/** + * @brief update Gridmap with PointCloud in 3D manner + * + * @param raw_pointcloud raw point cloud on a certain frame (usually base_link) + * @param obstacle_pointcloud raw point cloud on a certain frame (usually base_link) + * @param robot_pose frame of the input point cloud (usually base_link) + * @param scan_origin manually chosen grid map origin frame + */ +void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud( + const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, + const Pose & robot_pose, const Pose & scan_origin) +{ + constexpr double min_angle = tier4_autoware_utils::deg2rad(-180.0); + constexpr double max_angle = tier4_autoware_utils::deg2rad(180.0); + constexpr double angle_increment = tier4_autoware_utils::deg2rad(0.1); + const size_t angle_bin_size = ((max_angle - min_angle) / angle_increment) + size_t(1 /*margin*/); + + // Transform from base_link to map frame + PointCloud2 map_raw_pointcloud, map_obstacle_pointcloud; // point cloud in map frame + utils::transformPointcloud(raw_pointcloud, robot_pose, map_raw_pointcloud); + utils::transformPointcloud(obstacle_pointcloud, robot_pose, map_obstacle_pointcloud); + + // Transform from map frame to scan frame + PointCloud2 scan_raw_pointcloud, scan_obstacle_pointcloud; // point cloud in scan frame + const auto scan2map_pose = utils::getInversePose(scan_origin); // scan -> map transform pose + utils::transformPointcloud(map_raw_pointcloud, scan2map_pose, scan_raw_pointcloud); + utils::transformPointcloud(map_obstacle_pointcloud, scan2map_pose, scan_obstacle_pointcloud); + + // Create angle bins + struct BinInfo3D + { + BinInfo3D( + const double _range = 0.0, const double _wx = 0.0, const double _wy = 0.0, + const double _wz = 0.0, const double _projection_length = 0.0, + const double _projected_wx = 0.0, const double _projected_wy = 0.0) + : range(_range), + wx(_wx), + wy(_wy), + wz(_wz), + projection_length(_projection_length), + projected_wx(_projected_wx), + projected_wy(_projected_wy) + { + } + double range; + double wx; + double wy; + double wz; + double projection_length; + double projected_wx; + double projected_wy; + }; + + std::vector> obstacle_pointcloud_angle_bins; + std::vector> raw_pointcloud_angle_bins; + obstacle_pointcloud_angle_bins.resize(angle_bin_size); + raw_pointcloud_angle_bins.resize(angle_bin_size); + for (PointCloud2ConstIterator iter_x(scan_raw_pointcloud, "x"), + iter_y(scan_raw_pointcloud, "y"), iter_wx(map_raw_pointcloud, "x"), + iter_wy(map_raw_pointcloud, "y"), iter_wz(map_raw_pointcloud, "z"); + iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_wx, ++iter_wy, ++iter_wz) { + const double angle = atan2(*iter_y, *iter_x); + const int angle_bin_index = (angle - min_angle) / angle_increment; + raw_pointcloud_angle_bins.at(angle_bin_index) + .emplace_back(std::hypot(*iter_y, *iter_x), *iter_wx, *iter_wy, *iter_wz); + } + for (PointCloud2ConstIterator iter_x(scan_obstacle_pointcloud, "x"), + iter_y(scan_obstacle_pointcloud, "y"), iter_z(scan_obstacle_pointcloud, "z"), + iter_wx(map_obstacle_pointcloud, "x"), iter_wy(map_obstacle_pointcloud, "y"), + iter_wz(map_obstacle_pointcloud, "z"); + iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++iter_wx, ++iter_wy, ++iter_wz) { + const double scan_z = scan_origin.position.z - robot_pose.position.z; + const double obstacle_z = (*iter_wz) - robot_pose.position.z; + const double dz = scan_z - obstacle_z; + const double angle = atan2(*iter_y, *iter_x); + const int angle_bin_index = (angle - min_angle) / angle_increment; + const double range = std::hypot(*iter_x, *iter_y); + if (dz > projection_dz_threshold_) { + const double ratio = obstacle_z / dz; + const double projection_length = range * ratio; + const double projected_wx = (*iter_wx) + ((*iter_wx) - scan_origin.position.x) * ratio; + const double projected_wy = (*iter_wy) + ((*iter_wy) - scan_origin.position.y) * ratio; + obstacle_pointcloud_angle_bins.at(angle_bin_index) + .emplace_back( + range, *iter_wx, *iter_wy, *iter_wz, projection_length, projected_wx, projected_wy); + } else { + obstacle_pointcloud_angle_bins.at(angle_bin_index) + .emplace_back( + range, *iter_wx, *iter_wy, *iter_wz, std::numeric_limits::infinity(), + std::numeric_limits::infinity(), std::numeric_limits::infinity()); + } + } + + // Sort by distance + for (auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) { + std::sort( + obstacle_pointcloud_angle_bin.begin(), obstacle_pointcloud_angle_bin.end(), + [](auto a, auto b) { return a.range < b.range; }); + } + for (auto & raw_pointcloud_angle_bin : raw_pointcloud_angle_bins) { + std::sort(raw_pointcloud_angle_bin.begin(), raw_pointcloud_angle_bin.end(), [](auto a, auto b) { + return a.range < b.range; + }); + } + + grid_map::Costmap2DConverter converter; + if (pub_debug_grid_) { + debug_grid_.clearAll(); + debug_grid_.setFrameId("map"); + debug_grid_.setGeometry( + grid_map::Length(size_x_ * resolution_, size_y_ * resolution_), resolution_, + grid_map::Position( + origin_x_ + size_x_ * resolution_ / 2.0, origin_y_ + size_y_ * resolution_ / 2.0)); + } + + auto is_visible_beyond_obstacle = [&](const BinInfo3D & obstacle, const BinInfo3D & raw) -> bool { + if (raw.range < obstacle.range) { + return false; + } + + if (std::isinf(obstacle.projection_length)) { + return false; + } + + // y = ax + b + const double a = -(scan_origin.position.z - robot_pose.position.z) / + (obstacle.range + obstacle.projection_length); + const double b = scan_origin.position.z; + return raw.wz > (a * raw.range + b); + }; + + // First step: Initialize cells to the final point with freespace + for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { + const auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); + const auto & raw_pointcloud_angle_bin = raw_pointcloud_angle_bins.at(bin_index); + + BinInfo3D ray_end; + if (raw_pointcloud_angle_bin.empty() && obstacle_pointcloud_angle_bin.empty()) { + continue; + } else if (raw_pointcloud_angle_bin.empty()) { + ray_end = obstacle_pointcloud_angle_bin.back(); + } else if (obstacle_pointcloud_angle_bin.empty()) { + ray_end = raw_pointcloud_angle_bin.back(); + } else { + const auto & farthest_obstacle_this_bin = obstacle_pointcloud_angle_bin.back(); + const auto & farthest_raw_this_bin = raw_pointcloud_angle_bin.back(); + ray_end = is_visible_beyond_obstacle(farthest_obstacle_this_bin, farthest_raw_this_bin) + ? farthest_raw_this_bin + : farthest_obstacle_this_bin; + } + raytrace( + scan_origin.position.x, scan_origin.position.y, ray_end.wx, ray_end.wy, + occupancy_cost_value::FREE_SPACE); + } + + if (pub_debug_grid_) + converter.addLayerFromCostmap2D(*this, "filled_free_to_farthest", debug_grid_); + + // Second step: Add uknown cell + for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { + const auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); + const auto & raw_pointcloud_angle_bin = raw_pointcloud_angle_bins.at(bin_index); + auto raw_distance_iter = raw_pointcloud_angle_bin.begin(); + for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { + // Calculate next raw point from obstacle point + const auto & obstacle_bin = obstacle_pointcloud_angle_bin.at(dist_index); + while (raw_distance_iter != raw_pointcloud_angle_bin.end()) { + if (!is_visible_beyond_obstacle(obstacle_bin, *raw_distance_iter)) + raw_distance_iter++; + else + break; + } + + // There is no point farther than the obstacle point. + const bool no_visible_point_beyond = (raw_distance_iter == raw_pointcloud_angle_bin.end()); + if (no_visible_point_beyond) { + const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); + raytrace( + source.wx, source.wy, source.projected_wx, source.projected_wy, + occupancy_cost_value::NO_INFORMATION); + break; + } + + if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { + const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); + if (!no_visible_point_beyond) { + raytrace( + source.wx, source.wy, source.projected_wx, source.projected_wy, + occupancy_cost_value::NO_INFORMATION); + } + continue; + } + + auto next_obstacle_point_distance = std::abs( + obstacle_pointcloud_angle_bin.at(dist_index + 1).range - + obstacle_pointcloud_angle_bin.at(dist_index).range); + if (next_obstacle_point_distance <= obstacle_separation_threshold_) { + continue; + } else if (no_visible_point_beyond) { + const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); + const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); + raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION); + continue; + } + + auto next_raw_distance = + std::abs(obstacle_pointcloud_angle_bin.at(dist_index).range - raw_distance_iter->range); + if (next_raw_distance < next_obstacle_point_distance) { + const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); + const auto & target = *raw_distance_iter; + raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION); + setCellValue(target.wx, target.wy, occupancy_cost_value::FREE_SPACE); + continue; + } else { + const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); + const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); + raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION); + continue; + } + } + } + + if (pub_debug_grid_) converter.addLayerFromCostmap2D(*this, "added_unknown", debug_grid_); + + // Third step: Overwrite occupied cell + for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) { + auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index); + for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) { + const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); + setCellValue(source.wx, source.wy, occupancy_cost_value::LETHAL_OBSTACLE); + + if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) { + continue; + } + + auto next_obstacle_point_distance = std::abs( + obstacle_pointcloud_angle_bin.at(dist_index + 1).range - + obstacle_pointcloud_angle_bin.at(dist_index).range); + if (next_obstacle_point_distance <= obstacle_separation_threshold_) { + const auto & source = obstacle_pointcloud_angle_bin.at(dist_index); + const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1); + raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::LETHAL_OBSTACLE); + continue; + } + } + } + + if (pub_debug_grid_) converter.addLayerFromCostmap2D(*this, "added_obstacle", debug_grid_); + if (pub_debug_grid_) { + debug_grid_map_publisher_ptr_->publish(grid_map::GridMapRosConverter::toMessage(debug_grid_)); + } +} + +void OccupancyGridMapProjectiveBlindSpot::initRosParam(rclcpp::Node & node) +{ + projection_dz_threshold_ = + node.declare_parameter("OccupancyGridMapProjectiveBlindSpot.projection_dz_threshold"); + obstacle_separation_threshold_ = node.declare_parameter( + "OccupancyGridMapProjectiveBlindSpot.obstacle_separation_threshold"); + pub_debug_grid_ = + node.declare_parameter("OccupancyGridMapProjectiveBlindSpot.pub_debug_grid"); + debug_grid_map_publisher_ptr_ = node.create_publisher( + "~/debug/grid_map", rclcpp::QoS(1).durability_volatile()); +} + +} // namespace costmap_2d diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp index 54395477b0892..e8b53b91d81f7 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp @@ -15,6 +15,8 @@ #include "pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp" #include "cost_value.hpp" +#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp" +#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp" #include "utils/utils.hpp" #include @@ -39,8 +41,9 @@ namespace occupancy_grid_map { -using costmap_2d::OccupancyGridMap; using costmap_2d::OccupancyGridMapBBFUpdater; +using costmap_2d::OccupancyGridMapFixedBlindSpot; +using costmap_2d::OccupancyGridMapProjectiveBlindSpot; using geometry_msgs::msg::Pose; PointcloudBasedOccupancyGridMapNode::PointcloudBasedOccupancyGridMapNode( @@ -78,18 +81,41 @@ PointcloudBasedOccupancyGridMapNode::PointcloudBasedOccupancyGridMapNode( const std::string updater_type = this->declare_parameter("updater_type"); if (updater_type == "binary_bayes_filter") { - occupancy_grid_map_updater_ptr_ = std::make_shared( + occupancy_grid_map_updater_ptr_ = std::make_unique( map_length / map_resolution, map_length / map_resolution, map_resolution); } else { RCLCPP_WARN( get_logger(), "specified occupancy grid map updater type [%s] is not found, use binary_bayes_filter", updater_type.c_str()); - occupancy_grid_map_updater_ptr_ = std::make_shared( + occupancy_grid_map_updater_ptr_ = std::make_unique( map_length / map_resolution, map_length / map_resolution, map_resolution); } occupancy_grid_map_updater_ptr_->initRosParam(*this); + const std::string grid_map_type = this->declare_parameter("grid_map_type"); + if (grid_map_type == "OccupancyGridMapProjectiveBlindSpot") { + occupancy_grid_map_ptr_ = std::make_unique( + occupancy_grid_map_updater_ptr_->getSizeInCellsX(), + occupancy_grid_map_updater_ptr_->getSizeInCellsY(), + occupancy_grid_map_updater_ptr_->getResolution()); + } else if (grid_map_type == "OccupancyGridMapFixedBlindSpot") { + occupancy_grid_map_ptr_ = std::make_unique( + occupancy_grid_map_updater_ptr_->getSizeInCellsX(), + occupancy_grid_map_updater_ptr_->getSizeInCellsY(), + occupancy_grid_map_updater_ptr_->getResolution()); + } else { + RCLCPP_WARN( + get_logger(), + "specified occupancy grid map type [%s] is not found, use OccupancyGridMapFixedBlindSpot", + grid_map_type.c_str()); + occupancy_grid_map_ptr_ = std::make_unique( + occupancy_grid_map_updater_ptr_->getSizeInCellsX(), + occupancy_grid_map_updater_ptr_->getSizeInCellsY(), + occupancy_grid_map_updater_ptr_->getResolution()); + } + occupancy_grid_map_ptr_->initRosParam(*this); + // initialize debug tool { using tier4_autoware_utils::DebugPublisher; @@ -154,23 +180,21 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( } // Create single frame occupancy grid map - OccupancyGridMap single_frame_occupancy_grid_map( - occupancy_grid_map_updater_ptr_->getSizeInCellsX(), - occupancy_grid_map_updater_ptr_->getSizeInCellsY(), - occupancy_grid_map_updater_ptr_->getResolution()); - single_frame_occupancy_grid_map.updateOrigin( - gridmap_origin.position.x - single_frame_occupancy_grid_map.getSizeInMetersX() / 2, - gridmap_origin.position.y - single_frame_occupancy_grid_map.getSizeInMetersY() / 2); - single_frame_occupancy_grid_map.updateWithPointCloud( + occupancy_grid_map_ptr_->resetMaps(); + occupancy_grid_map_ptr_->updateOrigin( + gridmap_origin.position.x - occupancy_grid_map_ptr_->getSizeInMetersX() / 2, + gridmap_origin.position.y - occupancy_grid_map_ptr_->getSizeInMetersY() / 2); + occupancy_grid_map_ptr_->updateWithPointCloud( filtered_raw_pc, filtered_obstacle_pc_common, robot_pose, scan_origin); + if (enable_single_frame_mode_) { // publish occupancy_grid_map_pub_->publish(OccupancyGridMapToMsgPtr( map_frame_, input_raw_msg->header.stamp, robot_pose.position.z, - single_frame_occupancy_grid_map)); // (todo) robot_pose may be altered with gridmap_origin + *occupancy_grid_map_ptr_)); // (todo) robot_pose may be altered with gridmap_origin } else { // Update with bayes filter - occupancy_grid_map_updater_ptr_->update(single_frame_occupancy_grid_map); + occupancy_grid_map_updater_ptr_->update(*occupancy_grid_map_ptr_); // publish occupancy_grid_map_pub_->publish(OccupancyGridMapToMsgPtr( From 632f35f286e4245e6df54ba8aab8519b1329ce6b Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Fri, 7 Jul 2023 16:45:23 +0900 Subject: [PATCH 106/118] fix(behavior_path_planner): fix aborting duration (#4173) Signed-off-by: Fumiya Watanabe --- .../src/scene_module/lane_change/normal.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 361cb5548dc40..fadb445b73392 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -942,7 +942,7 @@ bool NormalLaneChange::getAbortPath() const auto [abort_start_idx, abort_start_dist] = get_abort_idx_and_distance(lane_change_parameters_->cancel.delta_time); const auto [abort_return_idx, abort_return_dist] = get_abort_idx_and_distance( - lane_change_parameters_->cancel.delta_time + lane_change_parameters_->cancel.delta_time); + lane_change_parameters_->cancel.delta_time + lane_change_parameters_->cancel.duration); if (abort_start_idx >= abort_return_idx) { RCLCPP_ERROR(logger_, "abort start idx and return idx is equal. can't compute abort path."); From 3b0671ad3e07bdbe7201a2bfa68c1358a395b388 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 7 Jul 2023 17:09:45 +0900 Subject: [PATCH 107/118] fix(goal_planner): support following lanes over the next lane (#4167) Signed-off-by: kosuke55 --- .../geometric_parallel_parking.hpp | 7 +++-- .../goal_planner/goal_planner_module.cpp | 8 ++++-- .../geometric_parallel_parking.cpp | 28 ++++++++++--------- .../goal_planner/geometric_pull_over.cpp | 3 +- .../src/utils/goal_planner/goal_searcher.cpp | 2 +- .../utils/goal_planner/shift_pull_over.cpp | 5 +++- 6 files changed, 32 insertions(+), 21 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp index 18bf7ad54e70c..cb769a1f2884c 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp @@ -127,13 +127,14 @@ class GeometricParallelParking const Pose & center, const double radius, const double yaw, const bool is_left_turn, const bool is_forward); boost::optional calcStartPose( - const Pose & goal_pose, const double start_pose_offset, const double R_E_r, - const bool is_forward); + const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes, + const double start_pose_offset, const double R_E_r, const bool is_forward); std::vector generatePullOverPaths( const Pose & start_pose, const Pose & goal_pose, const double R_E_r, const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, const bool is_forward, const double end_pose_offset, const double velocity); - PathWithLaneId generateStraightPath(const Pose & start_pose); + PathWithLaneId generateStraightPath( + const Pose & start_pose, const lanelet::ConstLanelets & road_lanes); void setVelocityToArcPaths( std::vector & arc_paths, const double velocity, const bool set_stop_end); diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index f55d505ea9337..92b465c6ffdb2 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -152,7 +152,9 @@ void GoalPlannerModule::onTimer() mutex_.unlock(); // generate valid pull over path candidates and calculate closest start pose - const auto current_lanes = utils::getExtendedCurrentLanes(planner_data_); + const auto current_lanes = utils::getExtendedCurrentLanes( + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length); std::vector path_candidates{}; std::optional closest_start_pose{}; double min_start_arc_length = std::numeric_limits::max(); @@ -590,7 +592,9 @@ void GoalPlannerModule::selectSafePullOverPath() void GoalPlannerModule::setLanes() { - status_.current_lanes = utils::getExtendedCurrentLanes(planner_data_); + status_.current_lanes = utils::getExtendedCurrentLanes( + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length); status_.pull_over_lanes = goal_planner_utils::getPullOverLanes(*(planner_data_->route_handler), left_side_parking_); status_.lanes = diff --git a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp index 528eae0d79a62..678e19e616f26 100644 --- a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp @@ -138,7 +138,7 @@ std::vector GeometricParallelParking::generatePullOverPaths( setVelocityToArcPaths(arc_paths, velocity, set_stop_end); // straight path from current to parking start - const auto straight_path = generateStraightPath(start_pose); + const auto straight_path = generateStraightPath(start_pose, road_lanes); // check the continuity of straight path and arc path const Pose & road_path_last_pose = straight_path.points.back().point.pose; @@ -187,7 +187,8 @@ bool GeometricParallelParking::planPullOver( for (double steer = parameters_.forward_parking_max_steer_angle; steer > min_steer_rad; steer -= steer_interval) { const double R_E_r = common_params.wheel_base / std::tan(steer); - const auto start_pose = calcStartPose(arc_end_pose, start_pose_offset, R_E_r, is_forward); + const auto start_pose = + calcStartPose(arc_end_pose, road_lanes, start_pose_offset, R_E_r, is_forward); if (!start_pose) { continue; } @@ -208,7 +209,8 @@ bool GeometricParallelParking::planPullOver( constexpr double offset_interval = 1.0; for (double start_pose_offset = 0; start_pose_offset < max_offset; start_pose_offset += offset_interval) { - const auto start_pose = calcStartPose(arc_end_pose, start_pose_offset, R_E_min_, is_forward); + const auto start_pose = + calcStartPose(arc_end_pose, road_lanes, start_pose_offset, R_E_min_, is_forward); if (!start_pose) { continue; } @@ -238,7 +240,8 @@ bool GeometricParallelParking::planPullOut( for (double end_pose_offset = 0; end_pose_offset < max_offset; end_pose_offset += offset_interval) { // pull_out end pose which is the second arc path end - const auto end_pose = calcStartPose(start_pose, end_pose_offset, R_E_min_, is_forward); + const auto end_pose = + calcStartPose(start_pose, road_lanes, end_pose_offset, R_E_min_, is_forward); if (!end_pose) { continue; } @@ -315,11 +318,10 @@ bool GeometricParallelParking::planPullOut( } boost::optional GeometricParallelParking::calcStartPose( - const Pose & goal_pose, const double start_pose_offset, const double R_E_r, const bool is_forward) + const Pose & goal_pose, const lanelet::ConstLanelets & road_lanes, const double start_pose_offset, + const double R_E_r, const bool is_forward) { - // Not use shoulder lanes. - const auto current_lanes = utils::getExtendedCurrentLanes(planner_data_); - const auto arc_coordinates = lanelet::utils::getArcCoordinates(current_lanes, goal_pose); + const auto arc_coordinates = lanelet::utils::getArcCoordinates(road_lanes, goal_pose); // todo // When forwarding, the turning radius of the right and left will be the same. @@ -339,17 +341,17 @@ boost::optional GeometricParallelParking::calcStartPose( return start_pose; } -PathWithLaneId GeometricParallelParking::generateStraightPath(const Pose & start_pose) +PathWithLaneId GeometricParallelParking::generateStraightPath( + const Pose & start_pose, const lanelet::ConstLanelets & road_lanes) { // get straight path before parking. - const auto current_lanes = utils::getExtendedCurrentLanes(planner_data_); - const auto start_arc_position = lanelet::utils::getArcCoordinates(current_lanes, start_pose); + const auto start_arc_position = lanelet::utils::getArcCoordinates(road_lanes, start_pose); const Pose current_pose = planner_data_->self_odometry->pose.pose; - const auto current_arc_position = lanelet::utils::getArcCoordinates(current_lanes, current_pose); + const auto current_arc_position = lanelet::utils::getArcCoordinates(road_lanes, current_pose); auto path = planner_data_->route_handler->getCenterLinePath( - current_lanes, current_arc_position.length, start_arc_position.length, true); + road_lanes, current_arc_position.length, start_arc_position.length, true); path.header = planner_data_->route_handler->getRouteHeader(); if (!path.points.empty()) { path.points.back().point.longitudinal_velocity_mps = 0; diff --git a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp index ed38d09f879ba..24c6d98ed09e5 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp @@ -44,7 +44,8 @@ boost::optional GeometricPullOver::plan(const Pose & goal_pose) const auto & route_handler = planner_data_->route_handler; // prepare road nad shoulder lanes - const auto road_lanes = utils::getExtendedCurrentLanes(planner_data_); + const auto road_lanes = utils::getExtendedCurrentLanes( + planner_data_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length); const auto shoulder_lanes = goal_planner_utils::getPullOverLanes(*route_handler, left_side_parking_); if (road_lanes.empty() || shoulder_lanes.empty()) { diff --git a/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp b/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp index d35842d09f056..9123beca0d95c 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp @@ -54,7 +54,7 @@ GoalCandidates GoalSearcher::search(const Pose & original_goal_pose) const auto pull_over_lanes = goal_planner_utils::getPullOverLanes(*route_handler, left_side_parking_); - auto lanes = utils::getExtendedCurrentLanes(planner_data_); + auto lanes = utils::getExtendedCurrentLanes(planner_data_, backward_length, forward_length); lanes.insert(lanes.end(), pull_over_lanes.begin(), pull_over_lanes.end()); const auto goal_arc_coords = diff --git a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp index 073e97e01912e..8bf20b212d51d 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp @@ -40,11 +40,14 @@ boost::optional ShiftPullOver::plan(const Pose & goal_pose) const auto & route_handler = planner_data_->route_handler; const double min_jerk = parameters_.minimum_lateral_jerk; const double max_jerk = parameters_.maximum_lateral_jerk; + const double backward_search_length = parameters_.backward_goal_search_length; + const double forward_search_length = parameters_.forward_goal_search_length; const int shift_sampling_num = parameters_.shift_sampling_num; const double jerk_resolution = std::abs(max_jerk - min_jerk) / shift_sampling_num; // get road and shoulder lanes - const auto road_lanes = utils::getExtendedCurrentLanes(planner_data_); + const auto road_lanes = + utils::getExtendedCurrentLanes(planner_data_, backward_search_length, forward_search_length); const auto shoulder_lanes = goal_planner_utils::getPullOverLanes(*route_handler, left_side_parking_); if (road_lanes.empty() || shoulder_lanes.empty()) { From 410f10df07f59dea655ea4e6597a8d169d375399 Mon Sep 17 00:00:00 2001 From: beyzanurkaya <32412808+beyzanurkaya@users.noreply.github.com> Date: Fri, 7 Jul 2023 16:00:06 +0300 Subject: [PATCH 108/118] fix(behavior_velocity_intersection_module): behavior_velocity_intersection_module dies due empty conflicting_lanelets (#4191) * fix the range problem Signed-off-by: beyza * style(pre-commit): autofix * cleanup Signed-off-by: beyza * add a flag in the checkAngleForTargetLanelets func Signed-off-by: beyza * change the angle check Signed-off-by: beyza * style(pre-commit): autofix --------- Signed-off-by: beyza Co-authored-by: beyza Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/scene_intersection.cpp | 3 ++ .../src/util.cpp | 32 +++++++++++++------ .../src/util.hpp | 3 +- 3 files changed, 28 insertions(+), 10 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index bc6b54c23edd6..002c4daf4ec29 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -899,6 +899,7 @@ bool IntersectionModule::checkCollision( const auto object_direction = util::getObjectPoseWithVelocityDirection(object.kinematics); const auto is_in_adjacent_lanelets = util::checkAngleForTargetLanelets( object_direction, adjacent_lanelets, planner_param_.common.attention_area_angle_thr, + planner_param_.common.consider_wrong_direction_vehicle, planner_param_.common.attention_area_margin); if (is_in_adjacent_lanelets) { continue; @@ -913,12 +914,14 @@ bool IntersectionModule::checkCollision( } else if (util::checkAngleForTargetLanelets( object_direction, attention_area_lanelets, planner_param_.common.attention_area_angle_thr, + planner_param_.common.consider_wrong_direction_vehicle, planner_param_.common.attention_area_margin)) { target_objects.objects.push_back(object); } } else if (util::checkAngleForTargetLanelets( object_direction, attention_area_lanelets, planner_param_.common.attention_area_angle_thr, + planner_param_.common.consider_wrong_direction_vehicle, planner_param_.common.attention_area_margin)) { // intersection_area is not available, use detection_area_with_margin as before target_objects.objects.push_back(object); diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index 51d8e286fe764..8108d0deaae6f 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -446,7 +446,16 @@ IntersectionLanelets getObjectiveLanelets( // get conflicting lanes on assigned lanelet const auto & conflicting_lanelets = lanelet::utils::getConflictingLanelets(routing_graph_ptr, assigned_lanelet); - const auto & adjacent_followings = routing_graph_ptr->following(conflicting_lanelets.back()); + std::vector adjacent_followings; + + for (const auto & conflicting_lanelet : conflicting_lanelets) { + for (const auto & following_lanelet : routing_graph_ptr->following(conflicting_lanelet)) { + adjacent_followings.push_back(following_lanelet); + } + for (const auto & following_lanelet : routing_graph_ptr->previous(conflicting_lanelet)) { + adjacent_followings.push_back(following_lanelet); + } + } // final objective lanelets lanelet::ConstLanelets detection_lanelets; @@ -467,9 +476,9 @@ IntersectionLanelets getObjectiveLanelets( continue; } detection_lanelets.push_back(conflicting_lanelet); - if (!adjacent_followings.empty()) { - detection_lanelets.push_back(adjacent_followings.front()); - } + } + for (const auto & adjacent_following : adjacent_followings) { + detection_lanelets.push_back(adjacent_following); } } else { // otherwise we need to know the priority from RightOfWay @@ -992,7 +1001,8 @@ Polygon2d generateStuckVehicleDetectAreaPolygon( bool checkAngleForTargetLanelets( const geometry_msgs::msg::Pose & pose, const lanelet::ConstLanelets & target_lanelets, - const double detection_area_angle_thr, const double margin) + const double detection_area_angle_thr, const bool consider_wrong_direction_vehicle, + const double margin) { for (const auto & ll : target_lanelets) { if (!lanelet::utils::isInLanelet(pose, ll, margin)) { @@ -1001,10 +1011,14 @@ bool checkAngleForTargetLanelets( const double ll_angle = lanelet::utils::getLaneletAngle(ll, pose.position); const double pose_angle = tf2::getYaw(pose.orientation); const double angle_diff = tier4_autoware_utils::normalizeRadian(ll_angle - pose_angle); - if ( - std::fabs(angle_diff) < detection_area_angle_thr / 2 || - std::fabs(angle_diff) > detection_area_angle_thr) { - return true; + if (consider_wrong_direction_vehicle) { + if (std::fabs(angle_diff) > 1.57 || std::fabs(angle_diff) < detection_area_angle_thr) { + return true; + } + } else { + if (std::fabs(angle_diff) < detection_area_angle_thr) { + return true; + } } } return false; diff --git a/planning/behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_intersection_module/src/util.hpp index 89931a5db10fc..8a539f67f73a6 100644 --- a/planning/behavior_velocity_intersection_module/src/util.hpp +++ b/planning/behavior_velocity_intersection_module/src/util.hpp @@ -144,7 +144,8 @@ Polygon2d generateStuckVehicleDetectAreaPolygon( bool checkAngleForTargetLanelets( const geometry_msgs::msg::Pose & pose, const lanelet::ConstLanelets & target_lanelets, - const double detection_area_angle_thr, const double margin = 0.0); + const double detection_area_angle_thr, const bool consider_wrong_direction_vehicle, + const double margin = 0.0); void cutPredictPathWithDuration( autoware_auto_perception_msgs::msg::PredictedObjects * objects_ptr, From 1893ecce1a6161a8d8a15ecb7d55ab7ed593dc43 Mon Sep 17 00:00:00 2001 From: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Sat, 8 Jul 2023 11:25:45 +0900 Subject: [PATCH 109/118] feat(traffic_light_classifier): update traffic_light_classifier and traffic_light_fine_detector (#4125) * first commit Signed-off-by: Mingyu Li * fix typo Signed-off-by: Mingyu Li * Revert unnecessary changes Signed-off-by: Shunsuke Miura * change to fit previous revert Signed-off-by: Shunsuke Miura * fix: correct style Signed-off-by: Manato HIRABAYASHI * fix: use proper initializer Signed-off-by: Manato HIRABAYASHI * fix build_config constructor Signed-off-by: Shunsuke Miura * pre-commit Signed-off-by: Shunsuke Miura --------- Signed-off-by: Mingyu Li Signed-off-by: Shunsuke Miura Signed-off-by: Manato HIRABAYASHI Co-authored-by: Shunsuke Miura Co-authored-by: Manato HIRABAYASHI Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --- .../tensorrt_common/tensorrt_common.hpp | 5 + .../tensorrt_common/src/tensorrt_common.cpp | 27 +- perception/tensorrt_classifier/CMakeLists.txt | 59 ++ .../tensorrt_classifier/calibrator.hpp | 529 ++++++++++++++++ .../include/tensorrt_classifier/preprocess.h | 181 ++++++ .../tensorrt_classifier.hpp | 132 ++++ perception/tensorrt_classifier/package.xml | 33 + .../tensorrt_classifier/src/preprocess.cu | 596 ++++++++++++++++++ .../src/tensorrt_classifier.cpp | 385 +++++++++++ .../include/tensorrt_yolox/preprocess.hpp | 67 ++ .../include/tensorrt_yolox/tensorrt_yolox.hpp | 76 ++- perception/tensorrt_yolox/src/preprocess.cu | 226 +++++++ .../tensorrt_yolox/src/tensorrt_yolox.cpp | 414 +++++++++++- .../src/tensorrt_yolox_node.cpp | 2 +- .../traffic_light_classifier/CMakeLists.txt | 20 +- .../classifier_interface.hpp | 7 +- .../cnn_classifier.hpp | 30 +- .../color_classifier.hpp | 8 +- .../traffic_light_classifier/package.xml | 1 + .../src/cnn_classifier.cpp | 181 ++---- .../src/color_classifier.cpp | 254 ++++---- .../traffic_light_classifier/src/nodelet.cpp | 22 +- .../src/single_image_debug_inference_node.cpp | 6 +- .../CMakeLists.txt | 8 +- .../traffic_light_fine_detector/nodelet.hpp | 1 + .../src/nodelet.cpp | 72 ++- 26 files changed, 2996 insertions(+), 346 deletions(-) create mode 100644 perception/tensorrt_classifier/CMakeLists.txt create mode 100644 perception/tensorrt_classifier/include/tensorrt_classifier/calibrator.hpp create mode 100644 perception/tensorrt_classifier/include/tensorrt_classifier/preprocess.h create mode 100644 perception/tensorrt_classifier/include/tensorrt_classifier/tensorrt_classifier.hpp create mode 100644 perception/tensorrt_classifier/package.xml create mode 100644 perception/tensorrt_classifier/src/preprocess.cu create mode 100644 perception/tensorrt_classifier/src/tensorrt_classifier.cpp diff --git a/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp b/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp index 38320625b256a..aabaea7ca6339 100644 --- a/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp +++ b/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp @@ -148,6 +148,11 @@ class TrtCommon // NOLINT const BuildConfig & buildConfig = BuildConfig(), const std::vector & plugin_paths = {}); + /** + * @brief Deconstruct TrtCommon + */ + ~TrtCommon(); + /** * @brief Load TensorRT engine * @param[in] engine_file_path path for a engine file diff --git a/common/tensorrt_common/src/tensorrt_common.cpp b/common/tensorrt_common/src/tensorrt_common.cpp index e926196226052..8c62fdd7e21fa 100644 --- a/common/tensorrt_common/src/tensorrt_common.cpp +++ b/common/tensorrt_common/src/tensorrt_common.cpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include @@ -59,7 +60,7 @@ nvinfer1::Dims get_input_dims(const std::string & onnx_file_path) auto parser = TrtUniquePtr(nvonnxparser::createParser(*network, logger_)); if (!parser->parseFromFile( onnx_file_path.c_str(), static_cast(nvinfer1::ILogger::Severity::kERROR))) { - logger_.log(nvinfer1::ILogger::Severity::kERROR, "Fail to parse ONNX"); + logger_.log(nvinfer1::ILogger::Severity::kERROR, "Failed to parse onnx file"); } const auto input = network->getInput(0); @@ -126,6 +127,10 @@ TrtCommon::TrtCommon( initLibNvInferPlugins(&logger_, ""); } +TrtCommon::~TrtCommon() +{ +} + void TrtCommon::setup() { if (!fs::exists(model_file_path_)) { @@ -417,6 +422,21 @@ bool TrtCommon::buildEngineFromOnnx( layer->setPrecision(nvinfer1::DataType::kHALF); std::cout << "Set kHALF in " << name << std::endl; } + for (int i = num - 1; i >= 0; i--) { + nvinfer1::ILayer * layer = network->getLayer(i); + auto ltype = layer->getType(); + std::string name = layer->getName(); + if (ltype == nvinfer1::LayerType::kCONVOLUTION) { + layer->setPrecision(nvinfer1::DataType::kHALF); + std::cout << "Set kHALF in " << name << std::endl; + break; + } + if (ltype == nvinfer1::LayerType::kMATRIX_MULTIPLY) { + layer->setPrecision(nvinfer1::DataType::kHALF); + std::cout << "Set kHALF in " << name << std::endl; + break; + } + } } } } @@ -427,6 +447,11 @@ bool TrtCommon::buildEngineFromOnnx( const auto input_channel = input_dims.d[1]; const auto input_height = input_dims.d[2]; const auto input_width = input_dims.d[3]; + const auto input_batch = input_dims.d[0]; + + if (input_batch > 1) { + batch_config_[0] = input_batch; + } if (batch_config_.at(0) > 1 && (batch_config_.at(0) == batch_config_.at(2))) { // Attention : below API is deprecated in TRT8.4 diff --git a/perception/tensorrt_classifier/CMakeLists.txt b/perception/tensorrt_classifier/CMakeLists.txt new file mode 100644 index 0000000000000..9f879a2c0c56d --- /dev/null +++ b/perception/tensorrt_classifier/CMakeLists.txt @@ -0,0 +1,59 @@ +cmake_minimum_required(VERSION 3.5) +project(tensorrt_classifier) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3 -Wno-write-strings -fopenmp -Wall") + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(CUDA) +find_package(CUDNN) +find_package(TENSORRT) +find_package(OpenCV REQUIRED) + +if(NOT (${CUDA_FOUND} AND ${CUDNN_FOUND} AND ${TENSORRT_FOUND})) + message(WARNING "cuda, cudnn, tensorrt libraries are not found") + return() +endif() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/tensorrt_classifier.cpp + src/preprocess.cu +) + +ament_target_dependencies(${PROJECT_NAME} + rclcpp + OpenCV +) + +target_include_directories(${PROJECT_NAME} + PUBLIC + $ + $ + ${TENSORRT_INCLUDE_DIRS} +) + +target_link_libraries(${PROJECT_NAME} + ${TENSORRT_LIBRARIES} + stdc++fs +) + +target_compile_definitions(${PROJECT_NAME} PRIVATE + TENSORRT_VERSION_MAJOR=${TENSORRT_VERSION_MAJOR} +) + +list(APPEND ${PROJECT_NAME}_LIBRARIES "${PROJECT_NAME}") + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_export_include_directories(include) +ament_export_dependencies(CUDA) +ament_export_dependencies(cudnn_cmake_module) +ament_export_dependencies(CUDNN) +ament_export_dependencies(tensorrt_cmake_module) +ament_export_dependencies(TENSORRT) + +ament_auto_package() diff --git a/perception/tensorrt_classifier/include/tensorrt_classifier/calibrator.hpp b/perception/tensorrt_classifier/include/tensorrt_classifier/calibrator.hpp new file mode 100644 index 0000000000000..e8c03d132679a --- /dev/null +++ b/perception/tensorrt_classifier/include/tensorrt_classifier/calibrator.hpp @@ -0,0 +1,529 @@ +// 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. + +/* + * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER + * DEALINGS IN THE SOFTWARE. + */ + +#ifndef TENSORRT_CLASSIFIER__CALIBRATOR_HPP_ +#define TENSORRT_CLASSIFIER__CALIBRATOR_HPP_ +#include "cuda_utils/cuda_check_error.hpp" +#include "cuda_utils/cuda_unique_ptr.hpp" + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include + +namespace tensorrt_classifier +{ +class ImageStream +{ +public: + ImageStream( + int batch_size, nvinfer1::Dims input_dims, const std::vector calibration_images) + : batch_size_(batch_size), + calibration_images_(calibration_images), + current_batch_(0), + max_batches_(calibration_images.size() / batch_size_), + input_dims_(input_dims) + { + batch_.resize(batch_size_ * input_dims_.d[1] * input_dims_.d[2] * input_dims_.d[3]); + } + + int getBatchSize() const { return batch_size_; } + + int getMaxBatches() const { return max_batches_; } + + float * getBatch() { return &batch_[0]; } + + nvinfer1::Dims getInputDims() { return input_dims_; } + + /** + * @brief Preprocess in calibration + * @param[in] images input images + * @param[in] input_dims input dimensions + * @param[in] mean mean value for each channel + * @param[in] std std value for each channel + * @return vector preprocessed data + */ + std::vector preprocess( + const std::vector & images, nvinfer1::Dims input_dims, const std::vector & mean, + const std::vector & std) + { + std::vector input_h_; + int batch_size = static_cast(images.size()); + input_dims.d[0] = batch_size; + const float input_chan = static_cast(input_dims.d[1]); + const float input_height = static_cast(input_dims.d[2]); + const float input_width = static_cast(input_dims.d[3]); + std::vector dst_images; + std::vector scales_; + int volume = batch_size * input_chan * input_height * input_width; + scales_.clear(); + input_h_.resize(volume); + for (const auto & image : images) { + cv::Mat dst_image; + const float scale = std::min(input_width / image.cols, input_height / image.rows); + scales_.emplace_back(scale); + const auto scale_size = cv::Size(image.cols * scale, image.rows * scale); + cv::resize(image, dst_image, scale_size, 0, 0, cv::INTER_LINEAR); + const auto bottom = input_height - dst_image.rows; + const auto right = input_width - dst_image.cols; + copyMakeBorder(dst_image, dst_image, 0, bottom, 0, right, cv::BORDER_CONSTANT, {0, 0, 0}); + dst_images.emplace_back(dst_image); + } + + // NHWC + const size_t strides_cv[4] = { + static_cast(input_width * input_chan * input_height), + static_cast(input_width * input_chan), static_cast(input_chan), 1}; + // NCHW + const size_t strides[4] = { + static_cast(input_height * input_width * input_chan), + static_cast(input_height * input_width), static_cast(input_width), 1}; + for (int n = 0; n < batch_size; n++) { + for (int h = 0; h < input_height; h++) { + for (int w = 0; w < input_width; w++) { + for (int c = 0; c < input_chan; c++) { + // NHWC (needs RBswap) + const size_t offset_cv = + h * strides_cv[1] + w * strides_cv[2] + (input_chan - c - 1) * strides_cv[3]; + // NCHW + const size_t offset = n * strides[0] + (c)*strides[1] + h * strides[2] + w * strides[3]; + input_h_[offset] = + (static_cast(dst_images[n].data[offset_cv]) - mean[c]) / std[c]; + } + } + } + } + return input_h_; + } + + /** + * @brief Decode data in calibration + * @param[in] scale normalization (0.0-1.0) + * @return bool succ or fail + */ + bool next(const std::vector & mean, const std::vector & std) + { + if (current_batch_ == max_batches_) { + return false; + } + for (int i = 0; i < batch_size_; ++i) { + auto image = + cv::imread(calibration_images_[batch_size_ * current_batch_ + i].c_str(), cv::IMREAD_COLOR); + std::cout << current_batch_ << " " << i << " Preprocess " + << calibration_images_[batch_size_ * current_batch_ + i].c_str() << std::endl; + auto input = preprocess({image}, input_dims_, mean, std); + batch_.insert( + batch_.begin() + i * input_dims_.d[1] * input_dims_.d[2] * input_dims_.d[3], input.begin(), + input.end()); + } + + ++current_batch_; + return true; + } + /** + * @brief Reset calibration + */ + void reset() { current_batch_ = 0; } + +private: + int batch_size_; + std::vector calibration_images_; + int current_batch_; + int max_batches_; + nvinfer1::Dims input_dims_; + std::vector batch_; +}; + +/**Percentile calibration using legacy calibrator*/ +/** + * @class Int8LegacyCalibrator + * @brief Calibrator for Percentle + * @warning We are confirming bug on Tegra like Xavier and Orin. We recommand use EntropyV2 or + * MinMax calibrator + */ +class Int8LegacyCalibrator : public nvinfer1::IInt8LegacyCalibrator +{ +public: + Int8LegacyCalibrator( + ImageStream & stream, const std::string calibration_cache_file, + const std::string histogram_cache_file, + const std::vector & mean = {123.675, 116.28, 103.53}, + const std::vector & std = {58.395, 57.12, 57.375}, bool read_cache = true, + double quantile = 0.999999, double cutoff = 0.999999) + : stream_(stream), + calibration_cache_file_(calibration_cache_file), + histogranm_cache_file_(histogram_cache_file), + read_cache_(read_cache) + { + auto d = stream_.getInputDims(); + input_count_ = stream_.getBatchSize() * d.d[1] * d.d[2] * d.d[3]; + CHECK_CUDA_ERROR(cudaMalloc(&device_input_, input_count_ * sizeof(float))); + m_std = std; + m_mean = mean; + m_quantile = quantile; + m_cutoff = cutoff; + auto algType = getAlgorithm(); + switch (algType) { + case (nvinfer1::CalibrationAlgoType::kLEGACY_CALIBRATION): + std::cout << "CalibratioAlgoType : kLEGACY_CALIBRATION" << std::endl; + break; + case (nvinfer1::CalibrationAlgoType::kENTROPY_CALIBRATION): + std::cout << "CalibratioAlgoType : kENTROPY_CALIBRATION" << std::endl; + break; + case (nvinfer1::CalibrationAlgoType::kENTROPY_CALIBRATION_2): + std::cout << "CalibratioAlgoType : kENTROPY_CALIBRATION_2" << std::endl; + break; + case (nvinfer1::CalibrationAlgoType::kMINMAX_CALIBRATION): + std::cout << "CalibratioAlgoType : kMINMAX_CALIBRATION" << std::endl; + break; + default: + std::cout << "No CalibrationAlgType" << std::endl; + break; + } + } + int getBatchSize() const noexcept override { return stream_.getBatchSize(); } + + virtual ~Int8LegacyCalibrator() { CHECK_CUDA_ERROR(cudaFree(device_input_)); } + + bool getBatch(void * bindings[], const char * names[], int nb_bindings) noexcept override + { + (void)names; + (void)nb_bindings; + + if (!stream_.next(m_mean, m_std)) { + return false; + } + try { + CHECK_CUDA_ERROR(cudaMemcpy( + device_input_, stream_.getBatch(), input_count_ * sizeof(float), cudaMemcpyHostToDevice)); + } catch (const std::exception & e) { + // Do nothing + } + bindings[0] = device_input_; + return true; + } + + const void * readCalibrationCache(size_t & length) noexcept override + { + calib_cache_.clear(); + std::ifstream input(calibration_cache_file_, std::ios::binary); + input >> std::noskipws; + if (read_cache_ && input.good()) { + std::copy( + std::istream_iterator(input), std::istream_iterator(), + std::back_inserter(calib_cache_)); + } + + length = calib_cache_.size(); + if (length) { + std::cout << "Using cached calibration table to build the engine" << std::endl; + } else { + std::cout << "New calibration table will be created to build the engine" << std::endl; + } + return length ? &calib_cache_[0] : nullptr; + } + + void writeCalibrationCache(const void * cache, size_t length) noexcept override + { + std::ofstream output(calibration_cache_file_, std::ios::binary); + output.write(reinterpret_cast(cache), length); + } + + double getQuantile() const noexcept + { + printf("Quantile %f\n", m_quantile); + return m_quantile; + } + + double getRegressionCutoff(void) const noexcept + { + printf("Cutoff %f\n", m_cutoff); + return m_cutoff; + } + + const void * readHistogramCache(std::size_t & length) noexcept + { + hist_cache_.clear(); + std::ifstream input(histogranm_cache_file_, std::ios::binary); + input >> std::noskipws; + if (read_cache_ && input.good()) { + std::copy( + std::istream_iterator(input), std::istream_iterator(), + std::back_inserter(hist_cache_)); + } + + length = hist_cache_.size(); + if (length) { + std::cout << "Using cached histogram table to build the engine" << std::endl; + } else { + std::cout << "New histogram table will be created to build the engine" << std::endl; + } + return length ? &hist_cache_[0] : nullptr; + } + void writeHistogramCache(void const * ptr, std::size_t length) noexcept + { + std::ofstream output(histogranm_cache_file_, std::ios::binary); + output.write(reinterpret_cast(ptr), length); + } + +private: + ImageStream stream_; + const std::string calibration_cache_file_; + const std::string histogranm_cache_file_; + bool read_cache_{true}; + size_t input_count_; + void * device_input_{nullptr}; + std::vector calib_cache_; + std::vector hist_cache_; + // mean for preprocessing + std::vector m_mean; + // std for preprocessing + std::vector m_std; + double m_quantile; + double m_cutoff; +}; + +/** + * @class Int8LegacyCalibrator + * @brief Calibrator for Percentle + * + */ +class Int8EntropyCalibrator : public nvinfer1::IInt8EntropyCalibrator2 +{ +public: + Int8EntropyCalibrator( + ImageStream & stream, const std::string calibration_cache_file, + const std::vector & mean = {123.675, 116.28, 103.53}, + const std::vector & std = {58.395, 57.12, 57.375}, bool read_cache = true) + : stream_(stream), calibration_cache_file_(calibration_cache_file), read_cache_(read_cache) + { + auto d = stream_.getInputDims(); + input_count_ = stream_.getBatchSize() * d.d[1] * d.d[2] * d.d[3]; + m_std = std; + m_mean = mean; + + CHECK_CUDA_ERROR(cudaMalloc(&device_input_, input_count_ * sizeof(float))); + auto algType = getAlgorithm(); + switch (algType) { + case (nvinfer1::CalibrationAlgoType::kLEGACY_CALIBRATION): + std::cout << "CalibratioAlgoType : kLEGACY_CALIBRATION" << std::endl; + break; + case (nvinfer1::CalibrationAlgoType::kENTROPY_CALIBRATION): + std::cout << "CalibratioAlgoType : kENTROPY_CALIBRATION" << std::endl; + break; + case (nvinfer1::CalibrationAlgoType::kENTROPY_CALIBRATION_2): + std::cout << "CalibratioAlgoType : kENTROPY_CALIBRATION_2" << std::endl; + break; + case (nvinfer1::CalibrationAlgoType::kMINMAX_CALIBRATION): + std::cout << "CalibratioAlgoType : kMINMAX_CALIBRATION" << std::endl; + break; + default: + std::cout << "No CalibrationAlgType" << std::endl; + break; + } + } + int getBatchSize() const noexcept override { return stream_.getBatchSize(); } + + virtual ~Int8EntropyCalibrator() { CHECK_CUDA_ERROR(cudaFree(device_input_)); } + + bool getBatch(void * bindings[], const char * names[], int nb_bindings) noexcept override + { + (void)names; + (void)nb_bindings; + + if (!stream_.next(m_mean, m_std)) { + return false; + } + try { + CHECK_CUDA_ERROR(cudaMemcpy( + device_input_, stream_.getBatch(), input_count_ * sizeof(float), cudaMemcpyHostToDevice)); + } catch (const std::exception & e) { + // Do nothing + } + bindings[0] = device_input_; + return true; + } + + const void * readCalibrationCache(size_t & length) noexcept override + { + calib_cache_.clear(); + std::ifstream input(calibration_cache_file_, std::ios::binary); + input >> std::noskipws; + if (read_cache_ && input.good()) { + std::copy( + std::istream_iterator(input), std::istream_iterator(), + std::back_inserter(calib_cache_)); + } + + length = calib_cache_.size(); + if (length) { + std::cout << "Using cached calibration table to build the engine" << std::endl; + } else { + std::cout << "New calibration table will be created to build the engine" << std::endl; + } + return length ? &calib_cache_[0] : nullptr; + } + + void writeCalibrationCache(const void * cache, size_t length) noexcept override + { + std::ofstream output(calibration_cache_file_, std::ios::binary); + output.write(reinterpret_cast(cache), length); + } + +private: + ImageStream stream_; + const std::string calibration_cache_file_; + bool read_cache_{true}; + size_t input_count_; + void * device_input_{nullptr}; + std::vector calib_cache_; + std::vector hist_cache_; + // mean for preprocessing + std::vector m_mean; + // std for preprocessing + std::vector m_std; +}; + +/** + * @class Int8MinMaxCalibrator + * @brief Calibrator for MinMax + * + */ +class Int8MinMaxCalibrator : public nvinfer1::IInt8MinMaxCalibrator +{ +public: + Int8MinMaxCalibrator( + ImageStream & stream, const std::string calibration_cache_file, + const std::vector & mean = {123.675, 116.28, 103.53}, + const std::vector & std = {58.395, 57.12, 57.375}, bool read_cache = true) + : stream_(stream), calibration_cache_file_(calibration_cache_file), read_cache_(read_cache) + { + auto d = stream_.getInputDims(); + input_count_ = stream_.getBatchSize() * d.d[1] * d.d[2] * d.d[3]; + m_std = std; + m_mean = mean; + CHECK_CUDA_ERROR(cudaMalloc(&device_input_, input_count_ * sizeof(float))); + auto algType = getAlgorithm(); + switch (algType) { + case (nvinfer1::CalibrationAlgoType::kLEGACY_CALIBRATION): + std::cout << "CalibratioAlgoType : kLEGACY_CALIBRATION" << std::endl; + break; + case (nvinfer1::CalibrationAlgoType::kENTROPY_CALIBRATION): + std::cout << "CalibratioAlgoType : kENTROPY_CALIBRATION" << std::endl; + break; + case (nvinfer1::CalibrationAlgoType::kENTROPY_CALIBRATION_2): + std::cout << "CalibratioAlgoType : kENTROPY_CALIBRATION_2" << std::endl; + break; + case (nvinfer1::CalibrationAlgoType::kMINMAX_CALIBRATION): + std::cout << "CalibratioAlgoType : kMINMAX_CALIBRATION" << std::endl; + break; + default: + std::cout << "No CalibrationAlgType" << std::endl; + break; + } + } + int getBatchSize() const noexcept override { return stream_.getBatchSize(); } + + virtual ~Int8MinMaxCalibrator() { CHECK_CUDA_ERROR(cudaFree(device_input_)); } + + bool getBatch(void * bindings[], const char * names[], int nb_bindings) noexcept override + { + (void)names; + (void)nb_bindings; + + if (!stream_.next(m_mean, m_std)) { + return false; + } + try { + CHECK_CUDA_ERROR(cudaMemcpy( + device_input_, stream_.getBatch(), input_count_ * sizeof(float), cudaMemcpyHostToDevice)); + } catch (const std::exception & e) { + // Do nothing + } + bindings[0] = device_input_; + return true; + } + + const void * readCalibrationCache(size_t & length) noexcept override + { + calib_cache_.clear(); + std::ifstream input(calibration_cache_file_, std::ios::binary); + input >> std::noskipws; + if (read_cache_ && input.good()) { + std::copy( + std::istream_iterator(input), std::istream_iterator(), + std::back_inserter(calib_cache_)); + } + + length = calib_cache_.size(); + if (length) { + std::cout << "Using cached calibration table to build the engine" << std::endl; + } else { + std::cout << "New calibration table will be created to build the engine" << std::endl; + } + return length ? &calib_cache_[0] : nullptr; + } + + void writeCalibrationCache(const void * cache, size_t length) noexcept override + { + std::ofstream output(calibration_cache_file_, std::ios::binary); + output.write(reinterpret_cast(cache), length); + } + +private: + ImageStream stream_; + const std::string calibration_cache_file_; + bool read_cache_{true}; + size_t input_count_; + void * device_input_{nullptr}; + std::vector calib_cache_; + std::vector hist_cache_; + // mean for preprocessing + std::vector m_mean; + // std for preprocessing + std::vector m_std; +}; +} // namespace tensorrt_classifier + +#endif // TENSORRT_CLASSIFIER__CALIBRATOR_HPP_ diff --git a/perception/tensorrt_classifier/include/tensorrt_classifier/preprocess.h b/perception/tensorrt_classifier/include/tensorrt_classifier/preprocess.h new file mode 100644 index 0000000000000..febf909b8826e --- /dev/null +++ b/perception/tensorrt_classifier/include/tensorrt_classifier/preprocess.h @@ -0,0 +1,181 @@ +// Copyright 2023 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 TENSORRT_CLASSIFIER__PREPROCESS_H_ +#define TENSORRT_CLASSIFIER__PREPROCESS_H_ + +#include +#include +#include +#include +#include + +typedef struct _roi +{ + int x; + int y; + int w; + int h; +} Roi; + +/** + * @brief Resize a image using bilinear interpolation on gpus + * @param[out] dst Resized image + * @param[in] src image + * @param[in] d_w width for resized image + * @param[in] d_h height for resized image + * @param[in] d_c channel for resized image + * @param[in] s_w width for input image + * @param[in] s_h height for input image + * @param[in] s_c channel for input image + * @param[in] stream cuda stream + */ +extern void resize_bilinear_gpu( + unsigned char * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, + cudaStream_t stream); + +/** + * @brief Letterbox a image on gpus + * @param[out] dst letterboxed image + * @param[in] src image + * @param[in] d_w width for letterboxing + * @param[in] d_h height foletterboxing + * @param[in] d_c channel foletterboxing + * @param[in] s_w width for input image + * @param[in] s_h height for input image + * @param[in] s_c channel for input image + * @param[in] stream cuda stream + */ +extern void letterbox_gpu( + unsigned char * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, + cudaStream_t stream); + +/** + * @brief NHWC2NHWC conversion + * @param[out] dst converted image + * @param[in] src image + * @param[in] d_w width for a image + * @param[in] d_h height for a image + * @param[in] d_c channel for a image + * @param[in] stream cuda stream + */ +extern void NCHW2NHWC_gpu( + unsigned char * dst, unsigned char * src, int d_w, int d_h, int d_c, cudaStream_t stream); + +/** + * @brief Unsigned char to float32 for inference + * @param[out] dst32 converted image + * @param[in] src image + * @param[in] d_w width for a image + * @param[in] d_h height for a image + * @param[in] d_c channel for a image + * @param[in] stream cuda stream + */ +extern void toFloat_gpu( + float * dst32, unsigned char * src, int d_w, int d_h, int d_c, cudaStream_t stream); + +/** + * @brief Resize and letterbox a image using bilinear interpolation on gpus + * @param[out] dst processsed image + * @param[in] src image + * @param[in] d_w width for output + * @param[in] d_h height for output + * @param[in] d_c channel for output + * @param[in] s_w width for input + * @param[in] s_h height for input + * @param[in] s_c channel for input + * @param[in] stream cuda stream + */ +extern void resize_bilinear_letterbox_gpu( + unsigned char * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, + cudaStream_t stream); + +/** + * @brief Optimized preprocessing including resize, letterbox, nhwc2nchw, toFloat and normalization + * for YOLOX on gpus + * @param[out] dst processsed image + * @param[in] src image + * @param[in] d_w width for output + * @param[in] d_h height for output + * @param[in] d_c channel for output + * @param[in] s_w width for input + * @param[in] s_h height for input + * @param[in] s_c channel for input + * @param[in] norm normalization + * @param[in] stream cuda stream + */ +extern void resize_bilinear_letterbox_nhwc_to_nchw32_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, + float norm, cudaStream_t stream); + +/** + * @brief Optimized preprocessing including resize, letterbox, nhwc2nchw, toFloat and normalization + * with batching for YOLOX on gpus + * @param[out] dst processsed image + * @param[in] src image + * @param[in] d_w width for output + * @param[in] d_h height for output + * @param[in] d_c channel for output + * @param[in] s_w width for input + * @param[in] s_h height for input + * @param[in] s_c channel for input + * @param[in] batch batch size + * @param[in] norm normalization + * @param[in] stream cuda stream + */ +extern void resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, int batch, + float norm, cudaStream_t stream); + +/** + * @brief Optimized preprocessing including crop, resize, letterbox, nhwc2nchw, toFloat and + * normalization with batching for YOLOX on gpus + * @param[out] dst processsed image + * @param[in] src image + * @param[in] d_w width for output + * @param[in] d_h height for output + * @param[in] d_c channel for output + * @param[in] s_w width for input + * @param[in] s_h height for input + * @param[in] s_c channel for input + * @param[in] d_roi regions of interest for cropping + * @param[in] batch batch size + * @param[in] norm normalization + * @param[in] stream cuda stream + */ +extern void crop_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h, + int s_c, int batch, float norm, cudaStream_t stream); + +/** + * @brief Optimized multi-scale preprocessing including crop, resize, letterbox, nhwc2nchw, toFloat + * and normalization with batching for YOLOX on gpus + * @param[out] dst processsed image + * @param[in] src image + * @param[in] d_w width for output + * @param[in] d_h height for output + * @param[in] d_c channel for output + * @param[in] s_w width for input + * @param[in] s_h height for input + * @param[in] s_c channel for input + * @param[in] d_roi regions of interest for cropping + * @param[in] batch batch size + * @param[in] norm normalization + * @param[in] stream cuda stream + */ +extern void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h, + int s_c, int batch, float norm, cudaStream_t stream); + +#endif // TENSORRT_CLASSIFIER__PREPROCESS_H_ diff --git a/perception/tensorrt_classifier/include/tensorrt_classifier/tensorrt_classifier.hpp b/perception/tensorrt_classifier/include/tensorrt_classifier/tensorrt_classifier.hpp new file mode 100644 index 0000000000000..7e2c852d369fb --- /dev/null +++ b/perception/tensorrt_classifier/include/tensorrt_classifier/tensorrt_classifier.hpp @@ -0,0 +1,132 @@ +// 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 TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ +#define TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ + +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace tensorrt_classifier +{ +using cuda_utils::CudaUniquePtr; +using cuda_utils::CudaUniquePtrHost; +using cuda_utils::makeCudaStream; +using cuda_utils::StreamUniquePtr; + +/** + * @class TrtClassifier + * @brief TensorRT CLASSIFIER for faster inference + */ +class TrtClassifier +{ +public: + /** + * @brief Construct TrtClassifier. + * @param[in] mode_path ONNX model_path + * @param[in] precision precision for inference + * @param[in] calibration_images path for calibration files (only require for quantization) + * @param[in] batch_config configuration for batched execution + * @param[in] max_workspace_size maximum workspace for building TensorRT engine + * @param[in] mean mean for preprocess + * @param[in] std std for preprocess + * @param[in] buildConfig configuration including precision, calibration method, dla, remaining + * fp16 for first layer, remaining fp16 for last layer and profiler for builder + * @param[in] cuda whether use cuda gpu for preprocessing + */ + TrtClassifier( + const std::string & model_path, const std::string & precision, + const tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, + const std::vector & mean = {123.675, 116.28, 103.53}, + const std::vector & std = {58.395, 57.12, 57.375}, + const size_t max_workspace_size = (1 << 30), const std::string & calibration_images = "", + const tensorrt_common::BuildConfig build_config = + tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0), + const bool cuda = false); + /** + * @brief Deconstruct TrtClassifier + */ + ~TrtClassifier(); + + /** + * @brief run inference including pre-process and post-process + * @param[out] objects results for object detection + * @param[in] images batched images + */ + bool doInference( + const std::vector & images, std::vector & results, std::vector & probs); + + /** + * @brief allocate buffer for preprocess on GPU + * @param[in] width original image width + * @param[in] height original image height + * @warning if we don't allocate buffers using it, "preprocessGpu" allocates buffers at the + * beginning + */ + void initPreprocessBuffer(int width, int height); + +private: + /** + * @brief run preprcess including resizing, letterbox, BGR2RGB, NHWC2NCHW and toFloat on CPU + * @param[in] images batching images + */ + void preprocess_opt(const std::vector & images); + + /** + * @brief run preprocess on GPU + * @param[in] images batching images + * @warning Current support is only a single batch image + */ + void preprocessGpu(const std::vector & images); + + bool feedforwardAndDecode( + const std::vector & images, std::vector & results, std::vector & probs); + + std::unique_ptr trt_common_; + + std::vector input_h_; + CudaUniquePtr input_d_; + + bool needs_output_decode_; + size_t out_elem_num_; + size_t out_elem_num_per_batch_; + CudaUniquePtr out_prob_d_; + + StreamUniquePtr stream_{makeCudaStream()}; + // mean for preprocessing + std::vector mean_; + // std for preprocessing + std::vector std_; + std::vector inv_std_; + // flg for preprecessing on GPU + bool m_cuda; + // host buffer for preprecessing on GPU + unsigned char * h_img_; + // device buffer for preprecessing on GPU + unsigned char * d_img_; + int src_width_; + int src_height_; + int batch_size_; + CudaUniquePtrHost out_prob_h_; +}; +} // namespace tensorrt_classifier + +#endif // TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ diff --git a/perception/tensorrt_classifier/package.xml b/perception/tensorrt_classifier/package.xml new file mode 100644 index 0000000000000..27513652ae829 --- /dev/null +++ b/perception/tensorrt_classifier/package.xml @@ -0,0 +1,33 @@ + + + tensorrt_classifier + 0.0.1 + tensorrt classifier wrapper + + Dan Umeda + Mingyu Li + >Mingyu Li + + Apache License 2.0 + + ament_cmake_auto + cudnn_cmake_module + tensorrt_cmake_module + + cudnn_cmake_module + tensorrt_cmake_module + + autoware_cmake + + cuda_utils + libopencv-dev + rclcpp + tensorrt_common + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/perception/tensorrt_classifier/src/preprocess.cu b/perception/tensorrt_classifier/src/preprocess.cu new file mode 100644 index 0000000000000..fd3d758c2c280 --- /dev/null +++ b/perception/tensorrt_classifier/src/preprocess.cu @@ -0,0 +1,596 @@ +// Copyright 2023 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 +#include +#include + +#include + +#define BLOCK 512 + +#define MIN(x, y) x < y ? x : y + +dim3 cuda_gridsize(size_t n) +{ + size_t k = (n - 1) / BLOCK + 1; + size_t x = k; + size_t y = 1; + if (x > 65535) { + x = ceil(sqrt(k)); + y = (n - 1) / (x * BLOCK) + 1; + } + dim3 d; + d.x = x; + d.y = y; + d.z = 1; + return d; +} + +__device__ double lerp1d(int a, int b, float w) +{ + return fma(w, (float)b, fma(-w, (float)a, (float)a)); +} + +__device__ float lerp2d(int f00, int f01, int f10, int f11, float centroid_h, float centroid_w) +{ + centroid_w = (1 + lroundf(centroid_w) - centroid_w) / 2; + centroid_h = (1 + lroundf(centroid_h) - centroid_h) / 2; + + float r0, r1, r; + r0 = lerp1d(f00, f01, centroid_w); + r1 = lerp1d(f10, f11, centroid_w); + + r = lerp1d(r0, r1, centroid_h); //+ 0.00001 + return r; +} + +__global__ void resize_bilinear_kernel( + int N, unsigned char * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, + int src_w, float stride_h, float stride_w) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; + int W = dst_w; + + int c = 0; + int n = 0; + + int w = index % W; + int h = index / W; + + float centroid_h, centroid_w; + centroid_h = stride_h * (float)(h + 0.5); + centroid_w = stride_w * (float)(w + 0.5); + + int f00, f01, f10, f11; + + int src_h_idx = lroundf(centroid_h) - 1; + int src_w_idx = lroundf(centroid_w) - 1; + if (src_h_idx < 0) { + src_h_idx = 0; + } + if (src_w_idx < 0) { + src_w_idx = 0; + } + + index = C * w + C * W * h; + // Unroll + for (c = 0; c < C; c++) { + f00 = n * src_h * src_w * C + src_h_idx * src_w * C + src_w_idx * C + c; + f01 = n * src_h * src_w * C + src_h_idx * src_w * C + (src_w_idx + 1) * C + c; + f10 = n * src_h * src_w * C + (src_h_idx + 1) * src_w * C + src_w_idx * C + c; + f11 = n * src_h * src_w * C + (src_h_idx + 1) * src_w * C + (src_w_idx + 1) * C + c; + + float rs = lroundf(lerp2d( + (int)src_img[f00], (int)src_img[f01], (int)src_img[f10], (int)src_img[f11], centroid_h, + centroid_w)); + dst_img[index + c] = (unsigned char)rs; + } +} + +void resize_bilinear_gpu( + unsigned char * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, + cudaStream_t stream) +{ + int N = d_w * d_h; + float stride_h = (float)s_h / (float)d_h; + float stride_w = (float)s_w / (float)d_w; + + resize_bilinear_kernel<<>>( + N, dst, src, d_h, d_w, s_h, s_w, stride_h, stride_w); +} + +__global__ void letterbox_kernel( + int N, unsigned char * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, + int src_w, float scale, int letter_bot, int letter_right) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; + int W = dst_w; + int c = 0; + + int w = index % W; + int h = index / W; + + index = (C * w) + (C * W * h); + // Unroll + int index2 = (C * w) + (C * src_w * h); + for (c = 0; c < C; c++) { + dst_img[index + c] = + (w >= letter_right || h >= letter_bot) ? (unsigned int)114 : src_img[index2 + c]; + } +} + +void letterbox_gpu( + unsigned char * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, + cudaStream_t stream) +{ + int N = d_w * d_h; + const float scale = std::min(d_w / (float)s_w, d_h / (float)s_h); + int r_h = (int)(scale * s_h); + int r_w = (int)(scale * s_w); + + float stride_h = (float)s_h / (float)r_h; + float stride_w = (float)s_w / (float)r_w; + letterbox_kernel<<>>( + N, dst, src, d_h, d_w, r_h, r_w, 1.0 / scale, r_h, r_w); +} + +__global__ void NHWC2NCHW_kernel( + int N, unsigned char * dst_img, unsigned char * src_img, int height, int width) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int chan = 3; + int c = 0; + int x = index % width; + int y = index / width; + int src_index = 0; + int dst_index = 0; + for (c = 0; c < chan; c++) { + src_index = c + (chan * x) + (chan * width * y); + dst_index = x + (width * y) + (width * height * c); + dst_img[dst_index] = src_img[src_index]; + } +} + +void NHWC2NCHW_gpu( + unsigned char * dst, unsigned char * src, int d_w, int d_h, int d_c, cudaStream_t stream) +{ + int N = d_w * d_h; + NHWC2NCHW_kernel<<>>(N, dst, src, d_h, d_w); +} + +__global__ void NCHW2NHWC_kernel( + int N, unsigned char * dst, unsigned char * src, int height, int width) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int chan = 3; + int c = 0; + int x = index % width; + int y = index / width; + int src_index = 0; + int dst_index = 0; + for (c = 0; c < chan; c++) { + // NHWC + dst_index = c + (chan * x) + (chan * width * y); + // NCHW + src_index = x + (width * y) + (width * height * c); + dst[dst_index] = src[src_index]; + } +} + +void NCHW2NHWC_gpu( + unsigned char * dst, unsigned char * src, int d_w, int d_h, int d_c, cudaStream_t stream) +{ + int N = d_w * d_h; + NCHW2NHWC_kernel<<>>(N, dst, src, d_h, d_w); +} + +__global__ void toFloat_kernel(int N, float * dst32, unsigned char * src8, int height, int width) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int chan = 3; + int c = 0; + int x = index % width; + int y = index / width; + int dst_index = 0; + for (c = 0; c < chan; c++) { + // NCHW + dst_index = x + (width * y) + (width * height * c); + dst32[dst_index] = (float)(src8[dst_index]); + } +} + +void toFloat_gpu(float * dst32, unsigned char * src, int d_w, int d_h, int d_c, cudaStream_t stream) +{ + int N = d_w * d_h; + toFloat_kernel<<>>(N, dst32, src, d_h, d_w); +} + +__global__ void resize_bilinear_letterbox_kernel( + int N, unsigned char * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, + int src_w, float scale, int letter_bot, int letter_right) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; // # ChannelDim + int W = dst_w; + int c = 0; + int n = 0; // index / (C*W*H); + + int w = index % W; + int h = index / W; + + float centroid_h, centroid_w; + centroid_h = scale * (float)(h + 0.5); + centroid_w = scale * (float)(w + 0.5); + + int f00, f01, f10, f11; + + int src_h_idx = (int)lroundf(centroid_h) - 1; + int src_w_idx = (int)lroundf(centroid_w) - 1; + if (src_h_idx < 0) { + src_h_idx = 0; + } + if (src_w_idx < 0) { + src_w_idx = 0; + } + if (src_h_idx >= src_h) { + src_h_idx = src_h - 1; + } + if (src_w_idx >= src_w) { + src_w_idx = src_w - 1; + } + + index = (C * w) + (C * W * h); + // Unroll + for (c = 0; c < C; c++) { + f00 = n * src_h * src_w * C + src_h_idx * src_w * C + src_w_idx * C + c; + f01 = n * src_h * src_w * C + src_h_idx * src_w * C + (src_w_idx + 1) * C + c; + f10 = n * src_h * src_w * C + (src_h_idx + 1) * src_w * C + src_w_idx * C + c; + f11 = n * src_h * src_w * C + (src_h_idx + 1) * src_w * C + (src_w_idx + 1) * C + c; + + float rs = lroundf(lerp2d( + (int)src_img[f00], (int)src_img[f01], (int)src_img[f10], (int)src_img[f11], centroid_h, + centroid_w)); + dst_img[index + c] = (unsigned char)rs; + dst_img[index + c] = (h >= letter_bot) ? (unsigned int)114 : dst_img[index + c]; + dst_img[index + c] = (w >= letter_right) ? (unsigned int)114 : dst_img[index + c]; + } +} + +void resize_bilinear_letterbox_gpu( + unsigned char * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, + cudaStream_t stream) +{ + int N = d_w * d_h; + const float scale = std::min(d_w / (float)s_w, d_h / (float)s_h); + int r_h = (int)(scale * s_h); + int r_w = (int)(scale * s_w); + float stride_h = (float)s_h / (float)r_h; + float stride_w = (float)s_w / (float)r_w; + resize_bilinear_letterbox_kernel<<>>( + N, dst, src, d_h, d_w, s_h, s_w, 1.0 / scale, r_h, r_w); +} + +__global__ void resize_bilinear_letterbox_nhwc_to_nchw32_kernel( + int N, float * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, int src_w, + float scale, int letter_bot, int letter_right, float norm) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; + int H = dst_h; + int W = dst_w; + int c = 0; + + int w = index % W; + int h = index / W; + + float centroid_h, centroid_w; + centroid_h = scale * (float)(h + 0.5); + centroid_w = scale * (float)(w + 0.5); + + int f00, f01, f10, f11; + + int src_h_idx = lroundf(centroid_h) - 1; + int src_w_idx = lroundf(centroid_w) - 1; + src_h_idx = (src_h_idx < 0) ? 0 : src_h_idx; + src_h_idx = (src_h_idx >= (src_h - 1)) ? src_h - 2 : src_h_idx; + src_w_idx = (src_w_idx < 0) ? 0 : src_w_idx; + src_w_idx = (src_w_idx >= (src_w - 1)) ? src_w - 2 : src_w_idx; + // Unroll + int stride = src_w * C; + for (c = 0; c < C; c++) { + f00 = src_h_idx * stride + src_w_idx * C + c; + f01 = src_h_idx * stride + (src_w_idx + 1) * C + c; + f10 = (src_h_idx + 1) * stride + src_w_idx * C + c; + f11 = (src_h_idx + 1) * stride + (src_w_idx + 1) * C + c; + + float rs = lroundf(lerp2d( + (int)src_img[f00], (int)src_img[f01], (int)src_img[f10], (int)src_img[f11], centroid_h, + centroid_w)); + + // NHCW + int dst_index = w + (W * h) + (W * H * c); + + dst_img[dst_index] = (float)rs; + dst_img[dst_index] = (h >= letter_bot) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] = (w >= letter_right) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] *= norm; + } +} + +void resize_bilinear_letterbox_nhwc_to_nchw32_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, + float norm, cudaStream_t stream) +{ + int N = d_w * d_h; + const float scale = std::min(d_w / (float)s_w, d_h / (float)s_h); + int r_h = scale * s_h; + int r_w = scale * s_w; + float stride_h = (float)s_h / (float)r_h; + float stride_w = (float)s_w / (float)r_w; + + resize_bilinear_letterbox_nhwc_to_nchw32_kernel<<>>( + N, dst, src, d_h, d_w, s_h, s_w, 1.0 / scale, r_h, r_w, norm); +} + +__global__ void resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel( + int N, float * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, int src_w, + float scale, int letter_bot, int letter_right, float norm, int batch) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; + int H = dst_h; + int W = dst_w; + int c = 0; + // w * h * b + + int w = index % W; + int h = index / (W); + float centroid_h, centroid_w; + centroid_h = scale * (float)(h + 0.5); + centroid_w = scale * (float)(w + 0.5); + + int f00, f01, f10, f11; + + int src_h_idx = lroundf(centroid_h) - 1; + int src_w_idx = lroundf(centroid_w) - 1; + src_h_idx = (src_h_idx < 0) ? 0 : src_h_idx; + src_h_idx = (src_h_idx >= (src_h - 1)) ? src_h - 2 : src_h_idx; + src_w_idx = (src_w_idx < 0) ? 0 : src_w_idx; + src_w_idx = (src_w_idx >= (src_w - 1)) ? src_w - 2 : src_w_idx; + // Unroll + int stride = src_w * C; + int b_stride = src_h * src_w * C; + int b; + const float mean[3] = {123.675, 116.28, 103.53}; + const float std[3] = {58.395, 57.12, 57.375}; + for (b = 0; b < batch; b++) { + for (c = 0; c < C; c++) { + // NHWC + // bgr2rgb + f00 = src_h_idx * stride + src_w_idx * C + (C - c - 1) + b * b_stride; + + f01 = src_h_idx * stride + (src_w_idx + 1) * C + (C - c - 1) + b * b_stride; + + f10 = (src_h_idx + 1) * stride + src_w_idx * C + (C - c - 1) + b * b_stride; + f11 = (src_h_idx + 1) * stride + (src_w_idx + 1) * C + (C - c - 1) + b * b_stride; + + float rs = lroundf(lerp2d( + (int)src_img[f00], (int)src_img[f01], (int)src_img[f10], (int)src_img[f11], centroid_h, + centroid_w)); + + // NCHW + int dst_index = b * (W * H * C) + (W * H * c) + (W * h) + w; + + dst_img[dst_index] = (float)rs; + dst_img[dst_index] = (h >= letter_bot) ? 0.0 : dst_img[dst_index]; + dst_img[dst_index] = (w >= letter_right) ? 0.0 : dst_img[dst_index]; + dst_img[dst_index] -= mean[c]; + dst_img[dst_index] /= std[c]; + } + } +} + +void resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, int batch, + float norm, cudaStream_t stream) +{ + int N = d_w * d_h; + const float scale = std::min(d_w / (float)s_w, d_h / (float)s_h); + int r_h = scale * s_h; + int r_w = scale * s_w; + float stride_h = (float)s_h / (float)r_h; + float stride_w = (float)s_w / (float)r_w; + + resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel<<>>( + N, dst, src, d_h, d_w, s_h, s_w, 1.0 / scale, r_h, r_w, norm, batch); + /* + int b + for (b = 0; b < batch; b++) { + int index_dst = b * d_w * d_h * d_c; + int index_src = b * s_w * s_h * s_c; + resize_bilinear_letterbox_nhwc_to_nchw32_kernel<<>>(N, + &dst[index_dst], &src[index_src], d_h, d_w, s_h, s_w, 1.0/scale, r_h, r_w, norm + ); + } + */ +} + +__global__ void crop_resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel( + int N, float * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, int src_w, + Roi * d_roi, float norm, int batch) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; + int H = dst_h; + int W = dst_w; + int c = 0; + // w * h * b + + int w = index % W; + int h = index / (W); + + int f00, f01, f10, f11; + + int b; + for (b = 0; b < batch; b++) { + float centroid_h, centroid_w; + int crop_h = d_roi[b].h; + int crop_w = d_roi[b].w; + int crop_y = d_roi[b].y; + int crop_x = d_roi[b].x; + float scale = (MIN(W / (float)crop_w, H / (float)crop_h)); + int letter_bot = (int)(scale * crop_h); + int letter_right = (int)(scale * crop_w); + scale = 1.0 / scale; + centroid_h = scale * (float)(h + 0.5); + centroid_w = scale * (float)(w + 0.5); + int src_h_idx = lroundf(centroid_h) - 1; + int src_w_idx = lroundf(centroid_w) - 1; + src_h_idx = (src_h_idx < 0) ? 0 : src_h_idx; + src_h_idx = (src_h_idx >= (crop_h - 1)) ? crop_h - 2 : src_h_idx; + src_w_idx = (src_w_idx < 0) ? 0 : src_w_idx; + src_w_idx = (src_w_idx >= (crop_w - 1)) ? crop_w - 2 : src_w_idx; + // Unroll + int stride = src_w * C; + int b_stride = src_h * src_w * C; + src_w_idx += crop_x; + src_h_idx += crop_y; + + for (c = 0; c < C; c++) { + // NHWC + f00 = src_h_idx * stride + src_w_idx * C + c + b * b_stride; + f01 = src_h_idx * stride + (src_w_idx + 1) * C + c + b * b_stride; + f10 = (src_h_idx + 1) * stride + src_w_idx * C + c + b * b_stride; + f11 = (src_h_idx + 1) * stride + (src_w_idx + 1) * C + c + b * b_stride; + + float rs = lroundf(lerp2d( + (int)src_img[f00], (int)src_img[f01], (int)src_img[f10], (int)src_img[f11], centroid_h, + centroid_w)); + + // NCHW + int dst_index = w + (W * h) + (W * H * c) + b * (W * H * C); + + dst_img[dst_index] = (float)rs; + dst_img[dst_index] = (h >= letter_bot) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] = (w >= letter_right) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] *= norm; + } + } +} + +void crop_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h, + int s_c, int batch, float norm, cudaStream_t stream) +{ + int N = d_w * d_h; + crop_resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel<<< + cuda_gridsize(N), BLOCK, 0, stream>>>(N, dst, src, d_h, d_w, s_h, s_w, d_roi, norm, batch); +} + +__global__ void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel( + int N, float * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, int src_w, + Roi * d_roi, float norm, int batch) +{ + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; + int H = dst_h; + int W = dst_w; + int c = 0; + // w * h * b + int w = index % W; + int h = index / (W); + int f00, f01, f10, f11, b; + for (b = 0; b < batch; b++) { + float centroid_h, centroid_w; + int crop_h = d_roi[b].h; + int crop_w = d_roi[b].w; + int crop_y = d_roi[b].y; + int crop_x = d_roi[b].x; + float scale = (MIN(W / (float)crop_w, H / (float)crop_h)); + int letter_bot = (int)(scale * crop_h); + int letter_right = (int)(scale * crop_w); + int src_h_idx, src_w_idx, stride; + scale = 1.0 / scale; + centroid_h = scale * (float)(h + 0.5); + centroid_w = scale * (float)(w + 0.5); + src_h_idx = lroundf(centroid_h) - 1; + src_w_idx = lroundf(centroid_w) - 1; + src_h_idx = (src_h_idx < 0) ? 0 : src_h_idx; + src_h_idx = (src_h_idx >= (crop_h - 1)) ? crop_h - 2 : src_h_idx; + src_w_idx = (src_w_idx < 0) ? 0 : src_w_idx; + src_w_idx = (src_w_idx >= (crop_w - 1)) ? crop_w - 2 : src_w_idx; + // Unroll + stride = src_w * C; + src_w_idx += crop_x; + src_h_idx += crop_y; + for (c = 0; c < C; c++) { + float rs; + int dst_index; + // NHWC + f00 = src_h_idx * stride + src_w_idx * C + c; + f01 = src_h_idx * stride + (src_w_idx + 1) * C + c; + f10 = (src_h_idx + 1) * stride + src_w_idx * C + c; + f11 = (src_h_idx + 1) * stride + (src_w_idx + 1) * C + c; + rs = lroundf(lerp2d( + (int)src_img[f00], (int)src_img[f01], (int)src_img[f10], (int)src_img[f11], centroid_h, + centroid_w)); + // NCHW + dst_index = w + (W * h) + (W * H * c) + b * (W * H * C); + dst_img[dst_index] = (float)rs; + dst_img[dst_index] = (h >= letter_bot) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] = (w >= letter_right) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] *= norm; + } + } +} + +void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h, + int s_c, int batch, float norm, cudaStream_t stream) +{ + int N = d_w * d_h; + multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel<<< + cuda_gridsize(N), BLOCK, 0, stream>>>(N, dst, src, d_h, d_w, s_h, s_w, d_roi, norm, batch); +} diff --git a/perception/tensorrt_classifier/src/tensorrt_classifier.cpp b/perception/tensorrt_classifier/src/tensorrt_classifier.cpp new file mode 100644 index 0000000000000..e9bde8cc4b4f8 --- /dev/null +++ b/perception/tensorrt_classifier/src/tensorrt_classifier.cpp @@ -0,0 +1,385 @@ +// Copyright 2023 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 +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +static void trimLeft(std::string & s) +{ + s.erase(s.begin(), find_if(s.begin(), s.end(), [](int ch) { return !isspace(ch); })); +} + +static void trimRight(std::string & s) +{ + s.erase(find_if(s.rbegin(), s.rend(), [](int ch) { return !isspace(ch); }).base(), s.end()); +} + +std::string trim(std::string & s) +{ + trimLeft(s); + trimRight(s); + return s; +} + +bool fileExists(const std::string & file_name, bool verbose) +{ + if (!std::experimental::filesystem::exists(std::experimental::filesystem::path(file_name))) { + if (verbose) { + std::cout << "File does not exist : " << file_name << std::endl; + } + return false; + } + return true; +} + +std::vector loadListFromTextFile(const std::string filename) +{ + assert(fileExists(filename, true)); + std::vector list; + + std::ifstream f(filename); + if (!f) { + std::cout << "failed to open " << filename; + assert(0); + } + + std::string line; + while (std::getline(f, line)) { + if (line.empty()) + continue; + + else + list.push_back(trim(line)); + } + + return list; +} + +std::vector loadImageList(const std::string & filename, const std::string & prefix) +{ + std::vector fileList = loadListFromTextFile(filename); + for (auto & file : fileList) { + if (fileExists(file, false)) { + continue; + } else { + std::string prefixed = prefix + file; + if (fileExists(prefixed, false)) + file = prefixed; + else + std::cerr << "WARNING: couldn't find: " << prefixed << " while loading: " << filename + << std::endl; + } + } + return fileList; +} + +namespace tensorrt_classifier +{ +TrtClassifier::TrtClassifier( + const std::string & model_path, const std::string & precision, + const tensorrt_common::BatchConfig & batch_config, const std::vector & mean, + const std::vector & std, const size_t max_workspace_size, + const std::string & calibration_image_list_path, tensorrt_common::BuildConfig build_config, + const bool cuda) +{ + src_width_ = -1; + src_height_ = -1; + mean_ = mean; + std_ = std; + inv_std_ = std; + for (size_t i = 0; i < inv_std_.size(); i++) { + inv_std_[i] = 1.0 / inv_std_[i]; + } + batch_size_ = batch_config[2]; + if (precision == "int8") { + int max_batch_size = batch_config[2]; + nvinfer1::Dims input_dims = tensorrt_common::get_input_dims(model_path); + std::vector calibration_images; + if (calibration_image_list_path != "") { + calibration_images = loadImageList(calibration_image_list_path, ""); + } + tensorrt_classifier::ImageStream stream(max_batch_size, input_dims, calibration_images); + fs::path calibration_table{model_path}; + std::string calibName = ""; + std::string ext = ""; + if (build_config.calib_type_str == "Entropy") { + ext = "EntropyV2-"; + } else if ( + build_config.calib_type_str == "Legacy" || build_config.calib_type_str == "Percentile") { + ext = "Legacy-"; + } else { + ext = "MinMax-"; + } + ext += "calibration.table"; + calibration_table.replace_extension(ext); + fs::path histogram_table{model_path}; + ext = "histogram.table"; + histogram_table.replace_extension(ext); + + std::unique_ptr calibrator; + if (build_config.calib_type_str == "Entropy") { + calibrator.reset( + new tensorrt_classifier::Int8EntropyCalibrator(stream, calibration_table, mean_, std_)); + } else if ( + build_config.calib_type_str == "Legacy" || build_config.calib_type_str == "Percentile") { + double quantile = 0.999999; + double cutoff = 0.999999; + calibrator.reset(new tensorrt_classifier::Int8LegacyCalibrator( + stream, calibration_table, histogram_table, mean_, std_, true, quantile, cutoff)); + } else { + calibrator.reset( + new tensorrt_classifier::Int8MinMaxCalibrator(stream, calibration_table, mean_, std_)); + } + trt_common_ = std::make_unique( + model_path, precision, std::move(calibrator), batch_config, max_workspace_size, build_config); + } else { + trt_common_ = std::make_unique( + model_path, precision, nullptr, batch_config, max_workspace_size, build_config); + } + trt_common_->setup(); + + if (!trt_common_->isInitialized()) { + return; + } + + // GPU memory allocation + const auto input_dims = trt_common_->getBindingDimensions(0); + const auto input_size = + std::accumulate(input_dims.d + 1, input_dims.d + input_dims.nbDims, 1, std::multiplies()); + + const auto output_dims = trt_common_->getBindingDimensions(1); + input_d_ = cuda_utils::make_unique(batch_config[2] * input_size); + out_elem_num_ = std::accumulate( + output_dims.d + 1, output_dims.d + output_dims.nbDims, 1, std::multiplies()); + out_elem_num_ = out_elem_num_ * batch_config[2]; + out_elem_num_per_batch_ = static_cast(out_elem_num_ / batch_config[2]); + out_prob_d_ = cuda_utils::make_unique(out_elem_num_); + out_prob_h_ = cuda_utils::make_unique_host(out_elem_num_, cudaHostAllocPortable); + + if (cuda) { + m_cuda = true; + h_img_ = NULL; + d_img_ = NULL; + + } else { + m_cuda = false; + } +} + +TrtClassifier::~TrtClassifier() +{ + if (m_cuda) { + if (h_img_) CHECK_CUDA_ERROR(cudaFreeHost(h_img_)); + if (d_img_) CHECK_CUDA_ERROR(cudaFree(d_img_)); + } +} + +void TrtClassifier::initPreprocessBuffer(int width, int height) +{ + // if size of source input has benn changed... + if (src_width_ != -1 || src_height_ != -1) { + if (width != src_width_ || height != src_height_) { + // Free cuda memory to reallocate + if (h_img_) { + CHECK_CUDA_ERROR(cudaFreeHost(h_img_)); + h_img_ = NULL; + } + if (d_img_) { + CHECK_CUDA_ERROR(cudaFree(d_img_)); + d_img_ = NULL; + } + } + } + src_width_ = width; + src_height_ = height; + if (m_cuda) { + auto input_dims = trt_common_->getBindingDimensions(0); + bool const hasRuntimeDim = std::any_of( + input_dims.d, input_dims.d + input_dims.nbDims, + [](int32_t input_dim) { return input_dim == -1; }); + if (hasRuntimeDim) { + input_dims.d[0] = batch_size_; + } + if (!h_img_) { + trt_common_->setBindingDimensions(0, input_dims); + } + if (!h_img_) { + CHECK_CUDA_ERROR(cudaMallocHost( + reinterpret_cast(&h_img_), + sizeof(unsigned char) * width * height * 3 * batch_size_)); + CHECK_CUDA_ERROR(cudaMalloc( + reinterpret_cast(&d_img_), + sizeof(unsigned char) * width * height * 3 * batch_size_)); + } + } +} + +void TrtClassifier::preprocessGpu(const std::vector & images) +{ + const auto batch_size = images.size(); + auto input_dims = trt_common_->getBindingDimensions(0); + + input_dims.d[0] = batch_size; + for (const auto & image : images) { + // if size of source input has benn changed... + int width = image.cols; + int height = image.rows; + if (src_width_ != -1 || src_height_ != -1) { + if (width != src_width_ || height != src_height_) { + // Free cuda memory to reallocate + if (h_img_) { + CHECK_CUDA_ERROR(cudaFreeHost(h_img_)); + h_img_ = NULL; + } + if (d_img_) { + CHECK_CUDA_ERROR(cudaFree(d_img_)); + d_img_ = NULL; + } + } + } + src_width_ = width; + src_height_ = height; + } + if (!h_img_) { + trt_common_->setBindingDimensions(0, input_dims); + } + const float input_height = static_cast(input_dims.d[2]); + const float input_width = static_cast(input_dims.d[3]); + int b = 0; + for (const auto & image : images) { + if (!h_img_) { + CHECK_CUDA_ERROR(cudaMallocHost( + reinterpret_cast(&h_img_), + sizeof(unsigned char) * image.cols * image.rows * 3 * batch_size)); + CHECK_CUDA_ERROR(cudaMalloc( + reinterpret_cast(&d_img_), + sizeof(unsigned char) * image.cols * image.rows * 3 * batch_size)); + } + int index = b * image.cols * image.rows * 3; + // Copy into pinned memory + memcpy(&(h_img_[index]), &image.data[0], image.cols * image.rows * 3 * sizeof(unsigned char)); + b++; + } + // Copy into device memory + CHECK_CUDA_ERROR(cudaMemcpyAsync( + d_img_, h_img_, images[0].cols * images[0].rows * 3 * batch_size * sizeof(unsigned char), + cudaMemcpyHostToDevice, *stream_)); + resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + input_d_.get(), d_img_, input_width, input_height, 3, images[0].cols, images[0].rows, 3, + batch_size, static_cast(1.0), *stream_); + // No Need for Sync and used for timer + // CHECK_CUDA_ERROR(cudaStreamSynchronize(*stream_)); +} + +void TrtClassifier::preprocess_opt(const std::vector & images) +{ + int batch_size = static_cast(images.size()); + auto input_dims = trt_common_->getBindingDimensions(0); + input_dims.d[0] = batch_size; + trt_common_->setBindingDimensions(0, input_dims); + const float input_chan = static_cast(input_dims.d[1]); + const float input_height = static_cast(input_dims.d[2]); + const float input_width = static_cast(input_dims.d[3]); + std::vector dst_images; + int volume = batch_size * input_chan * input_height * input_width; + input_h_.resize(volume); + dst_images.resize(images.size()); + // NHWC + const size_t strides_cv[4] = { + static_cast(input_width * input_chan * input_height), + static_cast(input_width * input_chan), static_cast(input_chan), 1}; + // NCHW + const size_t strides[4] = { + static_cast(input_height * input_width * input_chan), + static_cast(input_height * input_width), static_cast(input_width), 1}; +#pragma omp parallel for + for (int n = 0; n < batch_size; n++) { + const float scale = std::min(input_width / images[n].cols, input_height / images[n].rows); + const auto scale_size = cv::Size(images[n].cols * scale, images[n].rows * scale); + cv::resize(images[n], dst_images[n], scale_size, 0, 0, cv::INTER_LINEAR); + const auto bottom = input_height - dst_images[n].rows; + const auto right = input_width - dst_images[n].cols; + copyMakeBorder( + dst_images[n], dst_images[n], 0, bottom, 0, right, cv::BORDER_CONSTANT, {0, 0, 0}); + for (int h = 0; h < input_height; h++) { + for (int w = 0; w < input_width; w++) { + for (int c = 0; c < input_chan; c++) { + // NHWC (needs RBswap) + const size_t offset_cv = h * strides_cv[1] + w * strides_cv[2] + c * strides_cv[3]; + // NCHW + const size_t offset = n * strides[0] + (c)*strides[1] + h * strides[2] + w * strides[3]; + input_h_[offset] = + (static_cast(dst_images[n].data[offset_cv]) - mean_[c]) * inv_std_[c]; + } + } + } + } + CHECK_CUDA_ERROR(cudaMemcpy( + input_d_.get(), input_h_.data(), input_h_.size() * sizeof(float), cudaMemcpyHostToDevice)); + // No Need for Sync +} + +bool TrtClassifier::doInference( + const std::vector & images, std::vector & results, std::vector & probs) +{ + if (!trt_common_->isInitialized()) { + return false; + } + preprocess_opt(images); + + return feedforwardAndDecode(images, results, probs); +} + +bool TrtClassifier::feedforwardAndDecode( + const std::vector & images, std::vector & results, std::vector & probs) +{ + results.clear(); + probs.clear(); + std::vector buffers = {input_d_.get(), out_prob_d_.get()}; + trt_common_->enqueueV2(buffers.data(), *stream_, nullptr); + + int batch_size = static_cast(images.size()); + + CHECK_CUDA_ERROR(cudaMemcpyAsync( + out_prob_h_.get(), out_prob_d_.get(), sizeof(float) * out_elem_num_, cudaMemcpyDeviceToHost, + *stream_)); + cudaStreamSynchronize(*stream_); + + for (int i = 0; i < batch_size; ++i) { + float max = 0.0; + int index = 0; + float * output = out_prob_h_.get(); + for (size_t j = 0; j < out_elem_num_per_batch_; j++) { + if (max < output[j + i * out_elem_num_per_batch_]) { + max = output[j + i * out_elem_num_per_batch_]; + index = j; + } + } + probs.push_back(max); + results.push_back(index); + } + return true; +} +} // namespace tensorrt_classifier diff --git a/perception/tensorrt_yolox/include/tensorrt_yolox/preprocess.hpp b/perception/tensorrt_yolox/include/tensorrt_yolox/preprocess.hpp index f068268d2fc65..830cf184e10e8 100644 --- a/perception/tensorrt_yolox/include/tensorrt_yolox/preprocess.hpp +++ b/perception/tensorrt_yolox/include/tensorrt_yolox/preprocess.hpp @@ -23,6 +23,14 @@ namespace tensorrt_yolox { +struct Roi +{ + int x; + int y; + int w; + int h; +}; + /** * @brief Resize a image using bilinear interpolation on gpus * @param[out] dst Resized image @@ -112,6 +120,65 @@ extern void resize_bilinear_letterbox_gpu( extern void resize_bilinear_letterbox_nhwc_to_nchw32_gpu( float * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, float norm, cudaStream_t stream); + +/** + * @brief Optimized preprocessing including resize, letterbox, nhwc2nchw, toFloat and normalization + * with batching for YOLOX on gpus + * @param[out] dst processsed image + * @param[in] src image + * @param[in] d_w width for output + * @param[in] d_h height for output + * @param[in] d_c channel for output + * @param[in] s_w width for input + * @param[in] s_h height for input + * @param[in] s_c channel for input + * @param[in] batch batch size + * @param[in] norm normalization + * @param[in] stream cuda stream + */ +extern void resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, int batch, + float norm, cudaStream_t stream); + +/** + * @brief Optimized preprocessing including crop, resize, letterbox, nhwc2nchw, toFloat and + * normalization with batching for YOLOX on gpus + * @param[out] dst processsed image + * @param[in] src image + * @param[in] d_w width for output + * @param[in] d_h height for output + * @param[in] d_c channel for output + * @param[in] s_w width for input + * @param[in] s_h height for input + * @param[in] s_c channel for input + * @param[in] d_roi regions of interest for cropping + * @param[in] batch batch size + * @param[in] norm normalization + * @param[in] stream cuda stream + */ +extern void crop_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h, + int s_c, int batch, float norm, cudaStream_t stream); + +/** + * @brief Optimized multi-scale preprocessing including crop, resize, letterbox, nhwc2nchw, toFloat + * and normalization with batching for YOLOX on gpus + * @param[out] dst processsed image + * @param[in] src image + * @param[in] d_w width for output + * @param[in] d_h height for output + * @param[in] d_c channel for output + * @param[in] s_w width for input + * @param[in] s_h height for input + * @param[in] s_c channel for input + * @param[in] d_roi regions of interest for cropping + * @param[in] batch batch size + * @param[in] norm normalization + * @param[in] stream cuda stream + */ +extern void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h, + int s_c, int batch, float norm, cudaStream_t stream); } // namespace tensorrt_yolox #endif // TENSORRT_YOLOX__PREPROCESS_HPP_ diff --git a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp index bdd6d6fe66861..fd50e67143d18 100644 --- a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp +++ b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include @@ -82,9 +83,13 @@ class TrtYoloX const float score_threshold = 0.3, const float nms_threshold = 0.7, const tensorrt_common::BuildConfig build_config = tensorrt_common::BuildConfig(), const bool use_gpu_preprocess = false, std::string calibration_image_list_file = std::string(), - const double norm_factor = 1.0, const std::string & cache_dir = "", + const double norm_factor = 1.0, [[maybe_unused]] const std::string & cache_dir = "", const tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, const size_t max_workspace_size = (1 << 30)); + /** + * @brief Deconstruct TrtYoloX + */ + ~TrtYoloX(); /** * @brief run inference including pre-process and post-process @@ -93,11 +98,29 @@ class TrtYoloX */ bool doInference(const std::vector & images, ObjectArrays & objects); + /** + * @brief run inference including pre-process and post-process + * @param[out] objects results for object detection + * @param[in] images batched images + * @param[in] rois region of interest for inference + */ + bool doInferenceWithRoi( + const std::vector & images, ObjectArrays & objects, const std::vector & roi); + + /** + * @brief run multi-scale inference including pre-process and post-process + * @param[out] objects results for object detection + * @param[in] image + * @param[in] rois region of interest for inference + */ + bool doMultiScaleInference( + const cv::Mat & image, ObjectArrays & objects, const std::vector & roi); + /** * @brief allocate buffer for preprocess on GPU * @param[in] width original image width * @param[in] height original image height - * @warning if we don't allocate buffers using it, "preprocess_gpu" allocates buffers at the + * @warning if we don't allocate buffers using it, "preprocessGpu" allocates buffers at the * beginning */ void initPreprocessBuffer(int width, int height); @@ -108,11 +131,51 @@ class TrtYoloX void printProfiling(void); private: + /** + * @brief run preprcess including resizing, letterbox, NHWC2NCHW and toFloat on CPU + * @param[in] images batching images + */ void preprocess(const std::vector & images); - // NOTE: Currently only supports a single batch image + /** + * @brief run preprocess on GPU + * @param[in] images batching images + */ void preprocessGpu(const std::vector & images); + /** + * @brief run preprcess including resizing, letterbox, NHWC2NCHW and toFloat on CPU + * @param[in] images batching images + * @param[in] rois region of interest + */ + void preprocessWithRoi(const std::vector & images, const std::vector & rois); + + /** + * @brief run preprocess on GPU + * @param[in] images batching images + * @param[in] rois region of interest + */ + void preprocessWithRoiGpu( + const std::vector & images, const std::vector & rois); + + /** + * @brief run multi-scale preprcess including resizing, letterbox, NHWC2NCHW and toFloat on CPU + * @param[in] images batching images + * @param[in] rois region of interest + */ + void multiScalePreprocess(const cv::Mat & image, const std::vector & rois); + + /** + * @brief run multi-scale preprcess including resizing, letterbox, NHWC2NCHW and toFloat on GPU + * @param[in] images batching images + * @param[in] rois region of interest + */ + void multiScalepreprocessGpu(const cv::Mat & image, const std::vector & rois); + + bool multiScaleFeedforward(const cv::Mat & image, int batch_size, ObjectArrays & objects); + bool multiScaleFeedforwardAndDecode( + const cv::Mat & images, int batch_size, ObjectArrays & objects); + bool feedforward(const std::vector & images, ObjectArrays & objects); bool feedforwardAndDecode(const std::vector & images, ObjectArrays & objects); void decodeOutputs(float * prob, ObjectArray & objects, float scale, cv::Size & img_size) const; @@ -165,7 +228,7 @@ class TrtYoloX int num_class_; float score_threshold_; float nms_threshold_; - + int batch_size_; CudaUniquePtrHost out_prob_h_; // flag whether preprocess are performed on GPU @@ -181,6 +244,11 @@ class TrtYoloX int src_width_; int src_height_; + + // host pointer for ROI + CudaUniquePtrHost roi_h_; + // device pointer for ROI + CudaUniquePtr roi_d_; }; } // namespace tensorrt_yolox diff --git a/perception/tensorrt_yolox/src/preprocess.cu b/perception/tensorrt_yolox/src/preprocess.cu index 7c9d9eff317df..3c3087c536f10 100644 --- a/perception/tensorrt_yolox/src/preprocess.cu +++ b/perception/tensorrt_yolox/src/preprocess.cu @@ -19,6 +19,8 @@ #include +#define MIN(x, y) x < y ? x : y + namespace tensorrt_yolox { constexpr size_t block = 512; @@ -368,4 +370,228 @@ void resize_bilinear_letterbox_nhwc_to_nchw32_gpu( resize_bilinear_letterbox_nhwc_to_nchw32_kernel<<>>( N, dst, src, d_h, d_w, s_h, s_w, 1.0 / scale, r_h, r_w, norm); } + +__global__ void resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel( + int N, float * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, int src_w, + float scale, int letter_bot, int letter_right, float norm, int batch) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; + int H = dst_h; + int W = dst_w; + int c = 0; + // w * h * b + + int w = index % W; + int h = index / (W); + float centroid_h, centroid_w; + centroid_h = scale * (float)(h + 0.5); + centroid_w = scale * (float)(w + 0.5); + + int f00, f01, f10, f11; + + int src_h_idx = lroundf(centroid_h) - 1; + int src_w_idx = lroundf(centroid_w) - 1; + src_h_idx = (src_h_idx < 0) ? 0 : src_h_idx; + src_h_idx = (src_h_idx >= (src_h - 1)) ? src_h - 2 : src_h_idx; + src_w_idx = (src_w_idx < 0) ? 0 : src_w_idx; + src_w_idx = (src_w_idx >= (src_w - 1)) ? src_w - 2 : src_w_idx; + // Unroll + int stride = src_w * C; + int b_stride = src_h * src_w * C; + int b; + for (b = 0; b < batch; b++) { + for (c = 0; c < C; c++) { + // NHWC + f00 = src_h_idx * stride + src_w_idx * C + c + b * b_stride; + f01 = src_h_idx * stride + (src_w_idx + 1) * C + c + b * b_stride; + f10 = (src_h_idx + 1) * stride + src_w_idx * C + c + b * b_stride; + f11 = (src_h_idx + 1) * stride + (src_w_idx + 1) * C + c + b * b_stride; + + float rs = lroundf(lerp2d( + (int)src_img[f00], (int)src_img[f01], (int)src_img[f10], (int)src_img[f11], centroid_h, + centroid_w)); + + // NCHW + int dst_index = w + (W * h) + (W * H * c) + b * (W * H * C); + + dst_img[dst_index] = (float)rs; + dst_img[dst_index] = (h >= letter_bot) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] = (w >= letter_right) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] *= norm; + } + } +} + +void resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, int s_w, int s_h, int s_c, int batch, + float norm, cudaStream_t stream) +{ + int N = d_w * d_h; + const float scale = std::min(d_w / (float)s_w, d_h / (float)s_h); + int r_h = scale * s_h; + int r_w = scale * s_w; + float stride_h = (float)s_h / (float)r_h; + float stride_w = (float)s_w / (float)r_w; + + resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel<<>>( + N, dst, src, d_h, d_w, s_h, s_w, 1.0 / scale, r_h, r_w, norm, batch); + /* + int b + for (b = 0; b < batch; b++) { + int index_dst = b * d_w * d_h * d_c; + int index_src = b * s_w * s_h * s_c; + resize_bilinear_letterbox_nhwc_to_nchw32_kernel<<>>(N, + &dst[index_dst], &src[index_src], d_h, d_w, s_h, s_w, 1.0/scale, r_h, r_w, norm + ); + } + */ +} + +__global__ void crop_resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel( + int N, float * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, int src_w, + Roi * d_roi, float norm, int batch) +{ + // NHWC + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; + int H = dst_h; + int W = dst_w; + int c = 0; + // w * h * b + + int w = index % W; + int h = index / (W); + + int f00, f01, f10, f11; + + int b; + for (b = 0; b < batch; b++) { + float centroid_h, centroid_w; + int crop_h = d_roi[b].h; + int crop_w = d_roi[b].w; + int crop_y = d_roi[b].y; + int crop_x = d_roi[b].x; + float scale = (MIN(W / (float)crop_w, H / (float)crop_h)); + int letter_bot = (int)(scale * crop_h); + int letter_right = (int)(scale * crop_w); + scale = 1.0 / scale; + centroid_h = scale * (float)(h + 0.5); + centroid_w = scale * (float)(w + 0.5); + int src_h_idx = lroundf(centroid_h) - 1; + int src_w_idx = lroundf(centroid_w) - 1; + src_h_idx = (src_h_idx < 0) ? 0 : src_h_idx; + src_h_idx = (src_h_idx >= (crop_h - 1)) ? crop_h - 2 : src_h_idx; + src_w_idx = (src_w_idx < 0) ? 0 : src_w_idx; + src_w_idx = (src_w_idx >= (crop_w - 1)) ? crop_w - 2 : src_w_idx; + // Unroll + int stride = src_w * C; + int b_stride = src_h * src_w * C; + src_w_idx += crop_x; + src_h_idx += crop_y; + + for (c = 0; c < C; c++) { + // NHWC + f00 = src_h_idx * stride + src_w_idx * C + c + b * b_stride; + f01 = src_h_idx * stride + (src_w_idx + 1) * C + c + b * b_stride; + f10 = (src_h_idx + 1) * stride + src_w_idx * C + c + b * b_stride; + f11 = (src_h_idx + 1) * stride + (src_w_idx + 1) * C + c + b * b_stride; + + float rs = lroundf(lerp2d( + (int)src_img[f00], (int)src_img[f01], (int)src_img[f10], (int)src_img[f11], centroid_h, + centroid_w)); + + // NCHW + int dst_index = w + (W * h) + (W * H * c) + b * (W * H * C); + + dst_img[dst_index] = (float)rs; + dst_img[dst_index] = (h >= letter_bot) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] = (w >= letter_right) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] *= norm; + } + } +} + +void crop_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h, + int s_c, int batch, float norm, cudaStream_t stream) +{ + int N = d_w * d_h; + crop_resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel<<< + cuda_gridsize(N), block, 0, stream>>>(N, dst, src, d_h, d_w, s_h, s_w, d_roi, norm, batch); +} + +__global__ void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel( + int N, float * dst_img, unsigned char * src_img, int dst_h, int dst_w, int src_h, int src_w, + Roi * d_roi, float norm, int batch) +{ + int index = (blockIdx.x + blockIdx.y * gridDim.x) * blockDim.x + threadIdx.x; + + if (index >= N) return; + int C = 3; + int H = dst_h; + int W = dst_w; + int c = 0; + // w * h * b + int w = index % W; + int h = index / (W); + int f00, f01, f10, f11, b; + for (b = 0; b < batch; b++) { + float centroid_h, centroid_w; + int crop_h = d_roi[b].h; + int crop_w = d_roi[b].w; + int crop_y = d_roi[b].y; + int crop_x = d_roi[b].x; + float scale = (MIN(W / (float)crop_w, H / (float)crop_h)); + int letter_bot = (int)(scale * crop_h); + int letter_right = (int)(scale * crop_w); + int src_h_idx, src_w_idx, stride; + scale = 1.0 / scale; + centroid_h = scale * (float)(h + 0.5); + centroid_w = scale * (float)(w + 0.5); + src_h_idx = lroundf(centroid_h) - 1; + src_w_idx = lroundf(centroid_w) - 1; + src_h_idx = (src_h_idx < 0) ? 0 : src_h_idx; + src_h_idx = (src_h_idx >= (crop_h - 1)) ? crop_h - 2 : src_h_idx; + src_w_idx = (src_w_idx < 0) ? 0 : src_w_idx; + src_w_idx = (src_w_idx >= (crop_w - 1)) ? crop_w - 2 : src_w_idx; + // Unroll + stride = src_w * C; + src_w_idx += crop_x; + src_h_idx += crop_y; + for (c = 0; c < C; c++) { + float rs; + int dst_index; + // NHWC + f00 = src_h_idx * stride + src_w_idx * C + c; + f01 = src_h_idx * stride + (src_w_idx + 1) * C + c; + f10 = (src_h_idx + 1) * stride + src_w_idx * C + c; + f11 = (src_h_idx + 1) * stride + (src_w_idx + 1) * C + c; + rs = lroundf(lerp2d( + (int)src_img[f00], (int)src_img[f01], (int)src_img[f10], (int)src_img[f11], centroid_h, + centroid_w)); + // NCHW + dst_index = w + (W * h) + (W * H * c) + b * (W * H * C); + dst_img[dst_index] = (float)rs; + dst_img[dst_index] = (h >= letter_bot) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] = (w >= letter_right) ? 114.0 : dst_img[dst_index]; + dst_img[dst_index] *= norm; + } + } +} + +void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + float * dst, unsigned char * src, int d_w, int d_h, int d_c, Roi * d_roi, int s_w, int s_h, + int s_c, int batch, float norm, cudaStream_t stream) +{ + int N = d_w * d_h; + multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_kernel<<< + cuda_gridsize(N), block, 0, stream>>>(N, dst, src, d_h, d_w, s_h, s_w, d_roi, norm, batch); +} + } // namespace tensorrt_yolox diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp index 0950f46f30b43..32d905eed2870 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp @@ -46,7 +46,7 @@ std::string trim(std::string & s) return s; } -bool existFile(const std::string & file_name, bool verbose) +bool fileExists(const std::string & file_name, bool verbose) { if (!std::experimental::filesystem::exists(std::experimental::filesystem::path(file_name))) { if (verbose) { @@ -59,7 +59,7 @@ bool existFile(const std::string & file_name, bool verbose) std::vector loadListFromTextFile(const std::string & filename) { - assert(existFile(filename, true)); + assert(fileExists(filename, true)); std::vector list; std::ifstream f(filename); @@ -84,11 +84,11 @@ std::vector loadImageList(const std::string & filename, const std:: { std::vector fileList = loadListFromTextFile(filename); for (auto & file : fileList) { - if (existFile(file, false)) { + if (fileExists(file, false)) { continue; } else { std::string prefixed = prefix + file; - if (existFile(prefixed, false)) + if (fileExists(prefixed, false)) file = prefixed; else std::cerr << "WARNING: couldn't find: " << prefixed << " while loading: " << filename @@ -111,6 +111,7 @@ TrtYoloX::TrtYoloX( src_width_ = -1; src_height_ = -1; norm_factor_ = norm_factor; + batch_size_ = batch_config[2]; if (precision == "int8") { if (build_config.clip_value <= 0.0) { if (calibration_image_list_path.empty()) { @@ -123,7 +124,7 @@ TrtYoloX::TrtYoloX( calibration_image_list_path = ""; } - int max_batch_size = 1; + int max_batch_size = batch_size_; nvinfer1::Dims input_dims = tensorrt_common::get_input_dims(model_path); std::vector calibration_images; if (calibration_image_list_path != "") { @@ -209,6 +210,7 @@ TrtYoloX::TrtYoloX( input_d_ = cuda_utils::make_unique(batch_config[2] * input_size); out_elem_num_ = std::accumulate( output_dims.d + 1, output_dims.d + output_dims.nbDims, 1, std::multiplies()); + out_elem_num_ = out_elem_num_ * batch_config[2]; out_elem_num_per_batch_ = static_cast(out_elem_num_ / batch_config[2]); out_prob_d_ = cuda_utils::make_unique(out_elem_num_); out_prob_h_ = cuda_utils::make_unique_host(out_elem_num_, cudaHostAllocPortable); @@ -241,6 +243,18 @@ TrtYoloX::TrtYoloX( } } +TrtYoloX::~TrtYoloX() +{ + if (use_gpu_preprocess_) { + if (image_buf_h_) { + image_buf_h_.reset(); + } + if (image_buf_d_) { + image_buf_d_.reset(); + } + } +} + void TrtYoloX::initPreprocessBuffer(int width, int height) { // if size of source input has been changed... @@ -259,6 +273,12 @@ void TrtYoloX::initPreprocessBuffer(int width, int height) src_height_ = height; if (use_gpu_preprocess_) { auto input_dims = trt_common_->getBindingDimensions(0); + bool const hasRuntimeDim = std::any_of( + input_dims.d, input_dims.d + input_dims.nbDims, + [](int32_t input_dim) { return input_dim == -1; }); + if (hasRuntimeDim) { + input_dims.d[0] = batch_size_; + } if (!image_buf_h_) { trt_common_->setBindingDimensions(0, input_dims); scales_.clear(); @@ -267,10 +287,12 @@ void TrtYoloX::initPreprocessBuffer(int width, int height) const float input_width = static_cast(input_dims.d[3]); if (!image_buf_h_) { const float scale = std::min(input_width / width, input_height / height); - scales_.emplace_back(scale); + for (int b = 0; b < batch_size_; b++) { + scales_.emplace_back(scale); + } image_buf_h_ = cuda_utils::make_unique_host( - width * height * 3, cudaHostAllocWriteCombined); - image_buf_d_ = cuda_utils::make_unique(width * height * 3); + width * height * 3 * batch_size_, cudaHostAllocWriteCombined); + image_buf_d_ = cuda_utils::make_unique(width * height * 3 * batch_size_); } } } @@ -283,9 +305,8 @@ void TrtYoloX::printProfiling(void) void TrtYoloX::preprocessGpu(const std::vector & images) { const auto batch_size = images.size(); - // Currently only supports single batch in cuda preprocessing - assert(batch_size == 1); auto input_dims = trt_common_->getBindingDimensions(0); + input_dims.d[0] = batch_size; for (const auto & image : images) { // if size of source input has been changed... @@ -311,25 +332,32 @@ void TrtYoloX::preprocessGpu(const std::vector & images) } const float input_height = static_cast(input_dims.d[2]); const float input_width = static_cast(input_dims.d[3]); + int b = 0; for (const auto & image : images) { if (!image_buf_h_) { const float scale = std::min(input_width / image.cols, input_height / image.rows); scales_.emplace_back(scale); image_buf_h_ = cuda_utils::make_unique_host( - image.cols * image.rows * 3, cudaHostAllocWriteCombined); - image_buf_d_ = cuda_utils::make_unique(image.cols * image.rows * 3); + image.cols * image.rows * 3 * batch_size, cudaHostAllocWriteCombined); + image_buf_d_ = + cuda_utils::make_unique(image.cols * image.rows * 3 * batch_size); } + int index = b * image.cols * image.rows * 3; // Copy into pinned memory - memcpy(image_buf_h_.get(), &image.data[0], image.cols * image.rows * 3 * sizeof(unsigned char)); - // Copy into device memory - CHECK_CUDA_ERROR(cudaMemcpyAsync( - image_buf_d_.get(), image_buf_h_.get(), image.cols * image.rows * 3 * sizeof(unsigned char), - cudaMemcpyHostToDevice, *stream_)); - // Preprocess on GPU - resize_bilinear_letterbox_nhwc_to_nchw32_gpu( - input_d_.get(), image_buf_d_.get(), input_width, input_height, 3, image.cols, image.rows, 3, - static_cast(norm_factor_), *stream_); + memcpy( + image_buf_h_.get() + index, &image.data[0], + image.cols * image.rows * 3 * sizeof(unsigned char)); + b++; } + // Copy into device memory + CHECK_CUDA_ERROR(cudaMemcpyAsync( + image_buf_d_.get(), image_buf_h_.get(), + images[0].cols * images[0].rows * 3 * batch_size * sizeof(unsigned char), + cudaMemcpyHostToDevice, *stream_)); + // Preprocess on GPU + resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + input_d_.get(), image_buf_d_.get(), input_width, input_height, 3, images[0].cols, + images[0].rows, 3, batch_size, static_cast(norm_factor_), *stream_); } void TrtYoloX::preprocess(const std::vector & images) @@ -375,6 +403,7 @@ void TrtYoloX::preprocess(const std::vector & images) input_h_ = chw_images.isContinuous() ? flat : flat.clone(); CHECK_CUDA_ERROR(cudaMemcpy( input_d_.get(), input_h_.data(), input_h_.size() * sizeof(float), cudaMemcpyHostToDevice)); + // No Need for Sync } bool TrtYoloX::doInference(const std::vector & images, ObjectArrays & objects) @@ -396,6 +425,275 @@ bool TrtYoloX::doInference(const std::vector & images, ObjectArrays & o } } +void TrtYoloX::preprocessWithRoiGpu( + const std::vector & images, const std::vector & rois) +{ + const auto batch_size = images.size(); + auto input_dims = trt_common_->getBindingDimensions(0); + + input_dims.d[0] = batch_size; + for (const auto & image : images) { + // if size of source input has benn changed... + int width = image.cols; + int height = image.rows; + if (src_width_ != -1 || src_height_ != -1) { + if (width != src_width_ || height != src_height_) { + // Free cuda memory to reallocate + if (image_buf_h_) { + image_buf_h_.reset(); + } + if (image_buf_d_) { + image_buf_d_.reset(); + } + } + } + src_width_ = width; + src_height_ = height; + } + if (!image_buf_h_) { + trt_common_->setBindingDimensions(0, input_dims); + } + const float input_height = static_cast(input_dims.d[2]); + const float input_width = static_cast(input_dims.d[3]); + int b = 0; + scales_.clear(); + + if (!roi_h_) { + roi_h_ = cuda_utils::make_unique_host(batch_size, cudaHostAllocWriteCombined); + roi_d_ = cuda_utils::make_unique(batch_size); + } + + for (const auto & image : images) { + const float scale = std::min( + input_width / static_cast(rois[b].width), + input_height / static_cast(rois[b].height)); + scales_.emplace_back(scale); + if (!image_buf_h_) { + image_buf_h_ = cuda_utils::make_unique_host( + image.cols * image.rows * 3 * batch_size, cudaHostAllocWriteCombined); + image_buf_d_ = + cuda_utils::make_unique(image.cols * image.rows * 3 * batch_size); + } + int index = b * image.cols * image.rows * 3; + // Copy into pinned memory + // memcpy(&(m_h_img[index]), &image.data[0], image.cols * image.rows * 3 * sizeof(unsigned + // char)); + memcpy( + image_buf_h_.get() + index, &image.data[0], + image.cols * image.rows * 3 * sizeof(unsigned char)); + roi_h_[b].x = rois[b].x; + roi_h_[b].y = rois[b].y; + roi_h_[b].w = rois[b].width; + roi_h_[b].h = rois[b].height; + b++; + } + // Copy into device memory + CHECK_CUDA_ERROR(cudaMemcpyAsync( + image_buf_d_.get(), image_buf_h_.get(), + images[0].cols * images[0].rows * 3 * batch_size * sizeof(unsigned char), + cudaMemcpyHostToDevice, *stream_)); + CHECK_CUDA_ERROR(cudaMemcpyAsync( + roi_d_.get(), roi_h_.get(), batch_size * sizeof(Roi), cudaMemcpyHostToDevice, *stream_)); + crop_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + input_d_.get(), image_buf_d_.get(), input_width, input_height, 3, roi_d_.get(), images[0].cols, + images[0].rows, 3, batch_size, static_cast(norm_factor_), *stream_); +} + +void TrtYoloX::preprocessWithRoi( + const std::vector & images, const std::vector & rois) +{ + const auto batch_size = images.size(); + auto input_dims = trt_common_->getBindingDimensions(0); + input_dims.d[0] = batch_size; + trt_common_->setBindingDimensions(0, input_dims); + const float input_height = static_cast(input_dims.d[2]); + const float input_width = static_cast(input_dims.d[3]); + std::vector dst_images; + scales_.clear(); + bool letterbox = true; + int b = 0; + if (letterbox) { + for (const auto & image : images) { + cv::Mat dst_image; + cv::Mat cropped = image(rois[b]); + const float scale = std::min( + input_width / static_cast(rois[b].width), + input_height / static_cast(rois[b].height)); + scales_.emplace_back(scale); + const auto scale_size = cv::Size(rois[b].width * scale, rois[b].height * scale); + cv::resize(cropped, dst_image, scale_size, 0, 0, cv::INTER_CUBIC); + const auto bottom = input_height - dst_image.rows; + const auto right = input_width - dst_image.cols; + copyMakeBorder( + dst_image, dst_image, 0, bottom, 0, right, cv::BORDER_CONSTANT, {114, 114, 114}); + dst_images.emplace_back(dst_image); + b++; + } + } else { + for (const auto & image : images) { + cv::Mat dst_image; + const float scale = -1.0; + scales_.emplace_back(scale); + const auto scale_size = cv::Size(input_width, input_height); + cv::resize(image, dst_image, scale_size, 0, 0, cv::INTER_CUBIC); + dst_images.emplace_back(dst_image); + } + } + const auto chw_images = cv::dnn::blobFromImages( + dst_images, norm_factor_, cv::Size(), cv::Scalar(), false, false, CV_32F); + + const auto data_length = chw_images.total(); + input_h_.reserve(data_length); + const auto flat = chw_images.reshape(1, data_length); + input_h_ = chw_images.isContinuous() ? flat : flat.clone(); + CHECK_CUDA_ERROR(cudaMemcpy( + input_d_.get(), input_h_.data(), input_h_.size() * sizeof(float), cudaMemcpyHostToDevice)); + // No Need for Sync +} + +void TrtYoloX::multiScalepreprocessGpu(const cv::Mat & image, const std::vector & rois) +{ + const auto batch_size = rois.size(); + auto input_dims = trt_common_->getBindingDimensions(0); + + input_dims.d[0] = batch_size; + + // if size of source input has benn changed... + int width = image.cols; + int height = image.rows; + if (src_width_ != -1 || src_height_ != -1) { + if (width != src_width_ || height != src_height_) { + // Free cuda memory to reallocate + if (image_buf_h_) { + image_buf_h_.reset(); + } + if (image_buf_d_) { + image_buf_d_.reset(); + } + } + } + src_width_ = width; + src_height_ = height; + + if (!image_buf_h_) { + trt_common_->setBindingDimensions(0, input_dims); + } + const float input_height = static_cast(input_dims.d[2]); + const float input_width = static_cast(input_dims.d[3]); + + scales_.clear(); + + if (!roi_h_) { + roi_h_ = cuda_utils::make_unique_host(batch_size, cudaHostAllocWriteCombined); + roi_d_ = cuda_utils::make_unique(batch_size); + } + + for (size_t b = 0; b < rois.size(); b++) { + const float scale = std::min( + input_width / static_cast(rois[b].width), + input_height / static_cast(rois[b].height)); + scales_.emplace_back(scale); + roi_h_[b].x = rois[b].x; + roi_h_[b].y = rois[b].y; + roi_h_[b].w = rois[b].width; + roi_h_[b].h = rois[b].height; + } + if (!image_buf_h_) { + image_buf_h_ = cuda_utils::make_unique_host( + image.cols * image.rows * 3 * 1, cudaHostAllocWriteCombined); + image_buf_d_ = cuda_utils::make_unique(image.cols * image.rows * 3 * 1); + } + int index = 0 * image.cols * image.rows * 3; + // Copy into pinned memory + memcpy( + image_buf_h_.get() + index, &image.data[0], + image.cols * image.rows * 3 * sizeof(unsigned char)); + + // Copy into device memory + CHECK_CUDA_ERROR(cudaMemcpyAsync( + image_buf_d_.get(), image_buf_h_.get(), image.cols * image.rows * 3 * 1 * sizeof(unsigned char), + cudaMemcpyHostToDevice, *stream_)); + CHECK_CUDA_ERROR(cudaMemcpyAsync( + roi_d_.get(), roi_h_.get(), batch_size * sizeof(Roi), cudaMemcpyHostToDevice, *stream_)); + multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( + input_d_.get(), image_buf_d_.get(), input_width, input_height, 3, roi_d_.get(), image.cols, + image.rows, 3, batch_size, static_cast(norm_factor_), *stream_); +} + +void TrtYoloX::multiScalePreprocess(const cv::Mat & image, const std::vector & rois) +{ + const auto batch_size = rois.size(); + auto input_dims = trt_common_->getBindingDimensions(0); + input_dims.d[0] = batch_size; + trt_common_->setBindingDimensions(0, input_dims); + const float input_height = static_cast(input_dims.d[2]); + const float input_width = static_cast(input_dims.d[3]); + std::vector dst_images; + scales_.clear(); + + for (const auto & roi : rois) { + cv::Mat dst_image; + cv::Mat cropped = image(roi); + const float scale = std::min( + input_width / static_cast(roi.width), input_height / static_cast(roi.height)); + scales_.emplace_back(scale); + const auto scale_size = cv::Size(roi.width * scale, roi.height * scale); + cv::resize(cropped, dst_image, scale_size, 0, 0, cv::INTER_CUBIC); + const auto bottom = input_height - dst_image.rows; + const auto right = input_width - dst_image.cols; + copyMakeBorder(dst_image, dst_image, 0, bottom, 0, right, cv::BORDER_CONSTANT, {114, 114, 114}); + dst_images.emplace_back(dst_image); + } + const auto chw_images = cv::dnn::blobFromImages( + dst_images, norm_factor_, cv::Size(), cv::Scalar(), false, false, CV_32F); + + const auto data_length = chw_images.total(); + input_h_.reserve(data_length); + const auto flat = chw_images.reshape(1, data_length); + input_h_ = chw_images.isContinuous() ? flat : flat.clone(); + CHECK_CUDA_ERROR(cudaMemcpy( + input_d_.get(), input_h_.data(), input_h_.size() * sizeof(float), cudaMemcpyHostToDevice)); + // No Need for Sync +} + +bool TrtYoloX::doInferenceWithRoi( + const std::vector & images, ObjectArrays & objects, const std::vector & rois) +{ + if (!trt_common_->isInitialized()) { + return false; + } + if (use_gpu_preprocess_) { + preprocessWithRoiGpu(images, rois); + } else { + preprocessWithRoi(images, rois); + } + + if (needs_output_decode_) { + return feedforwardAndDecode(images, objects); + } else { + return feedforward(images, objects); + } +} + +bool TrtYoloX::doMultiScaleInference( + const cv::Mat & image, ObjectArrays & objects, const std::vector & rois) +{ + std::vector images; + if (!trt_common_->isInitialized()) { + return false; + } + if (use_gpu_preprocess_) { + multiScalepreprocessGpu(image, rois); + } else { + multiScalePreprocess(image, rois); + } + if (needs_output_decode_) { + return multiScaleFeedforwardAndDecode(image, rois.size(), objects); + } else { + return multiScaleFeedforward(image, rois.size(), objects); + } +} + // This method is assumed to be called when specified YOLOX model contains // EfficientNMS_TRT module. bool TrtYoloX::feedforward(const std::vector & images, ObjectArrays & objects) @@ -473,6 +771,80 @@ bool TrtYoloX::feedforwardAndDecode(const std::vector & images, ObjectA return true; } +// This method is assumed to be called when specified YOLOX model contains +// EfficientNMS_TRT module. +bool TrtYoloX::multiScaleFeedforward(const cv::Mat & image, int batch_size, ObjectArrays & objects) +{ + std::vector buffers = { + input_d_.get(), out_num_detections_d_.get(), out_boxes_d_.get(), out_scores_d_.get(), + out_classes_d_.get()}; + + trt_common_->enqueueV2(buffers.data(), *stream_, nullptr); + + auto out_num_detections = std::make_unique(batch_size); + auto out_boxes = std::make_unique(4 * batch_size * max_detections_); + auto out_scores = std::make_unique(batch_size * max_detections_); + auto out_classes = std::make_unique(batch_size * max_detections_); + + CHECK_CUDA_ERROR(cudaMemcpyAsync( + out_num_detections.get(), out_num_detections_d_.get(), sizeof(int32_t) * batch_size, + cudaMemcpyDeviceToHost, *stream_)); + CHECK_CUDA_ERROR(cudaMemcpyAsync( + out_boxes.get(), out_boxes_d_.get(), sizeof(float) * 4 * batch_size * max_detections_, + cudaMemcpyDeviceToHost, *stream_)); + CHECK_CUDA_ERROR(cudaMemcpyAsync( + out_scores.get(), out_scores_d_.get(), sizeof(float) * batch_size * max_detections_, + cudaMemcpyDeviceToHost, *stream_)); + CHECK_CUDA_ERROR(cudaMemcpyAsync( + out_classes.get(), out_classes_d_.get(), sizeof(int32_t) * batch_size * max_detections_, + cudaMemcpyDeviceToHost, *stream_)); + cudaStreamSynchronize(*stream_); + + objects.clear(); + for (int i = 0; i < batch_size; ++i) { + const size_t num_detection = static_cast(out_num_detections[i]); + ObjectArray object_array(num_detection); + for (size_t j = 0; j < num_detection; ++j) { + Object object{}; + const auto x1 = out_boxes[i * max_detections_ * 4 + j * 4] / scales_[i]; + const auto y1 = out_boxes[i * max_detections_ * 4 + j * 4 + 1] / scales_[i]; + const auto x2 = out_boxes[i * max_detections_ * 4 + j * 4 + 2] / scales_[i]; + const auto y2 = out_boxes[i * max_detections_ * 4 + j * 4 + 3] / scales_[i]; + object.x_offset = std::clamp(0, static_cast(x1), image.cols); + object.y_offset = std::clamp(0, static_cast(y1), image.rows); + object.width = static_cast(std::max(0.0F, x2 - x1)); + object.height = static_cast(std::max(0.0F, y2 - y1)); + object.score = out_scores[i * max_detections_ + j]; + object.type = out_classes[i * max_detections_ + j]; + object_array.emplace_back(object); + } + objects.emplace_back(object_array); + } + return true; +} + +bool TrtYoloX::multiScaleFeedforwardAndDecode( + const cv::Mat & image, int batch_size, ObjectArrays & objects) +{ + std::vector buffers = {input_d_.get(), out_prob_d_.get()}; + trt_common_->enqueueV2(buffers.data(), *stream_, nullptr); + + CHECK_CUDA_ERROR(cudaMemcpyAsync( + out_prob_h_.get(), out_prob_d_.get(), sizeof(float) * out_elem_num_, cudaMemcpyDeviceToHost, + *stream_)); + cudaStreamSynchronize(*stream_); + objects.clear(); + + for (int i = 0; i < batch_size; ++i) { + auto image_size = image.size(); + float * batch_prob = out_prob_h_.get() + (i * out_elem_num_per_batch_); + ObjectArray object_array; + decodeOutputs(batch_prob, object_array, scales_[i], image_size); + objects.emplace_back(object_array); + } + return true; +} + void TrtYoloX::decodeOutputs( float * prob, ObjectArray & objects, float scale, cv::Size & img_size) const { diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp index e450ba6b5817e..ec0541a52f32c 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 Tier IV, Inc. +// 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. diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt index aeea36ecde047..c4b62a932dcfd 100644 --- a/perception/traffic_light_classifier/CMakeLists.txt +++ b/perception/traffic_light_classifier/CMakeLists.txt @@ -66,6 +66,14 @@ else() endif() # Download caffemodel and prototxt +set(EFFICIENTNET_BATCH_1_HASH 82baba4fcf1abe0c040cd55005e34510) +set(EFFICIENTNET_BATCH_4_HASH 21b549c2fe4fbb20d32cc019e6d70cd7) +set(EFFICIENTNET_BATCH_6_HASH 28b408710bcb24f4cdd4d746301d4e78) +set(MOBILENET_BATCH_1_HASH caa51f2080aa2df943e4f884c41898eb) +set(MOBILENET_BATCH_4_HASH c2beaf60210f471debfe72b86d076ca0) +set(MOBILENET_BATCH_6_HASH 47255a11bde479320d703f1f45db1242) +set(LAMP_LABEL_HASH e9f45efb02f2a9aa8ac27b3d5c164905) +set(AWS_DIR https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2) set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data") if(NOT EXISTS "${DATA_PATH}") execute_process(COMMAND mkdir -p ${DATA_PATH}) @@ -84,14 +92,14 @@ function(download FILE_NAME FILE_HASH) else() message(STATUS "diff ${FILE_NAME}") message(STATUS "File hash changes. Downloading now ...") - file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v1/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) + file(DOWNLOAD ${AWS_DIR}/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) list(GET DOWNLOAD_STATUS 0 STATUS_CODE) list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE) endif() else() message(STATUS "not found ${FILE_NAME}") message(STATUS "File doesn't exists. Downloading now ...") - file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v1/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) + file(DOWNLOAD ${AWS_DIR}/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300) list(GET DOWNLOAD_STATUS 0 STATUS_CODE) list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE) endif() @@ -101,8 +109,12 @@ function(download FILE_NAME FILE_HASH) message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}") endif() endfunction() -download(traffic_light_classifier_mobilenetv2.onnx caa51f2080aa2df943e4f884c41898eb) -download(traffic_light_classifier_efficientNet_b1.onnx 82baba4fcf1abe0c040cd55005e34510) +download(traffic_light_classifier_mobilenetv2_batch_1.onnx ${MOBILENET_BATCH_1_HASH}) +download(traffic_light_classifier_mobilenetv2_batch_4.onnx ${MOBILENET_BATCH_4_HASH}) +download(traffic_light_classifier_mobilenetv2_batch_6.onnx ${MOBILENET_BATCH_6_HASH}) +download(traffic_light_classifier_efficientNet_b1_batch_1.onnx ${EFFICIENTNET_BATCH_1_HASH}) +download(traffic_light_classifier_efficientNet_b1_batch_4.onnx ${EFFICIENTNET_BATCH_4_HASH}) +download(traffic_light_classifier_efficientNet_b1_batch_6.onnx ${EFFICIENTNET_BATCH_6_HASH}) download(lamp_labels.txt 4b2cf910d97d05d464e7c26901af3d4c) find_package(ament_cmake_auto REQUIRED) diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp index c042f00e1a1ad..f4859af88d80d 100644 --- a/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp +++ b/perception/traffic_light_classifier/include/traffic_light_classifier/classifier_interface.hpp @@ -18,7 +18,7 @@ #include #include -#include +#include #include @@ -27,8 +27,9 @@ namespace traffic_light class ClassifierInterface { public: - virtual bool getTrafficSignal( - const cv::Mat & input_image, tier4_perception_msgs::msg::TrafficSignal & traffic_signal) = 0; + virtual bool getTrafficSignals( + const std::vector & input_image, + tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) = 0; }; } // namespace traffic_light diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp index b1c19526561b9..4f304dcb96970 100644 --- a/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp +++ b/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp @@ -24,6 +24,7 @@ #include #include #include +#include #include #include @@ -54,19 +55,14 @@ class CNNClassifier : public ClassifierInterface explicit CNNClassifier(rclcpp::Node * node_ptr); virtual ~CNNClassifier() = default; - bool getTrafficSignal( - const cv::Mat & input_image, - tier4_perception_msgs::msg::TrafficSignal & traffic_signal) override; + bool getTrafficSignals( + const std::vector & images, + tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) override; private: - void preProcess(cv::Mat & image, std::vector & tensor, bool normalize = true); - bool postProcess( - std::vector & output_data_host, - tier4_perception_msgs::msg::TrafficSignal & traffic_signal, bool apply_softmax = false); + void postProcess(int cls, float prob, tier4_perception_msgs::msg::TrafficSignal & traffic_signal); bool readLabelfile(std::string filepath, std::vector & labels); bool isColorLabel(const std::string label); - void calcSoftmax(std::vector & data, std::vector & probs, int num_output); - std::vector argsort(std::vector & tensor, int num_output); void outputDebugImage( cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficSignal & traffic_signal); @@ -114,20 +110,12 @@ class CNNClassifier : public ClassifierInterface }; rclcpp::Node * node_ptr_; - - std::unique_ptr trt_common_; - StreamUniquePtr stream_{makeCudaStream()}; + int batch_size_; + std::unique_ptr classifier_; image_transport::Publisher image_pub_; std::vector labels_; - std::vector mean_; - std::vector std_; - int batch_size_; - int input_c_; - int input_h_; - int input_w_; - int num_input_; - int num_output_; - bool apply_softmax_; + std::vector mean_; + std::vector std_; }; } // namespace traffic_light diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp index 371e740b90ff3..9f0d97ba29cfd 100644 --- a/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp +++ b/perception/traffic_light_classifier/include/traffic_light_classifier/color_classifier.hpp @@ -22,7 +22,7 @@ #include #include -#include +#include #if __has_include() #include @@ -62,9 +62,9 @@ class ColorClassifier : public ClassifierInterface explicit ColorClassifier(rclcpp::Node * node_ptr); virtual ~ColorClassifier() = default; - bool getTrafficSignal( - const cv::Mat & input_image, - tier4_perception_msgs::msg::TrafficSignal & traffic_signal) override; + bool getTrafficSignals( + const std::vector & images, + tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) override; private: bool filterHSV( diff --git a/perception/traffic_light_classifier/package.xml b/perception/traffic_light_classifier/package.xml index 89129cf0fe9d4..ef04aae7ee3cb 100644 --- a/perception/traffic_light_classifier/package.xml +++ b/perception/traffic_light_classifier/package.xml @@ -21,6 +21,7 @@ rclcpp rclcpp_components sensor_msgs + tensorrt_classifier tensorrt_common tier4_perception_msgs diff --git a/perception/traffic_light_classifier/src/cnn_classifier.cpp b/perception/traffic_light_classifier/src/cnn_classifier.cpp index 45ef5f94af146..323b90ee1ce61 100644 --- a/perception/traffic_light_classifier/src/cnn_classifier.cpp +++ b/perception/traffic_light_classifier/src/cnn_classifier.cpp @@ -36,82 +36,72 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) precision = node_ptr_->declare_parameter("classifier_precision", "fp16"); label_file_path = node_ptr_->declare_parameter("classifier_label_path", "labels.txt"); model_file_path = node_ptr_->declare_parameter("classifier_model_path", "model.onnx"); - apply_softmax_ = node_ptr_->declare_parameter("apply_softmax", false); - mean_ = + // ros param does not support loading std::vector + // we have to load std::vector and transfer to std::vector + auto mean_d = node_ptr->declare_parameter("classifier_mean", std::vector{123.675, 116.28, 103.53}); - std_ = node_ptr->declare_parameter("classifier_std", std::vector{58.395, 57.12, 57.375}); + auto std_d = + node_ptr->declare_parameter("classifier_std", std::vector{58.395, 57.12, 57.375}); + mean_ = std::vector(mean_d.begin(), mean_d.end()); + std_ = std::vector(std_d.begin(), std_d.end()); if (mean_.size() != 3 || std_.size() != 3) { RCLCPP_ERROR(node_ptr->get_logger(), "classifier_mean and classifier_std must be of size 3"); return; } readLabelfile(label_file_path, labels_); + nvinfer1::Dims input_dim = tensorrt_common::get_input_dims(model_file_path); + assert(input_dim.d[0] > 0); + batch_size_ = input_dim.d[0]; - tensorrt_common::BatchConfig batch_config{1, 1, 1}; - size_t max_workspace_size = 1 << 30; - - trt_common_ = std::make_unique( - model_file_path, precision, nullptr, batch_config, max_workspace_size); - trt_common_->setup(); - if (!trt_common_->isInitialized()) { - return; - } - const auto input_dims = trt_common_->getBindingDimensions(0); - if (input_dims.nbDims != 4) { - RCLCPP_ERROR(node_ptr_->get_logger(), "Model input dimension must be 4!"); - } - batch_size_ = input_dims.d[0]; - input_c_ = input_dims.d[1]; - input_h_ = input_dims.d[2]; - input_w_ = input_dims.d[3]; - num_input_ = batch_size_ * input_c_ * input_h_ * input_w_; - const auto output_dims = trt_common_->getBindingDimensions(1); - num_output_ = - std::accumulate(output_dims.d, output_dims.d + output_dims.nbDims, 1, std::multiplies()); + tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; + classifier_ = std::make_unique( + model_file_path, precision, batch_config, mean_, std_); if (node_ptr_->declare_parameter("build_only", false)) { RCLCPP_INFO(node_ptr_->get_logger(), "TensorRT engine is built and shutdown node."); rclcpp::shutdown(); } } -bool CNNClassifier::getTrafficSignal( - const cv::Mat & input_image, tier4_perception_msgs::msg::TrafficSignal & traffic_signal) +bool CNNClassifier::getTrafficSignals( + const std::vector & images, + tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) { - if (!trt_common_->isInitialized()) { - RCLCPP_WARN(node_ptr_->get_logger(), "failed to init tensorrt"); + if (images.size() != traffic_signals.signals.size()) { + RCLCPP_WARN(node_ptr_->get_logger(), "image number should be equal to traffic signal number!"); return false; } - - std::vector input_data_host(num_input_); - - cv::Mat image = input_image.clone(); - preProcess(image, input_data_host, true); - - auto input_data_device = cuda_utils::make_unique(num_input_); - cudaMemcpy( - input_data_device.get(), input_data_host.data(), num_input_ * sizeof(float), - cudaMemcpyHostToDevice); - - auto output_data_device = cuda_utils::make_unique(num_output_); - - // do inference - std::vector bindings = {input_data_device.get(), output_data_device.get()}; - - trt_common_->enqueueV2(bindings.data(), *stream_, nullptr); - - std::vector output_data_host(num_output_); - cudaMemcpy( - output_data_host.data(), output_data_device.get(), num_output_ * sizeof(float), - cudaMemcpyDeviceToHost); - - postProcess(output_data_host, traffic_signal, apply_softmax_); - - /* debug */ - if (0 < image_pub_.getNumSubscribers()) { - cv::Mat debug_image = input_image.clone(); - outputDebugImage(debug_image, traffic_signal); + std::vector image_batch; + int signal_i = 0; + + for (size_t image_i = 0; image_i < images.size(); image_i++) { + image_batch.emplace_back(images[image_i]); + // keep the actual batch size + size_t true_batch_size = image_batch.size(); + // insert fake image since the TRT model requires static batch size + if (image_i + 1 == images.size()) { + while (static_cast(image_batch.size()) < batch_size_) { + image_batch.emplace_back(image_batch.front()); + } + } + if (static_cast(image_batch.size()) == batch_size_) { + std::vector probs; + std::vector classes; + bool res = classifier_->doInference(image_batch, classes, probs); + if (!res || classes.empty() || probs.empty()) { + return false; + } + for (size_t i = 0; i < true_batch_size; i++) { + postProcess(classes[i], probs[i], traffic_signals.signals[signal_i]); + /* debug */ + if (0 < image_pub_.getNumSubscribers()) { + outputDebugImage(image_batch[i], traffic_signals.signals[signal_i]); + } + signal_i++; + } + image_batch.clear(); + } } - return true; } @@ -147,49 +137,10 @@ void CNNClassifier::outputDebugImage( image_pub_.publish(debug_image_msg); } -void CNNClassifier::preProcess(cv::Mat & image, std::vector & input_tensor, bool normalize) -{ - const float scale = - std::min(static_cast(input_w_) / image.cols, static_cast(input_h_) / image.rows); - const auto scale_size = cv::Size(image.cols * scale, image.rows * scale); - cv::resize(image, image, scale_size, 0, 0, cv::INTER_CUBIC); - const auto bottom = input_h_ - image.rows; - const auto right = input_w_ - image.cols; - copyMakeBorder(image, image, 0, bottom, 0, right, cv::BORDER_CONSTANT, {0, 0, 0}); - - const size_t strides_cv[3] = { - static_cast(input_w_ * input_c_), static_cast(input_c_), 1}; - const size_t strides[3] = { - static_cast(input_h_ * input_w_), static_cast(input_w_), 1}; - - for (int i = 0; i < input_h_; i++) { - for (int j = 0; j < input_w_; j++) { - for (int k = 0; k < input_c_; k++) { - const size_t offset_cv = i * strides_cv[0] + j * strides_cv[1] + k * strides_cv[2]; - const size_t offset = k * strides[0] + i * strides[1] + j * strides[2]; - if (normalize) { - input_tensor[offset] = (static_cast(image.data[offset_cv]) - mean_[k]) / std_[k]; - } else { - input_tensor[offset] = static_cast(image.data[offset_cv]); - } - } - } - } -} - -bool CNNClassifier::postProcess( - std::vector & output_tensor, tier4_perception_msgs::msg::TrafficSignal & traffic_signal, - bool apply_softmax) +void CNNClassifier::postProcess( + int class_index, float prob, tier4_perception_msgs::msg::TrafficSignal & traffic_signal) { - std::vector probs; - if (apply_softmax) { - calcSoftmax(output_tensor, probs, num_output_); - } - std::vector sorted_indices = argsort(output_tensor, num_output_); - - size_t max_indice = sorted_indices.front(); - std::string match_label = labels_[max_indice]; - float probability = apply_softmax ? probs[max_indice] : output_tensor[max_indice]; + std::string match_label = labels_[class_index]; // label names are assumed to be comma-separated to represent each lamp // e.g. @@ -224,11 +175,9 @@ bool CNNClassifier::postProcess( element.shape = label2state_[label]; } } - element.confidence = probability; + element.confidence = prob; traffic_signal.elements.push_back(element); } - - return true; } bool CNNClassifier::readLabelfile(std::string filepath, std::vector & labels) @@ -245,32 +194,6 @@ bool CNNClassifier::readLabelfile(std::string filepath, std::vector return true; } -void CNNClassifier::calcSoftmax( - std::vector & data, std::vector & probs, int num_output) -{ - float exp_sum = 0.0; - for (int i = 0; i < num_output; ++i) { - exp_sum += exp(data[i]); - } - - for (int i = 0; i < num_output; ++i) { - probs.push_back(exp(data[i]) / exp_sum); - } -} - -std::vector CNNClassifier::argsort(std::vector & tensor, int num_output) -{ - std::vector indices(num_output); - for (int i = 0; i < num_output; i++) { - indices[i] = i; - } - std::sort(indices.begin(), indices.begin() + num_output, [tensor](size_t idx1, size_t idx2) { - return tensor[idx1] > tensor[idx2]; - }); - - return indices; -} - bool CNNClassifier::isColorLabel(const std::string label) { using tier4_perception_msgs::msg::TrafficSignal; diff --git a/perception/traffic_light_classifier/src/color_classifier.cpp b/perception/traffic_light_classifier/src/color_classifier.cpp index 4b7fb37096021..51be12fce86e8 100644 --- a/perception/traffic_light_classifier/src/color_classifier.cpp +++ b/perception/traffic_light_classifier/src/color_classifier.cpp @@ -51,131 +51,141 @@ ColorClassifier::ColorClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) std::bind(&ColorClassifier::parametersCallback, this, _1)); } -bool ColorClassifier::getTrafficSignal( - const cv::Mat & input_image, tier4_perception_msgs::msg::TrafficSignal & traffic_signal) +bool ColorClassifier::getTrafficSignals( + const std::vector & images, + tier4_perception_msgs::msg::TrafficSignalArray & traffic_signals) { - cv::Mat green_image; - cv::Mat yellow_image; - cv::Mat red_image; - filterHSV(input_image, green_image, yellow_image, red_image); - // binarize - cv::Mat green_bin_image; - cv::Mat yellow_bin_image; - cv::Mat red_bin_image; - const int bin_threshold = 127; - cv::threshold(green_image, green_bin_image, bin_threshold, 255, cv::THRESH_BINARY); - cv::threshold(yellow_image, yellow_bin_image, bin_threshold, 255, cv::THRESH_BINARY); - cv::threshold(red_image, red_bin_image, bin_threshold, 255, cv::THRESH_BINARY); - // filter noise - cv::Mat green_filtered_bin_image; - cv::Mat yellow_filtered_bin_image; - cv::Mat red_filtered_bin_image; - cv::Mat element4 = (cv::Mat_(3, 3) << 0, 1, 0, 1, 1, 1, 0, 1, 0); - cv::erode(green_bin_image, green_filtered_bin_image, element4, cv::Point(-1, -1), 1); - cv::erode(yellow_bin_image, yellow_filtered_bin_image, element4, cv::Point(-1, -1), 1); - cv::erode(red_bin_image, red_filtered_bin_image, element4, cv::Point(-1, -1), 1); - cv::dilate(green_filtered_bin_image, green_filtered_bin_image, cv::Mat(), cv::Point(-1, -1), 1); - cv::dilate(yellow_filtered_bin_image, yellow_filtered_bin_image, cv::Mat(), cv::Point(-1, -1), 1); - cv::dilate(red_filtered_bin_image, red_filtered_bin_image, cv::Mat(), cv::Point(-1, -1), 1); - - /* debug */ -#if 1 - if (0 < image_pub_.getNumSubscribers()) { - cv::Mat debug_raw_image; - cv::Mat debug_green_image; - cv::Mat debug_yellow_image; - cv::Mat debug_red_image; - cv::hconcat(input_image, input_image, debug_raw_image); - cv::hconcat(debug_raw_image, input_image, debug_raw_image); - cv::hconcat(green_image, green_bin_image, debug_green_image); - cv::hconcat(debug_green_image, green_filtered_bin_image, debug_green_image); - cv::hconcat(yellow_image, yellow_bin_image, debug_yellow_image); - cv::hconcat(debug_yellow_image, yellow_filtered_bin_image, debug_yellow_image); - cv::hconcat(red_image, red_bin_image, debug_red_image); - cv::hconcat(debug_red_image, red_filtered_bin_image, debug_red_image); - - cv::Mat debug_image; - cv::vconcat(debug_green_image, debug_yellow_image, debug_image); - cv::vconcat(debug_image, debug_red_image, debug_image); - cv::cvtColor(debug_image, debug_image, cv::COLOR_GRAY2RGB); - cv::vconcat(debug_raw_image, debug_image, debug_image); - const int width = input_image.cols; - const int height = input_image.rows; - cv::line( - debug_image, cv::Point(0, 0), cv::Point(debug_image.cols, 0), cv::Scalar(255, 255, 255), 1, - CV_AA, 0); - cv::line( - debug_image, cv::Point(0, height), cv::Point(debug_image.cols, height), - cv::Scalar(255, 255, 255), 1, CV_AA, 0); - cv::line( - debug_image, cv::Point(0, height * 2), cv::Point(debug_image.cols, height * 2), - cv::Scalar(255, 255, 255), 1, CV_AA, 0); - cv::line( - debug_image, cv::Point(0, height * 3), cv::Point(debug_image.cols, height * 3), - cv::Scalar(255, 255, 255), 1, CV_AA, 0); - - cv::line( - debug_image, cv::Point(0, 0), cv::Point(0, debug_image.rows), cv::Scalar(255, 255, 255), 1, - CV_AA, 0); - cv::line( - debug_image, cv::Point(width, 0), cv::Point(width, debug_image.rows), - cv::Scalar(255, 255, 255), 1, CV_AA, 0); - cv::line( - debug_image, cv::Point(width * 2, 0), cv::Point(width * 2, debug_image.rows), - cv::Scalar(255, 255, 255), 1, CV_AA, 0); - cv::line( - debug_image, cv::Point(width * 3, 0), cv::Point(width * 3, debug_image.rows), - cv::Scalar(255, 255, 255), 1, CV_AA, 0); - - cv::putText( - debug_image, "green", cv::Point(0, height * 1.5), cv::FONT_HERSHEY_SIMPLEX, 1.0, - cv::Scalar(255, 255, 255), 1, CV_AA); - cv::putText( - debug_image, "yellow", cv::Point(0, height * 2.5), cv::FONT_HERSHEY_SIMPLEX, 1.0, - cv::Scalar(255, 255, 255), 1, CV_AA); - cv::putText( - debug_image, "red", cv::Point(0, height * 3.5), cv::FONT_HERSHEY_SIMPLEX, 1.0, - cv::Scalar(255, 255, 255), 1, CV_AA); - const auto debug_image_msg = - cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", debug_image).toImageMsg(); - image_pub_.publish(debug_image_msg); + if (images.size() != traffic_signals.signals.size()) { + RCLCPP_WARN(node_ptr_->get_logger(), "image number should be equal to traffic signal number!"); + return false; } + for (size_t image_i = 0; image_i < images.size(); image_i++) { + const auto & input_image = images[image_i]; + auto & traffic_signal = traffic_signals.signals[image_i]; + cv::Mat green_image; + cv::Mat yellow_image; + cv::Mat red_image; + filterHSV(input_image, green_image, yellow_image, red_image); + // binarize + cv::Mat green_bin_image; + cv::Mat yellow_bin_image; + cv::Mat red_bin_image; + const int bin_threshold = 127; + cv::threshold(green_image, green_bin_image, bin_threshold, 255, cv::THRESH_BINARY); + cv::threshold(yellow_image, yellow_bin_image, bin_threshold, 255, cv::THRESH_BINARY); + cv::threshold(red_image, red_bin_image, bin_threshold, 255, cv::THRESH_BINARY); + // filter noise + cv::Mat green_filtered_bin_image; + cv::Mat yellow_filtered_bin_image; + cv::Mat red_filtered_bin_image; + cv::Mat element4 = (cv::Mat_(3, 3) << 0, 1, 0, 1, 1, 1, 0, 1, 0); + cv::erode(green_bin_image, green_filtered_bin_image, element4, cv::Point(-1, -1), 1); + cv::erode(yellow_bin_image, yellow_filtered_bin_image, element4, cv::Point(-1, -1), 1); + cv::erode(red_bin_image, red_filtered_bin_image, element4, cv::Point(-1, -1), 1); + cv::dilate(green_filtered_bin_image, green_filtered_bin_image, cv::Mat(), cv::Point(-1, -1), 1); + cv::dilate( + yellow_filtered_bin_image, yellow_filtered_bin_image, cv::Mat(), cv::Point(-1, -1), 1); + cv::dilate(red_filtered_bin_image, red_filtered_bin_image, cv::Mat(), cv::Point(-1, -1), 1); + + /* debug */ +#if 1 + if (0 < image_pub_.getNumSubscribers()) { + cv::Mat debug_raw_image; + cv::Mat debug_green_image; + cv::Mat debug_yellow_image; + cv::Mat debug_red_image; + cv::hconcat(input_image, input_image, debug_raw_image); + cv::hconcat(debug_raw_image, input_image, debug_raw_image); + cv::hconcat(green_image, green_bin_image, debug_green_image); + cv::hconcat(debug_green_image, green_filtered_bin_image, debug_green_image); + cv::hconcat(yellow_image, yellow_bin_image, debug_yellow_image); + cv::hconcat(debug_yellow_image, yellow_filtered_bin_image, debug_yellow_image); + cv::hconcat(red_image, red_bin_image, debug_red_image); + cv::hconcat(debug_red_image, red_filtered_bin_image, debug_red_image); + + cv::Mat debug_image; + cv::vconcat(debug_green_image, debug_yellow_image, debug_image); + cv::vconcat(debug_image, debug_red_image, debug_image); + cv::cvtColor(debug_image, debug_image, cv::COLOR_GRAY2RGB); + cv::vconcat(debug_raw_image, debug_image, debug_image); + const int width = input_image.cols; + const int height = input_image.rows; + cv::line( + debug_image, cv::Point(0, 0), cv::Point(debug_image.cols, 0), cv::Scalar(255, 255, 255), 1, + CV_AA, 0); + cv::line( + debug_image, cv::Point(0, height), cv::Point(debug_image.cols, height), + cv::Scalar(255, 255, 255), 1, CV_AA, 0); + cv::line( + debug_image, cv::Point(0, height * 2), cv::Point(debug_image.cols, height * 2), + cv::Scalar(255, 255, 255), 1, CV_AA, 0); + cv::line( + debug_image, cv::Point(0, height * 3), cv::Point(debug_image.cols, height * 3), + cv::Scalar(255, 255, 255), 1, CV_AA, 0); + + cv::line( + debug_image, cv::Point(0, 0), cv::Point(0, debug_image.rows), cv::Scalar(255, 255, 255), 1, + CV_AA, 0); + cv::line( + debug_image, cv::Point(width, 0), cv::Point(width, debug_image.rows), + cv::Scalar(255, 255, 255), 1, CV_AA, 0); + cv::line( + debug_image, cv::Point(width * 2, 0), cv::Point(width * 2, debug_image.rows), + cv::Scalar(255, 255, 255), 1, CV_AA, 0); + cv::line( + debug_image, cv::Point(width * 3, 0), cv::Point(width * 3, debug_image.rows), + cv::Scalar(255, 255, 255), 1, CV_AA, 0); + + cv::putText( + debug_image, "green", cv::Point(0, height * 1.5), cv::FONT_HERSHEY_SIMPLEX, 1.0, + cv::Scalar(255, 255, 255), 1, CV_AA); + cv::putText( + debug_image, "yellow", cv::Point(0, height * 2.5), cv::FONT_HERSHEY_SIMPLEX, 1.0, + cv::Scalar(255, 255, 255), 1, CV_AA); + cv::putText( + debug_image, "red", cv::Point(0, height * 3.5), cv::FONT_HERSHEY_SIMPLEX, 1.0, + cv::Scalar(255, 255, 255), 1, CV_AA); + const auto debug_image_msg = + cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", debug_image).toImageMsg(); + image_pub_.publish(debug_image_msg); + } #endif - /* --- */ - - const int green_pixel_num = cv::countNonZero(green_filtered_bin_image); - const int yellow_pixel_num = cv::countNonZero(yellow_filtered_bin_image); - const int red_pixel_num = cv::countNonZero(red_filtered_bin_image); - const double green_ratio = - static_cast(green_pixel_num) / - static_cast(green_filtered_bin_image.rows * green_filtered_bin_image.cols); - const double yellow_ratio = - static_cast(yellow_pixel_num) / - static_cast(yellow_filtered_bin_image.rows * yellow_filtered_bin_image.cols); - const double red_ratio = - static_cast(red_pixel_num) / - static_cast(red_filtered_bin_image.rows * red_filtered_bin_image.cols); - - if (yellow_ratio < green_ratio && red_ratio < green_ratio) { - tier4_perception_msgs::msg::TrafficLightElement element; - element.color = tier4_perception_msgs::msg::TrafficLightElement::GREEN; - element.confidence = std::min(1.0, static_cast(green_pixel_num) / (20.0 * 20.0)); - traffic_signal.elements.push_back(element); - } else if (green_ratio < yellow_ratio && red_ratio < yellow_ratio) { - tier4_perception_msgs::msg::TrafficLightElement element; - element.color = tier4_perception_msgs::msg::TrafficLightElement::AMBER; - element.confidence = std::min(1.0, static_cast(yellow_pixel_num) / (20.0 * 20.0)); - traffic_signal.elements.push_back(element); - } else if (green_ratio < red_ratio && yellow_ratio < red_ratio) { - tier4_perception_msgs::msg::TrafficLightElement element; - element.color = ::tier4_perception_msgs::msg::TrafficLightElement::RED; - element.confidence = std::min(1.0, static_cast(red_pixel_num) / (20.0 * 20.0)); - traffic_signal.elements.push_back(element); - } else { - tier4_perception_msgs::msg::TrafficLightElement element; - element.color = ::tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; - element.confidence = 0.0; - traffic_signal.elements.push_back(element); + /* --- */ + + const int green_pixel_num = cv::countNonZero(green_filtered_bin_image); + const int yellow_pixel_num = cv::countNonZero(yellow_filtered_bin_image); + const int red_pixel_num = cv::countNonZero(red_filtered_bin_image); + const double green_ratio = + static_cast(green_pixel_num) / + static_cast(green_filtered_bin_image.rows * green_filtered_bin_image.cols); + const double yellow_ratio = + static_cast(yellow_pixel_num) / + static_cast(yellow_filtered_bin_image.rows * yellow_filtered_bin_image.cols); + const double red_ratio = + static_cast(red_pixel_num) / + static_cast(red_filtered_bin_image.rows * red_filtered_bin_image.cols); + + if (yellow_ratio < green_ratio && red_ratio < green_ratio) { + tier4_perception_msgs::msg::TrafficLightElement element; + element.color = tier4_perception_msgs::msg::TrafficLightElement::GREEN; + element.confidence = std::min(1.0, static_cast(green_pixel_num) / (20.0 * 20.0)); + traffic_signal.elements.push_back(element); + } else if (green_ratio < yellow_ratio && red_ratio < yellow_ratio) { + tier4_perception_msgs::msg::TrafficLightElement element; + element.color = tier4_perception_msgs::msg::TrafficLightElement::AMBER; + element.confidence = std::min(1.0, static_cast(yellow_pixel_num) / (20.0 * 20.0)); + traffic_signal.elements.push_back(element); + } else if (green_ratio < red_ratio && yellow_ratio < red_ratio) { + tier4_perception_msgs::msg::TrafficLightElement element; + element.color = ::tier4_perception_msgs::msg::TrafficLightElement::RED; + element.confidence = std::min(1.0, static_cast(red_pixel_num) / (20.0 * 20.0)); + traffic_signal.elements.push_back(element); + } else { + tier4_perception_msgs::msg::TrafficLightElement element; + element.color = ::tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; + element.confidence = 0.0; + traffic_signal.elements.push_back(element); + } } return true; } diff --git a/perception/traffic_light_classifier/src/nodelet.cpp b/perception/traffic_light_classifier/src/nodelet.cpp index 5332f5d3baacc..90cca87245d22 100644 --- a/perception/traffic_light_classifier/src/nodelet.cpp +++ b/perception/traffic_light_classifier/src/nodelet.cpp @@ -91,20 +91,18 @@ void TrafficLightClassifierNodelet::imageRoiCallback( tier4_perception_msgs::msg::TrafficSignalArray output_msg; - for (size_t i = 0; i < input_rois_msg->rois.size(); ++i) { - const sensor_msgs::msg::RegionOfInterest & roi = input_rois_msg->rois.at(i).roi; - cv::Mat clipped_image( - cv_ptr->image, cv::Rect(roi.x_offset, roi.y_offset, roi.width, roi.height)); + output_msg.signals.resize(input_rois_msg->rois.size()); - tier4_perception_msgs::msg::TrafficSignal traffic_signal; - traffic_signal.traffic_light_id = input_rois_msg->rois.at(i).traffic_light_id; - if (!classifier_ptr_->getTrafficSignal(clipped_image, traffic_signal)) { - RCLCPP_ERROR(this->get_logger(), "failed classify image, abort callback"); - return; - } - output_msg.signals.push_back(traffic_signal); + std::vector images; + for (size_t i = 0; i < input_rois_msg->rois.size(); i++) { + output_msg.signals[i].traffic_light_id = input_rois_msg->rois.at(i).traffic_light_id; + const sensor_msgs::msg::RegionOfInterest & roi = input_rois_msg->rois.at(i).roi; + images.emplace_back(cv_ptr->image, cv::Rect(roi.x_offset, roi.y_offset, roi.width, roi.height)); + } + if (!classifier_ptr_->getTrafficSignals(images, output_msg)) { + RCLCPP_ERROR(this->get_logger(), "failed classify image, abort callback"); + return; } - output_msg.header = input_image_msg->header; traffic_signal_array_pub_->publish(output_msg); } diff --git a/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp index 10d36978224ab..179d63b8b3797 100644 --- a/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp +++ b/perception/traffic_light_classifier/src/single_image_debug_inference_node.cpp @@ -122,14 +122,14 @@ class SingleImageDebugInferenceNode : public rclcpp::Node return; } cv::cvtColor(crop, crop, cv::COLOR_BGR2RGB); - tier4_perception_msgs::msg::TrafficSignal traffic_signal; - if (!classifier_ptr_->getTrafficSignal(crop, traffic_signal)) { + tier4_perception_msgs::msg::TrafficSignalArray traffic_signal; + if (!classifier_ptr_->getTrafficSignals({crop}, traffic_signal)) { RCLCPP_ERROR(get_logger(), "failed to classify image"); return; } cv::Scalar color; cv::Scalar text_color; - for (const auto & element : traffic_signal.elements) { + for (const auto & element : traffic_signal.signals[0].elements) { auto color_str = toString(element.color); auto shape_str = toString(element.shape); auto confidence_str = std::to_string(element.confidence); diff --git a/perception/traffic_light_fine_detector/CMakeLists.txt b/perception/traffic_light_fine_detector/CMakeLists.txt index a26cafff1ee4d..a0605a6aa1a90 100644 --- a/perception/traffic_light_fine_detector/CMakeLists.txt +++ b/perception/traffic_light_fine_detector/CMakeLists.txt @@ -70,7 +70,9 @@ else() endif() # Download caffemodel and prototxt -set(PRETRAINED_MODEL_HASH f3af5bd588c6c99ccf9ca236a07ad41e) +set(PRETRAINED_MODEL_BATCH_1_HASH 2b72d085022b8ee6aacff06bd722cfda) +set(PRETRAINED_MODEL_BATCH_4_HASH 4044daa86e7776ce241e94d98a09cc0e) +set(PRETRAINED_MODEL_BATCH_6_HASH 47255a11bde479320d703f1f45db1242) set(LAMP_LABEL_HASH e9f45efb02f2a9aa8ac27b3d5c164905) set(DATA_DIR https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v2) @@ -109,7 +111,9 @@ function(download FILE_NAME FILE_HASH) message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}") endif() endfunction() -download(tlr_yolox_s.onnx ${PRETRAINED_MODEL_HASH}) +download(tlr_yolox_s_batch_1.onnx ${PRETRAINED_MODEL_BATCH_1_HASH}) +download(tlr_yolox_s_batch_4.onnx ${PRETRAINED_MODEL_BATCH_4_HASH}) +download(tlr_yolox_s_batch_6.onnx ${PRETRAINED_MODEL_BATCH_6_HASH}) download(tlr_labels.txt ${LAMP_LABEL_HASH}) if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) diff --git a/perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp b/perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp index f115596453835..4d14874a58242 100644 --- a/perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp +++ b/perception/traffic_light_fine_detector/include/traffic_light_fine_detector/nodelet.hpp @@ -164,6 +164,7 @@ class TrafficLightFineDetectorNodelet : public rclcpp::Node double score_thresh_; int tlr_id_; + int batch_size_; std::unique_ptr trt_yolox_; }; // TrafficLightFineDetectorNodelet diff --git a/perception/traffic_light_fine_detector/src/nodelet.cpp b/perception/traffic_light_fine_detector/src/nodelet.cpp index 75812a072f4c6..86e77bc31cd71 100644 --- a/perception/traffic_light_fine_detector/src/nodelet.cpp +++ b/perception/traffic_light_fine_detector/src/nodelet.cpp @@ -76,8 +76,22 @@ TrafficLightFineDetectorNodelet::TrafficLightFineDetectorNodelet( if (!readLabelFile(label_path, tlr_id_, num_class)) { RCLCPP_ERROR(this->get_logger(), "Could not find tlr id"); } + + const tensorrt_common::BuildConfig build_config = + tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0); + + const bool cuda_preprocess = true; + const std::string calib_image_list = ""; + const double scale = 1.0; + const std::string cache_dir = ""; + nvinfer1::Dims input_dim = tensorrt_common::get_input_dims(model_path); + assert(input_dim.d[0] > 0); + batch_size_ = input_dim.d[0]; + const tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; + trt_yolox_ = std::make_unique( - model_path, precision, num_class, score_thresh_, nms_threshold); + model_path, precision, num_class, score_thresh_, nms_threshold, build_config, cuda_preprocess, + calib_image_list, scale, cache_dir, batch_config); using std::chrono_literals::operator""ms; timer_ = rclcpp::create_timer( @@ -139,30 +153,50 @@ void TrafficLightFineDetectorNodelet::callback( } rosMsg2CvMat(in_image_msg, original_image, "bgr8"); - for (const auto & rough_roi : rough_roi_msg->rois) { + std::vector rois; + tensorrt_yolox::ObjectArrays inference_results; + std::vector lts; + std::vector roi_ids; + for (size_t roi_i = 0; roi_i < rough_roi_msg->rois.size(); roi_i++) { + const auto & rough_roi = rough_roi_msg->rois[roi_i]; cv::Point lt(rough_roi.roi.x_offset, rough_roi.roi.y_offset); cv::Point rb( rough_roi.roi.x_offset + rough_roi.roi.width, rough_roi.roi.y_offset + rough_roi.roi.height); fitInFrame(lt, rb, cv::Size(original_image.size())); - cv::Mat cropped_img = cv::Mat(original_image, cv::Rect(lt, rb)); - tensorrt_yolox::ObjectArrays inference_results; - if (!trt_yolox_->doInference({cropped_img}, inference_results)) { - RCLCPP_WARN(this->get_logger(), "Fail to inference"); - return; + rois.emplace_back(lt, rb); + lts.emplace_back(lt); + roi_ids.emplace_back(rough_roi.traffic_light_id); + // keep the actual batch size + size_t true_batch_size = rois.size(); + // insert fake rois since the TRT model requires static batch size + if (roi_i + 1 == rough_roi_msg->rois.size()) { + while (static_cast(rois.size()) < batch_size_) { + rois.emplace_back(rois.front()); + } } - for (tensorrt_yolox::Object & detection : inference_results[0]) { - if (detection.score < score_thresh_ || detection.type != tlr_id_) { - continue; + if (static_cast(rois.size()) == batch_size_) { + trt_yolox_->doMultiScaleInference(original_image, inference_results, rois); + for (size_t batch_i = 0; batch_i < true_batch_size; batch_i++) { + for (const tensorrt_yolox::Object & detection : inference_results[batch_i]) { + if (detection.score < score_thresh_ || detection.type != tlr_id_) { + continue; + } + cv::Point lt_roi( + lts[batch_i].x + detection.x_offset, lts[batch_i].y + detection.y_offset); + cv::Point rb_roi(lt_roi.x + detection.width, lt_roi.y + detection.height); + fitInFrame(lt_roi, rb_roi, cv::Size(original_image.size())); + tensorrt_yolox::Object det = detection; + det.x_offset = lt_roi.x; + det.y_offset = lt_roi.y; + det.width = rb_roi.x - lt_roi.x; + det.height = rb_roi.y - lt_roi.y; + id2detections[roi_ids[batch_i]].push_back(det); + } } - cv::Point lt_roi(lt.x + detection.x_offset, lt.y + detection.y_offset); - cv::Point rb_roi(lt_roi.x + detection.width, lt_roi.y + detection.height); - fitInFrame(lt_roi, rb_roi, cv::Size(original_image.size())); - tensorrt_yolox::Object det = detection; - det.x_offset = lt_roi.x; - det.y_offset = lt_roi.y; - det.width = rb_roi.x - lt_roi.x; - det.height = rb_roi.y - lt_roi.y; - id2detections[rough_roi.traffic_light_id].push_back(det); + rois.clear(); + lts.clear(); + inference_results.clear(); + roi_ids.clear(); } } detectionMatch(id2expectRoi, id2detections, out_rois); From bc9f62cb04afd8d0fd49c00ea5ab2dbcfa6d1d53 Mon Sep 17 00:00:00 2001 From: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Sat, 8 Jul 2023 11:33:25 +0900 Subject: [PATCH 110/118] feat(tier4_perception_launch): update traffic light launch (#4176) * first commit Signed-off-by: Mingyu Li * add image number arg Signed-off-by: Shunsuke Miura * style(pre-commit): autofix * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml * add traffic light namespace to fusion Signed-off-by: Shunsuke Miura * add tlr fusion only mode and camera number arg Signed-off-by: Shunsuke Miura * change to include traffic_light_arbiter launch Signed-off-by: Shunsuke Miura * delete relay topic type Signed-off-by: Shunsuke Miura --------- Signed-off-by: Mingyu Li Signed-off-by: Shunsuke Miura Co-authored-by: Shunsuke Miura Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --- .../launch/perception.launch.xml | 4 + .../traffic_light.launch.xml | 154 ++++++++++++------ .../traffic_light_node_container.launch.py | 24 ++- launch/tier4_perception_launch/package.xml | 5 +- .../src/node.cpp | 4 +- 5 files changed, 129 insertions(+), 62 deletions(-) diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 131388b3764b5..69d42b8509bb5 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -52,6 +52,8 @@ + + @@ -153,6 +155,8 @@ + + diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml index ea50101719d65..4dae46cbacb0a 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml @@ -2,84 +2,138 @@ + - + - + + + - - - - + + + + + + + + - + - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + - - + + + + - - - - - - - - + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + - + + + + + + + + + diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py index 964008dafa5cd..8b3d15f2cff95 100644 --- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py +++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py @@ -40,6 +40,10 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("enable_image_decompressor", "True") add_launch_arg("enable_fine_detection", "True") add_launch_arg("input/image", "/sensing/camera/traffic_light/image_raw") + add_launch_arg("output/rois", "/perception/traffic_light_recognition/rois") + add_launch_arg( + "output/traffic_signals", "/perception/traffic_light_recognition/traffic_signals" + ) # traffic_light_fine_detector add_launch_arg( @@ -89,6 +93,7 @@ def create_parameter_dict(*args): package="traffic_light_classifier", plugin="traffic_light::TrafficLightClassifierNodelet", name="traffic_light_classifier", + namespace="classification", parameters=[ create_parameter_dict( "approximate_sync", @@ -102,7 +107,7 @@ def create_parameter_dict(*args): ], remappings=[ ("~/input/image", LaunchConfiguration("input/image")), - ("~/input/rois", "rois"), + ("~/input/rois", LaunchConfiguration("output/rois")), ("~/output/traffic_signals", "classified/traffic_signals"), ], extra_arguments=[ @@ -116,9 +121,9 @@ def create_parameter_dict(*args): parameters=[create_parameter_dict("enable_fine_detection")], remappings=[ ("~/input/image", LaunchConfiguration("input/image")), - ("~/input/rois", "rois"), - ("~/input/rough/rois", "rough/rois"), - ("~/input/traffic_signals", "traffic_signals"), + ("~/input/rois", LaunchConfiguration("output/rois")), + ("~/input/rough/rois", "detection/rough/rois"), + ("~/input/traffic_signals", LaunchConfiguration("output/traffic_signals")), ("~/output/image", "debug/rois"), ("~/output/image/compressed", "debug/rois/compressed"), ("~/output/image/compressedDepth", "debug/rois/compressedDepth"), @@ -138,11 +143,12 @@ def create_parameter_dict(*args): package="crosswalk_traffic_light_estimator", plugin="traffic_light::CrosswalkTrafficLightEstimatorNode", name="crosswalk_traffic_light_estimator", + namespace="classification", remappings=[ ("~/input/vector_map", "/map/vector_map"), ("~/input/route", "/planning/mission_planning/route"), ("~/input/classified/traffic_signals", "classified/traffic_signals"), - ("~/output/traffic_signals", "traffic_signals"), + ("~/output/traffic_signals", "estimated/traffic_signals"), ], extra_arguments=[{"use_intra_process_comms": False}], ), @@ -157,11 +163,10 @@ def create_parameter_dict(*args): package="topic_tools", plugin="topic_tools::RelayNode", name="classified_signals_relay", - namespace="", + namespace="classification", parameters=[ {"input_topic": "classified/traffic_signals"}, - {"output_topic": "traffic_signals"}, - {"type": "autoware_auto_perception_msgs/msg/TrafficSignalArray"}, + {"output_topic": "estimated/traffic_signals"}, ], extra_arguments=[ {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} @@ -209,12 +214,13 @@ def create_parameter_dict(*args): package="traffic_light_fine_detector", plugin="traffic_light::TrafficLightFineDetectorNodelet", name="traffic_light_fine_detector", + namespace="detection", parameters=[fine_detector_param], remappings=[ ("~/input/image", LaunchConfiguration("input/image")), ("~/input/rois", "rough/rois"), ("~/expect/rois", "expect/rois"), - ("~/output/rois", "rois"), + ("~/output/rois", LaunchConfiguration("output/rois")), ], extra_arguments=[ {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 1140d643a7083..40fc632a33f45 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -32,9 +32,12 @@ probabilistic_occupancy_grid_map shape_estimation tensorrt_yolo + topic_tools traffic_light_classifier + traffic_light_fine_detector traffic_light_map_based_detector - traffic_light_ssd_fine_detector + traffic_light_multi_camera_fusion + traffic_light_occlusion_predictor traffic_light_visualization ament_lint_auto diff --git a/perception/traffic_light_multi_camera_fusion/src/node.cpp b/perception/traffic_light_multi_camera_fusion/src/node.cpp index d7e82af4af079..892b6be62ef9d 100644 --- a/perception/traffic_light_multi_camera_fusion/src/node.cpp +++ b/perception/traffic_light_multi_camera_fusion/src/node.cpp @@ -149,8 +149,8 @@ MultiCameraFusion::MultiCameraFusion(const rclcpp::NodeOptions & node_options) is_approximate_sync_ = this->declare_parameter("approximate_sync", false); message_lifespan_ = this->declare_parameter("message_lifespan", 0.09); for (const std::string & camera_ns : camera_namespaces) { - std::string signal_topic = camera_ns + "/traffic_signals"; - std::string roi_topic = camera_ns + "/rois"; + std::string signal_topic = camera_ns + "/classification/traffic_signals"; + std::string roi_topic = camera_ns + "/detection/rois"; std::string cam_info_topic = camera_ns + "/camera_info"; roi_subs_.emplace_back( new mf::Subscriber(this, roi_topic, rclcpp::QoS{1}.get_rmw_qos_profile())); From 8c982e5656d20eabcd74e497dd8325aca1994ab9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 9 Jul 2023 17:22:57 +0900 Subject: [PATCH 111/118] refactor(behavior_velocity_crosswalk_module): clean up the code (#4182) * refactor Signed-off-by: Takayuki Murooka * refacotr Signed-off-by: Takayuki Murooka * refactor Signed-off-by: Takayuki Murooka * refactor Signed-off-by: Takayuki Murooka * refactor Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../src/debug.cpp | 40 +- .../src/scene_crosswalk.cpp | 430 ++++++++++-------- .../src/scene_crosswalk.hpp | 41 +- .../src/scene_walkway.cpp | 3 +- .../src/scene_walkway.hpp | 6 +- .../src/util.hpp | 22 +- 6 files changed, 309 insertions(+), 233 deletions(-) diff --git a/planning/behavior_velocity_crosswalk_module/src/debug.cpp b/planning/behavior_velocity_crosswalk_module/src/debug.cpp index 50882d3a8c2b8..50fd62a53cdcd 100644 --- a/planning/behavior_velocity_crosswalk_module/src/debug.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/debug.cpp @@ -92,32 +92,24 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers( msg.markers.push_back(marker); } - { - size_t i = 0; - for (const auto & polygon : debug_data.obj_polygons) { - auto marker = createDefaultMarker( - "map", now, "object polygon", uid + i++, Marker::LINE_STRIP, - createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(1.0, 0.0, 1.0, 0.999)); - for (const auto & p : polygon.points) { - marker.points.push_back(createPoint(p.x, p.y, p.z)); - } - marker.points.push_back(marker.points.front()); - msg.markers.push_back(marker); - } + for (size_t i = 0; i < debug_data.obj_polygons.size(); ++i) { + const auto & points = debug_data.obj_polygons.at(i); + auto marker = createDefaultMarker( + "map", now, "object polygon", uid + i++, Marker::LINE_STRIP, createMarkerScale(0.1, 0.0, 0.0), + createMarkerColor(1.0, 0.0, 1.0, 0.999)); + marker.points = points; + // marker.points.push_back(marker.points.front()); + msg.markers.push_back(marker); } - { - size_t i = 0; - for (const auto & polygon : debug_data.ego_polygons) { - auto marker = createDefaultMarker( - "map", now, "vehicle polygon", uid + i++, Marker::LINE_STRIP, - createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(1.0, 1.0, 0.0, 0.999)); - for (const auto & p : polygon.points) { - marker.points.push_back(createPoint(p.x, p.y, p.z)); - } - marker.points.push_back(marker.points.front()); - msg.markers.push_back(marker); - } + for (size_t i = 0; i < debug_data.ego_polygons.size(); ++i) { + const auto & points = debug_data.ego_polygons.at(i); + auto marker = createDefaultMarker( + "map", now, "vehicle polygon", uid + i++, Marker::LINE_STRIP, + createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(1.0, 1.0, 0.0, 0.999)); + marker.points = points; + // marker.points.push_back(marker.points.front()); + msg.markers.push_back(marker); } // Crosswalk polygon diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 473ec745c93ac..e29bc27213f36 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -36,6 +36,7 @@ using motion_utils::calcLongitudinalOffsetPose; using motion_utils::calcSignedArcLength; using motion_utils::findNearestSegmentIndex; using motion_utils::insertTargetPoint; +using motion_utils::resamplePath; using tier4_autoware_utils::createPoint; using tier4_autoware_utils::getPoint; using tier4_autoware_utils::getPose; @@ -54,14 +55,17 @@ geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const p.z = z; return p; } -geometry_msgs::msg::Polygon toMsg(const Polygon2d & polygon, const double z) + +std::vector toGeometryPointVector( + const Polygon2d & polygon, const double z) { - geometry_msgs::msg::Polygon ret; + std::vector points; for (const auto & p : polygon.outer()) { - ret.points.push_back(createPoint32(p.x(), p.y(), z)); + points.push_back(createPoint(p.x(), p.y(), z)); } - return ret; + return points; } + Polygon2d createOneStepPolygon( const geometry_msgs::msg::Pose & p_front, const geometry_msgs::msg::Pose & p_back, const geometry_msgs::msg::Polygon & base_polygon) @@ -96,6 +100,7 @@ Polygon2d createOneStepPolygon( return hull_polygon; } + void sortCrosswalksByDistance( const PathWithLaneId & ego_path, const geometry_msgs::msg::Point & ego_pos, lanelet::ConstLanelets & crosswalks) @@ -154,91 +159,49 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto logger_, planner_param_.show_processing_time, "=========== module_id: %ld ===========", module_id_); - debug_data_ = DebugData(); - debug_data_.base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; *stop_reason = planning_utils::initializeStopReason(StopReason::CROSSWALK); - - auto ego_path = *path; - - RCLCPP_INFO_EXPRESSION( - logger_, planner_param_.show_processing_time, "- step1: %f ms", - stop_watch_.toc("total_processing_time", false)); - const auto & ego_pos = planner_data_->current_odometry->pose.position; - const auto path_intersects = - getPolygonIntersects(ego_path, crosswalk_.polygon2d().basicPolygon(), ego_pos, 2); + // Initialize debug data + debug_data_ = DebugData(planner_data_); for (const auto & p : crosswalk_.polygon2d().basicPolygon()) { debug_data_.crosswalk_polygon.push_back(createPoint(p.x(), p.y(), ego_pos.z)); } + recordTime(1); + // Calculate intersection between path and crosswalks + const auto path_intersects = + getPolygonIntersects(*path, crosswalk_.polygon2d().basicPolygon(), ego_pos, 2); + + // Apply safety slow down speed if defined in Lanelet2 map if (crosswalk_.hasAttribute("safety_slow_down_speed")) { - // Safety slow down is on - if (applySafetySlowDownSpeed(*path, path_intersects)) { - ego_path = *path; - } + applySafetySlowDownSpeed(*path, path_intersects); } + recordTime(2); - RCLCPP_INFO_EXPRESSION( - logger_, planner_param_.show_processing_time, "- step2: %f ms", - stop_watch_.toc("total_processing_time", false)); + // Calculate stop point + const auto default_stop_factor = findDefaultStopFactor(*path, path_intersects); + const auto nearest_stop_factor = findNearestStopFactor(*path, path_intersects); - const auto nearest_stop_point_with_factor = - findNearestStopPointWithFactor(ego_path, path_intersects); - const auto rtc_stop_point_with_factor = findRTCStopPointWithFactor(ego_path, path_intersects); + // Generate stop factor with type (NEAREST or DEFAULT) + const auto stop_factor_info = generateStopFactorInfo(nearest_stop_factor, default_stop_factor); + recordTime(3); - RCLCPP_INFO_EXPRESSION( - logger_, planner_param_.show_processing_time, "- step3: %f ms", - stop_watch_.toc("total_processing_time", false)); - - setSafe(!nearest_stop_point_with_factor); - - if (isActivated()) { - if (nearest_stop_point_with_factor) { - const auto target_velocity = - calcTargetVelocity(nearest_stop_point_with_factor->first, ego_path); - insertDecelPointWithDebugInfo( - nearest_stop_point_with_factor->first, - std::max(planner_param_.min_slow_down_velocity, target_velocity), *path); - return true; - } + // Set safe or unsafe + setSafe(!stop_factor_info || stop_factor_info->type != StopFactorInfo::Type::NEAREST); - if (rtc_stop_point_with_factor) { - const auto crosswalk_distance = - calcSignedArcLength(ego_path.points, ego_pos, getPoint(rtc_stop_point_with_factor->first)); - setDistance(crosswalk_distance); + // plan Go/Stop + const bool result = [&]() { + if (isActivated()) { + planGo(stop_factor_info, *path); + // TODO(murooka) call setDistance here return true; } - - setDistance(std::numeric_limits::lowest()); - return true; - } - - const auto & stop_point_with_factor = - [&]() -> boost::optional> { - if (nearest_stop_point_with_factor) - return nearest_stop_point_with_factor.get(); - else if (rtc_stop_point_with_factor) - return rtc_stop_point_with_factor.get(); - return {}; + return planStop(stop_factor_info, *path, stop_reason); }(); + recordTime(4); - if (!stop_point_with_factor) { - return false; - } - - const auto & stop_factor = stop_point_with_factor->second; - insertDecelPointWithDebugInfo(stop_point_with_factor->first, 0.0, *path); - planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set( - path->points, planner_data_->current_odometry->pose, stop_factor.stop_pose, - VelocityFactor::UNKNOWN); - - RCLCPP_INFO_EXPRESSION( - logger_, planner_param_.show_processing_time, "- step4: %f ms", - stop_watch_.toc("total_processing_time", false)); - - return true; + return result; } boost::optional> CrosswalkModule::getStopLine( @@ -274,8 +237,7 @@ boost::optional> CrosswalkModule::g return {}; } -boost::optional> -CrosswalkModule::findRTCStopPointWithFactor( +boost::optional CrosswalkModule::findDefaultStopFactor( const PathWithLaneId & ego_path, const std::vector & path_intersects) { const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; @@ -297,30 +259,30 @@ CrosswalkModule::findRTCStopPointWithFactor( StopFactor stop_factor; stop_factor.stop_pose = stop_pose.get(); - - return std::make_pair(stop_pose.get().position, stop_factor); + return stop_factor; } -boost::optional> -CrosswalkModule::findNearestStopPointWithFactor( +boost::optional CrosswalkModule::findNearestStopFactor( const PathWithLaneId & ego_path, const std::vector & path_intersects) { - StopFactor stop_factor; - - bool found_pedestrians = false; - bool found_stuck_vehicle = false; - - PathWithLaneId sparse_resample_path{}; - constexpr double RESAMPLE_INTERVAL = 4.0; - if (!splineInterpolate(ego_path, RESAMPLE_INTERVAL, sparse_resample_path, logger_)) { + if (ego_path.points.size() < 2) { + RCLCPP_DEBUG(logger_, "Do not interpolate because path size is 1."); return {}; } - const auto crosswalk_attention_range = getAttentionRange(sparse_resample_path, path_intersects); const auto & ego_pos = planner_data_->current_odometry->pose.position; const auto & objects_ptr = planner_data_->predicted_objects; const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; + // Resample path sparsely for less computation cost + constexpr double resample_interval = 4.0; + const auto sparse_resample_path = + resamplePath(ego_path, resample_interval, false, true, true, false); + + // Calculate attention range for crosswalk + const auto crosswalk_attention_range = getAttentionRange(sparse_resample_path, path_intersects); + + // Calculate stop line bool exist_stopline_in_map; const auto p_stop_line = getStopLine(sparse_resample_path, exist_stopline_in_map, path_intersects); @@ -328,54 +290,27 @@ CrosswalkModule::findNearestStopPointWithFactor( return {}; } - geometry_msgs::msg::Point first_stop_point{}; - double minimum_stop_dist = std::numeric_limits::max(); - const auto now = clock_->now(); const auto ignore_crosswalk = debug_data_.ignore_crosswalk = isRedSignalForPedestrians(); - const auto ego_polygon = createVehiclePolygon(planner_data_->vehicle_info_); + // Get attention area + const auto attention_area = getAttentionArea(sparse_resample_path, crosswalk_attention_range); - Polygon2d attention_area; - for (size_t j = 0; j < sparse_resample_path.points.size() - 1; ++j) { - const auto & p_ego_front = sparse_resample_path.points.at(j).point.pose; - const auto & p_ego_back = sparse_resample_path.points.at(j + 1).point.pose; - const auto front_length = - calcSignedArcLength(sparse_resample_path.points, ego_pos, p_ego_front.position); - const auto back_length = - calcSignedArcLength(sparse_resample_path.points, ego_pos, p_ego_back.position); - - if (back_length < crosswalk_attention_range.first) { - continue; - } - - if (crosswalk_attention_range.second < front_length) { - break; - } - - const auto ego_one_step_polygon = createOneStepPolygon(p_ego_front, p_ego_back, ego_polygon); - - debug_data_.ego_polygons.push_back(toMsg(ego_one_step_polygon, ego_pos.z)); - - std::vector unions; - bg::union_(attention_area, ego_one_step_polygon, unions); - if (!unions.empty()) { - attention_area = unions.front(); - bg::correct(attention_area); - } - } + // Check stuck vehicle + const bool found_stuck_vehicle = + isStuckVehicle(sparse_resample_path, objects_ptr->objects, path_intersects); + // Check pedestrian for stop + bool found_pedestrians = false; + geometry_msgs::msg::Point first_stop_point{}; + double minimum_stop_dist = std::numeric_limits::max(); + StopFactor stop_factor; for (const auto & object : objects_ptr->objects) { const auto & obj_pos = object.kinematics.initial_pose_with_covariance.pose.position; const auto & obj_vel = object.kinematics.initial_twist_with_covariance.twist.linear; const auto obj_uuid = toHexString(object.object_id); - if (isVehicle(object)) { - found_stuck_vehicle = - found_stuck_vehicle || isStuckVehicle(sparse_resample_path, object, path_intersects); - } - if (!isTargetType(object)) { continue; } @@ -447,6 +382,7 @@ CrosswalkModule::findNearestStopPointWithFactor( } } + // Check if stop is required const auto need_to_stop = found_pedestrians || found_stuck_vehicle; if (!need_to_stop) { return {}; @@ -474,8 +410,7 @@ CrosswalkModule::findNearestStopPointWithFactor( } stop_factor.stop_pose = stop_pose.get(); - - return std::make_pair(stop_pose.get().position, stop_factor); + return stop_factor; } std::pair CrosswalkModule::getAttentionRange( @@ -483,27 +418,27 @@ std::pair CrosswalkModule::getAttentionRange( { stop_watch_.tic(__func__); - const auto & ego_pos = planner_data_->current_odometry->pose.position; - - double near_attention_range = 0.0; - double far_attention_range = 0.0; if (path_intersects.size() < 2) { - return std::make_pair(near_attention_range, far_attention_range); + return std::make_pair(0.0, 0.0); } - near_attention_range = calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()); - far_attention_range = calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()); - - near_attention_range -= planner_param_.crosswalk_attention_range; - far_attention_range += planner_param_.crosswalk_attention_range; + const auto & ego_pos = planner_data_->current_odometry->pose.position; + const auto near_attention_range = + calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()) - + planner_param_.crosswalk_attention_range; + const auto far_attention_range = + calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()) + + planner_param_.crosswalk_attention_range; - clampAttentionRangeByNeighborCrosswalks(ego_path, near_attention_range, far_attention_range); + const auto [clamped_near_attention_range, clamped_far_attention_range] = + clampAttentionRangeByNeighborCrosswalks(ego_path, near_attention_range, far_attention_range); RCLCPP_INFO_EXPRESSION( logger_, planner_param_.show_processing_time, "%s : %f ms", __func__, stop_watch_.toc(__func__, true)); - return std::make_pair(std::max(0.0, near_attention_range), std::max(0.0, far_attention_range)); + return std::make_pair( + std::max(0.0, clamped_near_attention_range), std::max(0.0, clamped_far_attention_range)); } void CrosswalkModule::insertDecelPointWithDebugInfo( @@ -530,10 +465,10 @@ void CrosswalkModule::insertDecelPointWithDebugInfo( float CrosswalkModule::calcTargetVelocity( const geometry_msgs::msg::Point & stop_point, const PathWithLaneId & ego_path) const { - const auto & max_jerk = planner_param_.max_slow_down_jerk; - const auto & max_accel = planner_param_.max_slow_down_accel; + const auto max_jerk = planner_param_.max_slow_down_jerk; + const auto max_accel = planner_param_.max_slow_down_accel; const auto & ego_pos = planner_data_->current_odometry->pose.position; - const auto & ego_vel = planner_data_->current_velocity->twist.linear.x; + const auto ego_vel = planner_data_->current_velocity->twist.linear.x; if (ego_vel < planner_param_.no_relax_velocity) { return 0.0; @@ -548,8 +483,9 @@ float CrosswalkModule::calcTargetVelocity( return margin_velocity < feasible_velocity ? feasible_velocity : 0.0; } -void CrosswalkModule::clampAttentionRangeByNeighborCrosswalks( - const PathWithLaneId & ego_path, double & near_attention_range, double & far_attention_range) +std::pair CrosswalkModule::clampAttentionRangeByNeighborCrosswalks( + const PathWithLaneId & ego_path, const double near_attention_range, + const double far_attention_range) { stop_watch_.tic(__func__); @@ -559,7 +495,7 @@ void CrosswalkModule::clampAttentionRangeByNeighborCrosswalks( const auto p_far = calcLongitudinalOffsetPoint(ego_path.points, ego_pos, far_attention_range); if (!p_near || !p_far) { - return; + return std::make_pair(near_attention_range, far_attention_range); } const auto near_idx = findNearestSegmentIndex(ego_path.points, p_near.get()); @@ -611,32 +547,39 @@ void CrosswalkModule::clampAttentionRangeByNeighborCrosswalks( } } - if (prev_crosswalk) { + const double clamped_near_attention_range = [&]() { + if (!prev_crosswalk) { + return near_attention_range; + } auto reverse_ego_path = ego_path; std::reverse(reverse_ego_path.points.begin(), reverse_ego_path.points.end()); const auto prev_crosswalk_intersects = getPolygonIntersects( reverse_ego_path, prev_crosswalk.get().polygon2d().basicPolygon(), ego_pos, 2); + if (prev_crosswalk_intersects.empty()) { + return near_attention_range; + } - if (!prev_crosswalk_intersects.empty()) { - const auto dist_to_prev_crosswalk = - calcSignedArcLength(ego_path.points, ego_pos, prev_crosswalk_intersects.front()); + const auto dist_to_prev_crosswalk = + calcSignedArcLength(ego_path.points, ego_pos, prev_crosswalk_intersects.front()); + return std::max(near_attention_range, dist_to_prev_crosswalk); + }(); - near_attention_range = std::max(near_attention_range, dist_to_prev_crosswalk); + const double clamped_far_attention_range = [&]() { + if (!next_crosswalk) { + return far_attention_range; } - } - - if (next_crosswalk) { const auto next_crosswalk_intersects = getPolygonIntersects(ego_path, next_crosswalk.get().polygon2d().basicPolygon(), ego_pos, 2); - if (!next_crosswalk_intersects.empty()) { - const auto dist_to_next_crosswalk = - calcSignedArcLength(ego_path.points, ego_pos, next_crosswalk_intersects.front()); - - far_attention_range = std::min(far_attention_range, dist_to_next_crosswalk); + if (next_crosswalk_intersects.empty()) { + return far_attention_range; } - } + + const auto dist_to_next_crosswalk = + calcSignedArcLength(ego_path.points, ego_pos, next_crosswalk_intersects.front()); + return std::min(far_attention_range, dist_to_next_crosswalk); + }(); const auto update_p_near = calcLongitudinalOffsetPoint(ego_path.points, ego_pos, near_attention_range); @@ -651,6 +594,8 @@ void CrosswalkModule::clampAttentionRangeByNeighborCrosswalks( RCLCPP_INFO_EXPRESSION( logger_, planner_param_.show_processing_time, "%s : %f ms", __func__, stop_watch_.toc(__func__, true)); + + return std::make_pair(clamped_near_attention_range, clamped_far_attention_range); } std::vector CrosswalkModule::getCollisionPoints( @@ -671,8 +616,8 @@ std::vector CrosswalkModule::getCollisionPoints( for (const auto & obj_path : object.kinematics.predicted_paths) { for (size_t i = 0; i < obj_path.path.size() - 1; ++i) { - const auto p_obj_front = obj_path.path.at(i); - const auto p_obj_back = obj_path.path.at(i + 1); + const auto & p_obj_front = obj_path.path.at(i); + const auto & p_obj_back = obj_path.path.at(i + 1); const auto obj_one_step_polygon = createOneStepPolygon(p_obj_front, p_obj_back, obj_polygon); std::vector tmp_intersects{}; @@ -692,7 +637,7 @@ std::vector CrosswalkModule::getCollisionPoints( double minimum_stop_dist = std::numeric_limits::max(); geometry_msgs::msg::Point nearest_collision_point{}; for (const auto & p : tmp_intersects) { - geometry_msgs::msg::Point cp = createPoint(p.x(), p.y(), ego_pos.z); + const auto cp = createPoint(p.x(), p.y(), ego_pos.z); const auto dist_ego2cp = calcSignedArcLength(ego_path.points, ego_pos, cp); if (dist_ego2cp < minimum_stop_dist) { @@ -718,7 +663,7 @@ std::vector CrosswalkModule::getCollisionPoints( ret.push_back( createCollisionPoint(nearest_collision_point, dist_ego2cp, dist_obj2cp, ego_vel, obj_vel)); - debug_data_.obj_polygons.push_back(toMsg(obj_one_step_polygon, ego_pos.z)); + debug_data_.obj_polygons.push_back(toGeometryPointVector(obj_one_step_polygon, ego_pos.z)); break; } @@ -769,11 +714,11 @@ CollisionPointState CrosswalkModule::getCollisionPointState( return CollisionPointState::YIELD; } -bool CrosswalkModule::applySafetySlowDownSpeed( +void CrosswalkModule::applySafetySlowDownSpeed( PathWithLaneId & output, const std::vector & path_intersects) { if (path_intersects.empty()) { - return false; + return; } const auto & ego_pos = planner_data_->current_odometry->pose.position; @@ -785,14 +730,14 @@ bool CrosswalkModule::applySafetySlowDownSpeed( if (!passed_safety_slow_point_) { // Safety slow down distance [m] - double safety_slow_down_distance = crosswalk_.attributeOr("safety_slow_down_distance", 2.0); + const double safety_slow_down_distance = + crosswalk_.attributeOr("safety_slow_down_distance", 2.0); // the range until to the point where ego will have a const safety slow down speed - auto safety_slow_point_range = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()); - const auto & safety_slow_margin = + const double safety_slow_margin = planner_data_->vehicle_info_.max_longitudinal_offset_m + safety_slow_down_distance; - safety_slow_point_range -= safety_slow_margin; + const double safety_slow_point_range = + calcSignedArcLength(ego_path.points, ego_pos, path_intersects.front()) - safety_slow_margin; const auto & p_safety_slow = calcLongitudinalOffsetPoint(ego_path.points, ego_pos, safety_slow_point_range); @@ -804,48 +749,96 @@ bool CrosswalkModule::applySafetySlowDownSpeed( } } else { // the range until to the point where ego will start accelerate - auto safety_slow_end_point_range = + const double safety_slow_end_point_range = calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()); - if (safety_slow_end_point_range > 0) { + if (0.0 < safety_slow_end_point_range) { // insert constant ego speed until the end of the crosswalk for (auto & p : output.points) { - const auto & original_velocity = p.point.longitudinal_velocity_mps; + const float original_velocity = p.point.longitudinal_velocity_mps; p.point.longitudinal_velocity_mps = std::min(original_velocity, safety_slow_down_speed); } } } - return true; } -bool CrosswalkModule::isStuckVehicle( - const PathWithLaneId & ego_path, const PredictedObject & object, - const std::vector & path_intersects) const +Polygon2d CrosswalkModule::getAttentionArea( + const PathWithLaneId & sparse_resample_path, + const std::pair & crosswalk_attention_range) const { - const auto & obj_vel = object.kinematics.initial_twist_with_covariance.twist.linear; - if (planner_param_.stuck_vehicle_velocity < std::hypot(obj_vel.x, obj_vel.y)) { - return false; - } + const auto & ego_pos = planner_data_->current_odometry->pose.position; + const auto ego_polygon = createVehiclePolygon(planner_data_->vehicle_info_); - const auto & obj_pos = object.kinematics.initial_pose_with_covariance.pose.position; - const auto lateral_offset = calcLateralOffset(ego_path.points, obj_pos); - if (planner_param_.max_lateral_offset < std::abs(lateral_offset)) { - return false; + Polygon2d attention_area; + for (size_t j = 0; j < sparse_resample_path.points.size() - 1; ++j) { + const auto & p_ego_front = sparse_resample_path.points.at(j).point.pose; + const auto & p_ego_back = sparse_resample_path.points.at(j + 1).point.pose; + const auto front_length = + calcSignedArcLength(sparse_resample_path.points, ego_pos, p_ego_front.position); + const auto back_length = + calcSignedArcLength(sparse_resample_path.points, ego_pos, p_ego_back.position); + + if (back_length < crosswalk_attention_range.first) { + continue; + } + + if (crosswalk_attention_range.second < front_length) { + break; + } + + const auto ego_one_step_polygon = createOneStepPolygon(p_ego_front, p_ego_back, ego_polygon); + + debug_data_.ego_polygons.push_back(toGeometryPointVector(ego_one_step_polygon, ego_pos.z)); + + std::vector unions; + bg::union_(attention_area, ego_one_step_polygon, unions); + if (!unions.empty()) { + attention_area = unions.front(); + bg::correct(attention_area); + } } + return attention_area; +} + +bool CrosswalkModule::isStuckVehicle( + const PathWithLaneId & ego_path, const std::vector & objects, + const std::vector & path_intersects) const +{ if (path_intersects.size() < 2) { return false; } - const auto & ego_pos = planner_data_->current_odometry->pose.position; - const double near_attention_range = - calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()); - const double far_attention_range = - near_attention_range + planner_param_.stuck_vehicle_attention_range; + for (const auto & object : objects) { + if (!isVehicle(object)) { + continue; + } + + const auto & obj_vel = object.kinematics.initial_twist_with_covariance.twist.linear; + if (planner_param_.stuck_vehicle_velocity < std::hypot(obj_vel.x, obj_vel.y)) { + continue; + } + + const auto & obj_pos = object.kinematics.initial_pose_with_covariance.pose.position; + const auto lateral_offset = calcLateralOffset(ego_path.points, obj_pos); + if (planner_param_.max_lateral_offset < std::abs(lateral_offset)) { + continue; + } - const auto dist_ego2obj = calcSignedArcLength(ego_path.points, ego_pos, obj_pos); + const auto & ego_pos = planner_data_->current_odometry->pose.position; + const double near_attention_range = + calcSignedArcLength(ego_path.points, ego_pos, path_intersects.back()); + const double far_attention_range = + near_attention_range + planner_param_.stuck_vehicle_attention_range; - return near_attention_range < dist_ego2obj && dist_ego2obj < far_attention_range; + const auto dist_ego2obj = calcSignedArcLength(ego_path.points, ego_pos, obj_pos); + + if (near_attention_range < dist_ego2obj && dist_ego2obj < far_attention_range) { + return true; + } + } + + return false; } bool CrosswalkModule::isRedSignalForPedestrians() const @@ -970,4 +963,59 @@ geometry_msgs::msg::Polygon CrosswalkModule::createVehiclePolygon( return polygon; } + +boost::optional CrosswalkModule::generateStopFactorInfo( + const boost::optional & nearest_stop_factor, + const boost::optional & default_stop_factor) const +{ + if (nearest_stop_factor) { + return StopFactorInfo{*nearest_stop_factor, StopFactorInfo::Type::NEAREST}; + } + if (default_stop_factor) { + return StopFactorInfo{*default_stop_factor, StopFactorInfo::Type::DEFAULT}; + } + return {}; +} + +void CrosswalkModule::planGo( + const boost::optional & stop_factor_info, PathWithLaneId & ego_path) +{ + const auto & ego_pos = planner_data_->current_odometry->pose.position; + + if (!stop_factor_info) { + setDistance(std::numeric_limits::lowest()); + return; + } + + if (stop_factor_info->type == StopFactorInfo::Type::NEAREST) { + // Plan slow down + const auto target_velocity = + calcTargetVelocity(stop_factor_info->stop_factor.stop_pose.position, ego_path); + insertDecelPointWithDebugInfo( + stop_factor_info->stop_factor.stop_pose.position, + std::max(planner_param_.min_slow_down_velocity, target_velocity), ego_path); + return; + } + + // NOTE: if (stop_factor_info->type == StopFactorInfo::Type::DEFAULT) + const auto crosswalk_distance = calcSignedArcLength( + ego_path.points, ego_pos, getPoint(stop_factor_info->stop_factor.stop_pose.position)); + setDistance(crosswalk_distance); +} + +bool CrosswalkModule::planStop( + const boost::optional & stop_factor_info, PathWithLaneId & ego_path, + StopReason * stop_reason) +{ + if (!stop_factor_info) { + return false; + } + + insertDecelPointWithDebugInfo(stop_factor_info->stop_factor.stop_pose.position, 0.0, ego_path); + planning_utils::appendStopReason(stop_factor_info->stop_factor, stop_reason); + velocity_factor_.set( + ego_path.points, planner_data_->current_odometry->pose, stop_factor_info->stop_factor.stop_pose, + VelocityFactor::UNKNOWN); + return true; +} } // namespace behavior_velocity_planner diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index 2edade84bb87b..82336dcbec944 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -103,13 +103,13 @@ class CrosswalkModule : public SceneModuleInterface motion_utils::VirtualWalls createVirtualWalls() override; private: - int64_t module_id_; + const int64_t module_id_; - boost::optional> findRTCStopPointWithFactor( + boost::optional findDefaultStopFactor( const PathWithLaneId & ego_path, const std::vector & path_intersects); - boost::optional> findNearestStopPointWithFactor( + boost::optional findNearestStopFactor( const PathWithLaneId & ego_path, const std::vector & path_intersects); @@ -129,8 +129,9 @@ class CrosswalkModule : public SceneModuleInterface const geometry_msgs::msg::Point & stop_point, const float target_velocity, PathWithLaneId & output); - void clampAttentionRangeByNeighborCrosswalks( - const PathWithLaneId & ego_path, double & near_attention_range, double & far_attention_range); + std::pair clampAttentionRangeByNeighborCrosswalks( + const PathWithLaneId & ego_path, const double near_attention_range, + const double far_attention_range); CollisionPoint createCollisionPoint( const geometry_msgs::msg::Point & nearest_collision_point, const double dist_ego2cp, @@ -139,14 +140,18 @@ class CrosswalkModule : public SceneModuleInterface CollisionPointState getCollisionPointState(const double ttc, const double ttv) const; - bool applySafetySlowDownSpeed( + void applySafetySlowDownSpeed( PathWithLaneId & output, const std::vector & path_intersects); float calcTargetVelocity( const geometry_msgs::msg::Point & stop_point, const PathWithLaneId & ego_path) const; + Polygon2d getAttentionArea( + const PathWithLaneId & sparse_resample_path, + const std::pair & crosswalk_attention_range) const; + bool isStuckVehicle( - const PathWithLaneId & ego_path, const PredictedObject & object, + const PathWithLaneId & ego_path, const std::vector & objects, const std::vector & path_intersects) const; bool isRedSignalForPedestrians() const; @@ -161,19 +166,35 @@ class CrosswalkModule : public SceneModuleInterface static geometry_msgs::msg::Polygon createVehiclePolygon( const vehicle_info_util::VehicleInfo & vehicle_info); + boost::optional generateStopFactorInfo( + const boost::optional & nearest_stop_factor, + const boost::optional & default_stop_factor) const; + + void planGo(const boost::optional & stop_factor_info, PathWithLaneId & ego_path); + bool planStop( + const boost::optional & stop_factor_info, PathWithLaneId & ego_path, + StopReason * stop_reason); + + void recordTime(const int step_num) + { + RCLCPP_INFO_EXPRESSION( + logger_, planner_param_.show_processing_time, "- step%d: %f ms", step_num, + stop_watch_.toc("total_processing_time", false)); + } + lanelet::ConstLanelet crosswalk_; lanelet::ConstLineStrings3d stop_lines_; // Parameter - PlannerParam planner_param_; + const PlannerParam planner_param_; // Ignore objects std::unordered_map stopped_objects_; std::unordered_map ignore_objects_; // Debug - DebugData debug_data_; + mutable DebugData debug_data_; // Stop watch StopWatch stop_watch_; @@ -182,7 +203,7 @@ class CrosswalkModule : public SceneModuleInterface bool passed_safety_slow_point_; // whether use regulatory element - bool use_regulatory_element_; + const bool use_regulatory_element_; }; } // namespace behavior_velocity_planner diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_walkway.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_walkway.cpp index 119591c225e36..f08d67c74c653 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_walkway.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_walkway.cpp @@ -91,8 +91,7 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ { const auto & base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; - debug_data_ = DebugData(); - debug_data_.base_link2front = base_link2front; + debug_data_ = DebugData(planner_data_); *stop_reason = planning_utils::initializeStopReason(StopReason::WALKWAY); const auto input = *path; diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_walkway.hpp b/planning/behavior_velocity_crosswalk_module/src/scene_walkway.hpp index a32038e17fab4..761139d7e1106 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_walkway.hpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_walkway.hpp @@ -55,7 +55,7 @@ class WalkwayModule : public SceneModuleInterface motion_utils::VirtualWalls createVirtualWalls() override; private: - int64_t module_id_; + const int64_t module_id_; [[nodiscard]] boost::optional> getStopLine( const PathWithLaneId & ego_path, bool & exist_stopline_in_map, @@ -71,13 +71,13 @@ class WalkwayModule : public SceneModuleInterface State state_; // Parameter - PlannerParam planner_param_; + const PlannerParam planner_param_; // Debug DebugData debug_data_; // flag to use regulatory element - bool use_regulatory_element_; + const bool use_regulatory_element_; }; } // namespace behavior_velocity_planner diff --git a/planning/behavior_velocity_crosswalk_module/src/util.hpp b/planning/behavior_velocity_crosswalk_module/src/util.hpp index d585cf521dc73..65cf3fa0e046c 100644 --- a/planning/behavior_velocity_crosswalk_module/src/util.hpp +++ b/planning/behavior_velocity_crosswalk_module/src/util.hpp @@ -32,13 +32,16 @@ #include #include +#include namespace behavior_velocity_planner { using autoware_auto_planning_msgs::msg::PathPointWithLaneId; using autoware_auto_planning_msgs::msg::PathWithLaneId; +using tier4_autoware_utils::createPoint; using tier4_autoware_utils::Point2d; +using tier4_planning_msgs::msg::StopFactor; enum class CollisionPointState { YIELD, EGO_PASS_FIRST, EGO_PASS_LATER, IGNORE }; @@ -50,11 +53,24 @@ struct CollisionPoint CollisionPointState state{CollisionPointState::EGO_PASS_FIRST}; }; +struct StopFactorInfo +{ + enum class Type { NEAREST = 0, DEFAULT }; + StopFactor stop_factor; + Type type; +}; + struct DebugData { + DebugData() = default; + explicit DebugData(const std::shared_ptr planner_data) + : base_link2front(planner_data->vehicle_info_.max_longitudinal_offset_m) + { + } + bool ignore_crosswalk{false}; double base_link2front; - double stop_judge_range; + double stop_judge_range{}; geometry_msgs::msg::Pose first_stop_pose; geometry_msgs::msg::Point nearest_collision_point; @@ -68,8 +84,8 @@ struct DebugData std::vector slow_poses; std::vector stop_factor_points; std::vector crosswalk_polygon; - std::vector ego_polygons; - std::vector obj_polygons; + std::vector> ego_polygons; + std::vector> obj_polygons; }; std::vector getPolygonIntersects( From 850eef632eda77f68f0b44936e2fc31cb0ffabc6 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 10 Jul 2023 11:22:12 +0900 Subject: [PATCH 112/118] refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package (#4114) * Add path_smoothing package Signed-off-by: Maxime CLEMENT * Add elastic band smoother node Signed-off-by: Maxime CLEMENT * Add Debug section to elastic band documentation Signed-off-by: Maxime CLEMENT * Remove elastic band from the obstacle_avoidance_planner Signed-off-by: Maxime CLEMENT * Move elastic band debug images to the path_smoothing package Signed-off-by: Maxime CLEMENT * Update launch files to run the elastic_band_smoother Signed-off-by: Maxime CLEMENT * Set path topic names based on the path_smoother_type argument Signed-off-by: Maxime CLEMENT * Publish path with backward paths Signed-off-by: Maxime CLEMENT * Rename path_smoothing -> path_smoother Signed-off-by: Maxime CLEMENT --------- Signed-off-by: Maxime CLEMENT --- .../launch/planning.launch.xml | 5 +- .../motion_planning/motion_planning.launch.py | 46 ++- .../scenario_planning.launch.xml | 4 +- .../motion_velocity_smoother.launch.xml | 6 +- .../obstacle_avoidance_planner/CMakeLists.txt | 1 - planning/obstacle_avoidance_planner/README.md | 17 +- .../obstacle_avoidance_planner.param.yaml | 32 +- .../obstacle_avoidance_planner/docs/debug.md | 19 +- .../obstacle_avoidance_planner/node.hpp | 3 - .../src/debug_marker.cpp | 1 - .../obstacle_avoidance_planner/src/node.cpp | 23 +- .../src/utils/geometry_utils.cpp | 1 - .../src/utils/trajectory_utils.cpp | 1 - planning/path_smoother/CMakeLists.txt | 42 ++ planning/path_smoother/README.md | 11 + .../config/elastic_band_smoother.param.yaml | 37 ++ .../docs/eb.md | 12 + .../include/path_smoother/common_structs.hpp | 126 ++++++ .../include/path_smoother/elastic_band.hpp} | 20 +- .../path_smoother/elastic_band_smoother.hpp | 119 ++++++ .../include/path_smoother/type_alias.hpp | 44 +++ .../path_smoother/utils/geometry_utils.hpp | 35 ++ .../path_smoother/utils/trajectory_utils.hpp | 177 +++++++++ .../launch/elastic_band_smoother.launch.xml | 17 + .../debug/eb_fixed_traj_visualization.png | Bin .../media/debug/eb_traj_visualization.png | Bin .../media/eb.svg | 0 .../media/eb_constraint.svg | 0 planning/path_smoother/package.xml | 41 ++ .../src/elastic_band.cpp} | 84 ++-- .../src/elastic_band_smoother.cpp | 373 ++++++++++++++++++ .../src/utils/trajectory_utils.cpp | 109 +++++ .../test_path_smoother_node_interface.cpp | 62 +++ 33 files changed, 1323 insertions(+), 145 deletions(-) create mode 100644 planning/path_smoother/CMakeLists.txt create mode 100644 planning/path_smoother/README.md create mode 100644 planning/path_smoother/config/elastic_band_smoother.param.yaml rename planning/{obstacle_avoidance_planner => path_smoother}/docs/eb.md (95%) create mode 100644 planning/path_smoother/include/path_smoother/common_structs.hpp rename planning/{obstacle_avoidance_planner/include/obstacle_avoidance_planner/eb_path_smoother.hpp => path_smoother/include/path_smoother/elastic_band.hpp} (85%) create mode 100644 planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp create mode 100644 planning/path_smoother/include/path_smoother/type_alias.hpp create mode 100644 planning/path_smoother/include/path_smoother/utils/geometry_utils.hpp create mode 100644 planning/path_smoother/include/path_smoother/utils/trajectory_utils.hpp create mode 100644 planning/path_smoother/launch/elastic_band_smoother.launch.xml rename planning/{obstacle_avoidance_planner => path_smoother}/media/debug/eb_fixed_traj_visualization.png (100%) rename planning/{obstacle_avoidance_planner => path_smoother}/media/debug/eb_traj_visualization.png (100%) rename planning/{obstacle_avoidance_planner => path_smoother}/media/eb.svg (100%) rename planning/{obstacle_avoidance_planner => path_smoother}/media/eb_constraint.svg (100%) create mode 100644 planning/path_smoother/package.xml rename planning/{obstacle_avoidance_planner/src/eb_path_smoother.cpp => path_smoother/src/elastic_band.cpp} (80%) create mode 100644 planning/path_smoother/src/elastic_band_smoother.cpp create mode 100644 planning/path_smoother/src/utils/trajectory_utils.cpp create mode 100644 planning/path_smoother/test/test_path_smoother_node_interface.cpp diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml index e406eb5653b0a..7e78c8842f7df 100644 --- a/launch/tier4_planning_launch/launch/planning.launch.xml +++ b/launch/tier4_planning_launch/launch/planning.launch.xml @@ -4,7 +4,8 @@ - + + @@ -43,7 +44,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index 94461c1748439..34ad4659b5ece 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -21,6 +21,7 @@ from launch.conditions import LaunchConfigurationEquals from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration +from launch.substitutions import PythonExpression from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode @@ -41,6 +42,39 @@ def launch_setup(context, *args, **kwargs): with open(LaunchConfiguration("nearest_search_param_path").perform(context), "r") as f: nearest_search_param = yaml.safe_load(f)["/**"]["ros__parameters"] + # path smoother + smoother_output_path_topic = "path_smoother/path" + with open(LaunchConfiguration("elastic_band_smoother_param_path").perform(context), "r") as f: + elastic_band_smoother_param = yaml.safe_load(f)["/**"]["ros__parameters"] + elastic_band_smoother_component = ComposableNode( + package="path_smoother", + plugin="path_smoother::ElasticBandSmoother", + name="elastic_band_smoother", + namespace="", + remappings=[ + ("~/input/path", LaunchConfiguration("input_path_topic")), + ("~/input/odometry", "/localization/kinematic_state"), + ("~/output/path", smoother_output_path_topic), + ], + parameters=[ + nearest_search_param, + elastic_band_smoother_param, + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + planner_input_path_topic = PythonExpression( + [ + "'", + LaunchConfiguration("input_path_topic"), + "' if '", + LaunchConfiguration("path_smoother_type"), + "' == 'none'", + " else '", + smoother_output_path_topic, + "'", + ] + ) # obstacle avoidance planner with open( LaunchConfiguration("obstacle_avoidance_planner_param_path").perform(context), "r" @@ -52,7 +86,7 @@ def launch_setup(context, *args, **kwargs): name="obstacle_avoidance_planner", namespace="", remappings=[ - ("~/input/path", LaunchConfiguration("input_path_topic")), + ("~/input/path", planner_input_path_topic), ("~/input/odometry", "/localization/kinematic_state"), ("~/output/path", "obstacle_avoidance_planner/trajectory"), ], @@ -73,7 +107,7 @@ def launch_setup(context, *args, **kwargs): name="path_sampler", namespace="", remappings=[ - ("~/input/path", LaunchConfiguration("input_path_topic")), + ("~/input/path", planner_input_path_topic), ("~/input/odometry", "/localization/kinematic_state"), ("~/output/path", "obstacle_avoidance_planner/trajectory"), ], @@ -251,6 +285,12 @@ def launch_setup(context, *args, **kwargs): condition=LaunchConfigurationEquals("cruise_planner_type", "none"), ) + smoother_loader = LoadComposableNodes( + composable_node_descriptions=[elastic_band_smoother_component], + target_container=container, + condition=LaunchConfigurationEquals("path_smoother_type", "elastic_band"), + ) + obstacle_avoidance_planner_loader = LoadComposableNodes( composable_node_descriptions=[obstacle_avoidance_planner_component], target_container=container, @@ -272,6 +312,7 @@ def launch_setup(context, *args, **kwargs): group = GroupAction( [ container, + smoother_loader, obstacle_avoidance_planner_loader, path_sampler_loader, obstacle_stop_planner_loader, @@ -309,6 +350,7 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg( "path_planner_type", "obstacle_avoidance_planner" ) # select from "obstacle_avoidance_planner", "path_sampler" + add_launch_arg("path_smoother_type", "elastic_band") # select from "elastic_band", "none" add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication") add_launch_arg("use_multithread", "false", "use multithread") diff --git a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml index dbeaae2df622b..665bd82423ea6 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml @@ -27,11 +27,11 @@ - + - + diff --git a/planning/motion_velocity_smoother/launch/motion_velocity_smoother.launch.xml b/planning/motion_velocity_smoother/launch/motion_velocity_smoother.launch.xml index 23490652ff072..78bddc2b81f4f 100644 --- a/planning/motion_velocity_smoother/launch/motion_velocity_smoother.launch.xml +++ b/planning/motion_velocity_smoother/launch/motion_velocity_smoother.launch.xml @@ -9,11 +9,11 @@ - + - + @@ -21,7 +21,7 @@ - + diff --git a/planning/obstacle_avoidance_planner/CMakeLists.txt b/planning/obstacle_avoidance_planner/CMakeLists.txt index 883ce473722fd..2662555d92341 100644 --- a/planning/obstacle_avoidance_planner/CMakeLists.txt +++ b/planning/obstacle_avoidance_planner/CMakeLists.txt @@ -22,7 +22,6 @@ ament_auto_add_library(obstacle_avoidance_planner SHARED src/node.cpp # core algorithms src/replan_checker.cpp - src/eb_path_smoother.cpp src/mpt_optimizer.cpp src/state_equation_generator.cpp # debug marker diff --git a/planning/obstacle_avoidance_planner/README.md b/planning/obstacle_avoidance_planner/README.md index 36a692ca33735..c079a57c3a2da 100644 --- a/planning/obstacle_avoidance_planner/README.md +++ b/planning/obstacle_avoidance_planner/README.md @@ -9,7 +9,6 @@ Only position and orientation of trajectory are updated in this module, and velo This package is able to -- make the trajectory smooth - make the trajectory inside the drivable area as much as possible - NOTE: Static obstacles to avoid can be removed from the drivable area. - insert stop point before the planned footprint will be outside the drivable area @@ -109,13 +108,6 @@ max_path_shape_around_ego_lat_dist - The optimization is skipped for a while sine the optimization is sometimes heavy. - The input path changes laterally longer than `replan.max_path_shape_around_ego_lat_dist` in one cycle. (default: 2.0) -### getEBTrajectory - -The latter optimization (model predictive trajectory) assumes that the reference path is smooth enough. -This function makes the input path smooth by elastic band. - -More details about elastic band can be seen [here](docs/eb.md). - ### getModelPredictiveTrajectory This module makes the trajectory kinematically-feasible and collision-free. @@ -212,17 +204,14 @@ Although it has a cons to converge to the local minima, it can get a good soluti ### Robustness -- Check if the trajectory before EB, after EB, or after MPT is not robust - - if the trajectory before EB is not robust - - if the trajectory after EB is not robust +- Check if the trajectory before or after MPT is not robust + - if the trajectory before MPT is not robust - if the trajectory after MPT is not robust - make `mpt.weight.steer_input_weight` or `mpt.weight.steer_rate_weight` larger, which are stability of steering wheel along the trajectory. ### Other options -- `option.enable_skip_optimization` skips EB and MPT optimization. -- `option.enable_smoothing` enables EB which is smoothing the trajectory for MPT. - - EB is not required if the reference path for MPT is smooth enough and does not change its shape suddenly +- `option.enable_skip_optimization` skips MPT optimization. - `option.enable_calculation_time_info` enables showing each calculation time for functions and total calculation time on the terminal. - `option.enable_outside_drivable_area_stop` enables stopping just before the generated trajectory point will be outside the drivable area. diff --git a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml index 3f4655b78229c..624ba4defc8a0 100644 --- a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml +++ b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml @@ -1,8 +1,7 @@ /**: ros__parameters: option: - enable_smoothing: true # enable path smoothing by elastic band - enable_skip_optimization: false # skip elastic band and model predictive trajectory + enable_skip_optimization: false # skip model predictive trajectory enable_reset_prev_optimization: false # If true, optimization has no fix constraint to the previous result. enable_outside_drivable_area_stop: true # stop if the ego's trajectory footprint is outside the drivable area use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered. @@ -30,35 +29,6 @@ max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m] max_delta_time_sec: 1.0 # threshold of delta time for replan [second] - # eb param - eb: - option: - enable_warm_start: true - enable_optimization_validation: false - - common: - num_points: 100 # number of points for optimization [-] - delta_arc_length: 1.0 # delta arc length for optimization [m] - - clearance: - num_joint_points: 3 # number of joint points (joint means connecting fixing and smoothing) - - clearance_for_fix: 0.0 # maximum optimizing range when applying fixing - clearance_for_joint: 0.1 # maximum optimizing range when applying jointing - clearance_for_smooth: 0.1 # maximum optimizing range when applying smoothing - - weight: - smooth_weight: 1.0 - lat_error_weight: 0.001 - - qp: - max_iteration: 10000 # max iteration when solving QP - eps_abs: 1.0e-7 # eps abs when solving OSQP - eps_rel: 1.0e-7 # eps rel when solving OSQP - - validation: # if enable_optimization_validation is true - max_error: 3.0 # [m] - # mpt param mpt: option: diff --git a/planning/obstacle_avoidance_planner/docs/debug.md b/planning/obstacle_avoidance_planner/docs/debug.md index f5bcf56a6138a..293f5b2ec1a40 100644 --- a/planning/obstacle_avoidance_planner/docs/debug.md +++ b/planning/obstacle_avoidance_planner/docs/debug.md @@ -2,7 +2,7 @@ ## Debug visualization -The visualization markers of the planning flow (Input, Elastic Band, Model Predictive Trajectory, and Output) are explained here. +The visualization markers of the planning flow (Input, Model Predictive Trajectory, and Output) are explained here. All the following markers can be visualized by @@ -38,18 +38,6 @@ The `vehicle_model` must be specified to make footprints with vehicle's size. ![drivable_area](../media/debug/drivable_area_visualization.png) -### Elastic Band (EB) - -- **EB Fixed Trajectory** - - The fixed trajectory points as a constraint of elastic band. - -![eb_fixed_traj](../media/debug/eb_fixed_traj_visualization.png) - -- **EB Trajectory** - - The optimized trajectory points by elastic band. - -![eb_traj](../media/debug/eb_traj_visualization.png) - ### Model Predictive Trajectory (MPT) - **MPT Reference Trajectory** @@ -100,7 +88,7 @@ The `vehicle_model` must be specified to make footprints with vehicle's size. ## Calculation time -The `obstacle_avoidance_planner` consists of many functions such as boundaries' width calculation, reference path smoothing, collision-free planning, etc. +The `obstacle_avoidance_planner` consists of many functions such as boundaries' width calculation, collision-free planning, etc. We can see the calculation time for each function as follows. ### Raw data @@ -169,8 +157,6 @@ For your information, the following functions for optimization and its initializ - MPT - `initOsqp` - `solveOsqp` -- EB - - `optimizeTrajectory` ### When a part of the trajectory has high curvature @@ -186,5 +172,4 @@ Please check if there is something weird by the visualization. Some of the following may have an issue. Please check if there is something weird by the visualization. -- EB Trajectory - Vehicle Circles on Trajectory 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 b51b35fa99d49..efec8afadc56d 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp @@ -17,7 +17,6 @@ #include "motion_utils/motion_utils.hpp" #include "obstacle_avoidance_planner/common_structs.hpp" -#include "obstacle_avoidance_planner/eb_path_smoother.hpp" #include "obstacle_avoidance_planner/mpt_optimizer.hpp" #include "obstacle_avoidance_planner/replan_checker.hpp" #include "obstacle_avoidance_planner/type_alias.hpp" @@ -64,14 +63,12 @@ class ObstacleAvoidancePlanner : public rclcpp::Node bool enable_pub_debug_marker_; bool enable_debug_info_; bool enable_outside_drivable_area_stop_; - bool enable_smoothing_; bool enable_skip_optimization_; bool enable_reset_prev_optimization_; bool use_footprint_polygon_for_outside_drivable_area_check_; // core algorithms std::shared_ptr replan_checker_ptr_{nullptr}; - std::shared_ptr eb_path_smoother_ptr_{nullptr}; std::shared_ptr mpt_optimizer_ptr_{nullptr}; // parameters diff --git a/planning/obstacle_avoidance_planner/src/debug_marker.cpp b/planning/obstacle_avoidance_planner/src/debug_marker.cpp index 2b0ddbed8fbba..c78358a20bb53 100644 --- a/planning/obstacle_avoidance_planner/src/debug_marker.cpp +++ b/planning/obstacle_avoidance_planner/src/debug_marker.cpp @@ -15,7 +15,6 @@ #include "obstacle_avoidance_planner/debug_marker.hpp" #include "motion_utils/motion_utils.hpp" -#include "obstacle_avoidance_planner/eb_path_smoother.hpp" #include "obstacle_avoidance_planner/mpt_optimizer.hpp" #include "visualization_msgs/msg/marker_array.hpp" diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp index 25b65b92c0924..c1d931dd54e20 100644 --- a/planning/obstacle_avoidance_planner/src/node.cpp +++ b/planning/obstacle_avoidance_planner/src/node.cpp @@ -86,7 +86,6 @@ ObstacleAvoidancePlanner::ObstacleAvoidancePlanner(const rclcpp::NodeOptions & n // parameter for option enable_outside_drivable_area_stop_ = declare_parameter("option.enable_outside_drivable_area_stop"); - enable_smoothing_ = declare_parameter("option.enable_smoothing"); enable_skip_optimization_ = declare_parameter("option.enable_skip_optimization"); enable_reset_prev_optimization_ = declare_parameter("option.enable_reset_prev_optimization"); @@ -110,8 +109,6 @@ ObstacleAvoidancePlanner::ObstacleAvoidancePlanner(const rclcpp::NodeOptions & n // create core algorithm pointers with parameter declaration replan_checker_ptr_ = std::make_shared(this, ego_nearest_param_); - eb_path_smoother_ptr_ = std::make_shared( - this, enable_debug_info_, ego_nearest_param_, traj_param_, time_keeper_ptr_); mpt_optimizer_ptr_ = std::make_shared( this, enable_debug_info_, ego_nearest_param_, vehicle_info_, traj_param_, debug_data_ptr_, time_keeper_ptr_); @@ -136,7 +133,6 @@ rcl_interfaces::msg::SetParametersResult ObstacleAvoidancePlanner::onParam( // parameters for option updateParam( parameters, "option.enable_outside_drivable_area_stop", enable_outside_drivable_area_stop_); - updateParam(parameters, "option.enable_smoothing", enable_smoothing_); updateParam(parameters, "option.enable_skip_optimization", enable_skip_optimization_); updateParam( parameters, "option.enable_reset_prev_optimization", enable_reset_prev_optimization_); @@ -161,7 +157,6 @@ rcl_interfaces::msg::SetParametersResult ObstacleAvoidancePlanner::onParam( // parameters for core algorithms replan_checker_ptr_->onParam(parameters); - eb_path_smoother_ptr_->onParam(parameters); mpt_optimizer_ptr_->onParam(parameters); // reset planners @@ -177,7 +172,6 @@ void ObstacleAvoidancePlanner::initializePlanning() { RCLCPP_INFO(get_logger(), "Initialize planning"); - eb_path_smoother_ptr_->initialize(enable_debug_info_, traj_param_); mpt_optimizer_ptr_->initialize(enable_debug_info_, traj_param_); resetPreviousData(); @@ -185,7 +179,6 @@ void ObstacleAvoidancePlanner::initializePlanning() void ObstacleAvoidancePlanner::resetPreviousData() { - eb_path_smoother_ptr_->resetPreviousData(); mpt_optimizer_ptr_->resetPreviousData(); prev_optimized_traj_points_ptr_ = nullptr; @@ -287,7 +280,7 @@ std::vector ObstacleAvoidancePlanner::generateOptimizedTrajecto const auto & input_traj_points = planner_data.traj_points; - // 1. calculate trajectory with EB and MPT + // 1. calculate trajectory with MPT // NOTE: This function may return previously optimized trajectory points. // Also, velocity on some points will not be updated for a logic purpose. auto optimized_traj_points = optimizeTrajectory(planner_data); @@ -333,21 +326,15 @@ std::vector ObstacleAvoidancePlanner::optimizeTrajectory( return p.traj_points; } - // 2. smooth trajectory with elastic band - const auto eb_traj = - enable_smoothing_ ? eb_path_smoother_ptr_->getEBTrajectory(planner_data) : p.traj_points; - if (!eb_traj) { - return getPrevOptimizedTrajectory(p.traj_points); - } - - // 3. make trajectory kinematically-feasible and collision-free (= inside the drivable area) + // 2. make trajectory kinematically-feasible and collision-free (= inside the drivable area) // with model predictive trajectory - const auto mpt_traj = mpt_optimizer_ptr_->getModelPredictiveTrajectory(planner_data, *eb_traj); + const auto mpt_traj = + mpt_optimizer_ptr_->getModelPredictiveTrajectory(planner_data, p.traj_points); if (!mpt_traj) { return getPrevOptimizedTrajectory(p.traj_points); } - // 4. make prev trajectories + // 3. make prev trajectories prev_optimized_traj_points_ptr_ = std::make_shared>(*mpt_traj); time_keeper_ptr_->toc(__func__, " "); diff --git a/planning/obstacle_avoidance_planner/src/utils/geometry_utils.cpp b/planning/obstacle_avoidance_planner/src/utils/geometry_utils.cpp index e471baf1951db..67b500571fa06 100644 --- a/planning/obstacle_avoidance_planner/src/utils/geometry_utils.cpp +++ b/planning/obstacle_avoidance_planner/src/utils/geometry_utils.cpp @@ -15,7 +15,6 @@ #include "obstacle_avoidance_planner/utils/geometry_utils.hpp" #include "motion_utils/motion_utils.hpp" -#include "obstacle_avoidance_planner/eb_path_smoother.hpp" #include "obstacle_avoidance_planner/mpt_optimizer.hpp" #include "tf2/utils.h" diff --git a/planning/obstacle_avoidance_planner/src/utils/trajectory_utils.cpp b/planning/obstacle_avoidance_planner/src/utils/trajectory_utils.cpp index 8a4ab4384f7eb..8390cf379586b 100644 --- a/planning/obstacle_avoidance_planner/src/utils/trajectory_utils.cpp +++ b/planning/obstacle_avoidance_planner/src/utils/trajectory_utils.cpp @@ -15,7 +15,6 @@ #include "obstacle_avoidance_planner/utils/trajectory_utils.hpp" #include "motion_utils/motion_utils.hpp" -#include "obstacle_avoidance_planner/eb_path_smoother.hpp" #include "obstacle_avoidance_planner/mpt_optimizer.hpp" #include "obstacle_avoidance_planner/utils/geometry_utils.hpp" #include "tf2/utils.h" diff --git a/planning/path_smoother/CMakeLists.txt b/planning/path_smoother/CMakeLists.txt new file mode 100644 index 0000000000000..30f06f7b87f81 --- /dev/null +++ b/planning/path_smoother/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 3.14) +project(path_smoother) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(Eigen3 REQUIRED) + +ament_auto_add_library(path_smoother SHARED + # node + src/elastic_band_smoother.cpp + # algorithms + src/elastic_band.cpp + # utils + src/utils/trajectory_utils.cpp +) + +target_include_directories(path_smoother + SYSTEM PUBLIC + ${EIGEN3_INCLUDE_DIR} +) + +# register node +rclcpp_components_register_node(path_smoother + PLUGIN "path_smoother::ElasticBandSmoother" + EXECUTABLE elastic_band_smoother +) + +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_${PROJECT_NAME}_node_interface.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + ${PROJECT_NAME} + ) +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/planning/path_smoother/README.md b/planning/path_smoother/README.md new file mode 100644 index 0000000000000..3521ba754081f --- /dev/null +++ b/planning/path_smoother/README.md @@ -0,0 +1,11 @@ +# Path Smoothing + +## Purpose + +This package contains code to smooth a path or trajectory. + +## Features + +### Elastic Band + +More details about the elastic band can be found [here](docs/eb.md). diff --git a/planning/path_smoother/config/elastic_band_smoother.param.yaml b/planning/path_smoother/config/elastic_band_smoother.param.yaml new file mode 100644 index 0000000000000..730bc3053e7a3 --- /dev/null +++ b/planning/path_smoother/config/elastic_band_smoother.param.yaml @@ -0,0 +1,37 @@ +/**: + ros__parameters: + common: + # output + output_delta_arc_length: 0.5 # delta arc length for output trajectory [m] + output_backward_traj_length: 5.0 # backward length for backward trajectory from base_link [m] + # elastic band + elastic_band: + option: + enable_warm_start: true + enable_optimization_validation: false + + common: + num_points: 100 # number of points for optimization [-] + delta_arc_length: 1.0 # delta arc length for optimization [m] + + clearance: + num_joint_points: 3 # number of joint points (joint means connecting fixing and smoothing) + + clearance_for_fix: 0.0 # maximum optimizing range when applying fixing + clearance_for_joint: 0.1 # maximum optimizing range when applying jointing + clearance_for_smooth: 0.1 # maximum optimizing range when applying smoothing + + weight: + smooth_weight: 1.0 + lat_error_weight: 0.001 + + qp: + max_iteration: 10000 # max iteration when solving QP + eps_abs: 1.0e-7 # eps abs when solving OSQP + eps_rel: 1.0e-7 # eps rel when solving OSQP + + validation: # if enable_optimization_validation is true + max_error: 3.0 # [m] + # nearest search + ego_nearest_dist_threshold: 3.0 # [m] + ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg] diff --git a/planning/obstacle_avoidance_planner/docs/eb.md b/planning/path_smoother/docs/eb.md similarity index 95% rename from planning/obstacle_avoidance_planner/docs/eb.md rename to planning/path_smoother/docs/eb.md index 7efb1edaa62db..2c232cfa4de81 100644 --- a/planning/obstacle_avoidance_planner/docs/eb.md +++ b/planning/path_smoother/docs/eb.md @@ -159,3 +159,15 @@ $$ In addition, the beginning point is fixed and the end point as well if the end point is considered as the goal. This constraint can be applied with the upper equation by changing the distance that each point can move. + +## Debug + +- **EB Fixed Trajectory** + - The fixed trajectory points as a constraint of elastic band. + +![eb_fixed_traj](../media/debug/eb_fixed_traj_visualization.png) + +- **EB Trajectory** + - The optimized trajectory points by elastic band. + +![eb_traj](../media/debug/eb_traj_visualization.png) diff --git a/planning/path_smoother/include/path_smoother/common_structs.hpp b/planning/path_smoother/include/path_smoother/common_structs.hpp new file mode 100644 index 0000000000000..17c6bc6f162af --- /dev/null +++ b/planning/path_smoother/include/path_smoother/common_structs.hpp @@ -0,0 +1,126 @@ +// Copyright 2023 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 PATH_SMOOTHER__COMMON_STRUCTS_HPP_ +#define PATH_SMOOTHER__COMMON_STRUCTS_HPP_ + +#include "path_smoother/type_alias.hpp" +#include "rclcpp/rclcpp.hpp" +#include "tier4_autoware_utils/tier4_autoware_utils.hpp" + +#include +#include +#include +#include + +namespace path_smoother +{ +struct Bounds; + +struct PlannerData +{ + // input + Header header; + std::vector traj_points; // converted from the input path + std::vector left_bound; + std::vector right_bound; + + // ego + geometry_msgs::msg::Pose ego_pose; + double ego_vel{}; +}; + +struct TimeKeeper +{ + void init() { accumulated_msg = "\n"; } + + template + TimeKeeper & operator<<(const T & msg) + { + latest_stream << msg; + return *this; + } + + void endLine() + { + const auto msg = latest_stream.str(); + accumulated_msg += msg + "\n"; + latest_stream.str(""); + } + + void tic(const std::string & func_name) { stop_watch_.tic(func_name); } + + void toc(const std::string & func_name, const std::string & white_spaces) + { + const double elapsed_time = stop_watch_.toc(func_name); + *this << white_spaces << func_name << ":= " << elapsed_time << " [ms]"; + endLine(); + } + + std::string getLog() const { return accumulated_msg; } + + std::string accumulated_msg = "\n"; + std::stringstream latest_stream; + + tier4_autoware_utils::StopWatch< + std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> + stop_watch_; +}; + +struct CommonParam +{ + CommonParam() = default; + explicit CommonParam(rclcpp::Node * node) + { + output_backward_traj_length = + node->declare_parameter("common.output_backward_traj_length"); + output_delta_arc_length = node->declare_parameter("common.output_delta_arc_length"); + } + + void onParam(const std::vector & parameters) + { + using tier4_autoware_utils::updateParam; + + // common + updateParam( + parameters, "common.output_backward_traj_length", output_backward_traj_length); + updateParam(parameters, "common.output_delta_arc_length", output_delta_arc_length); + } + + double output_delta_arc_length; + double output_backward_traj_length; +}; + +struct EgoNearestParam +{ + EgoNearestParam() = default; + explicit EgoNearestParam(rclcpp::Node * node) + { + dist_threshold = node->declare_parameter("ego_nearest_dist_threshold"); + yaw_threshold = node->declare_parameter("ego_nearest_yaw_threshold"); + } + + void onParam(const std::vector & parameters) + { + using tier4_autoware_utils::updateParam; + updateParam(parameters, "ego_nearest_dist_threshold", dist_threshold); + updateParam(parameters, "ego_nearest_yaw_threshold", yaw_threshold); + } + + double dist_threshold{0.0}; + double yaw_threshold{0.0}; +}; +} // namespace path_smoother + +#endif // PATH_SMOOTHER__COMMON_STRUCTS_HPP_ diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/eb_path_smoother.hpp b/planning/path_smoother/include/path_smoother/elastic_band.hpp similarity index 85% rename from planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/eb_path_smoother.hpp rename to planning/path_smoother/include/path_smoother/elastic_band.hpp index 24a419c8bef66..9b7c4e3deb458 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/eb_path_smoother.hpp +++ b/planning/path_smoother/include/path_smoother/elastic_band.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef OBSTACLE_AVOIDANCE_PLANNER__EB_PATH_SMOOTHER_HPP_ -#define OBSTACLE_AVOIDANCE_PLANNER__EB_PATH_SMOOTHER_HPP_ +#ifndef PATH_SMOOTHER__ELASTIC_BAND_HPP_ +#define PATH_SMOOTHER__ELASTIC_BAND_HPP_ -#include "obstacle_avoidance_planner/common_structs.hpp" -#include "obstacle_avoidance_planner/type_alias.hpp" #include "osqp_interface/osqp_interface.hpp" +#include "path_smoother/common_structs.hpp" +#include "path_smoother/type_alias.hpp" #include @@ -27,19 +27,19 @@ #include #include -namespace obstacle_avoidance_planner +namespace path_smoother { class EBPathSmoother { public: EBPathSmoother( rclcpp::Node * node, const bool enable_debug_info, const EgoNearestParam ego_nearest_param, - const TrajectoryParam & traj_param, const std::shared_ptr time_keeper_ptr); + const CommonParam & common_param, const std::shared_ptr time_keeper_ptr); std::optional> getEBTrajectory( const PlannerData & planner_data); - void initialize(const bool enable_debug_info, const TrajectoryParam & traj_param); + void initialize(const bool enable_debug_info, const CommonParam & common_param); void resetPreviousData(); void onParam(const std::vector & parameters); @@ -99,7 +99,7 @@ class EBPathSmoother // arguments bool enable_debug_info_; EgoNearestParam ego_nearest_param_; - TrajectoryParam traj_param_; + CommonParam common_param_; EBParam eb_param_; mutable std::shared_ptr time_keeper_ptr_; rclcpp::Logger logger_; @@ -128,6 +128,6 @@ class EBPathSmoother const std::vector & optimized_points, const std::vector & traj_points, const int pad_start_idx) const; }; -} // namespace obstacle_avoidance_planner +} // namespace path_smoother -#endif // OBSTACLE_AVOIDANCE_PLANNER__EB_PATH_SMOOTHER_HPP_ +#endif // PATH_SMOOTHER__ELASTIC_BAND_HPP_ diff --git a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp new file mode 100644 index 0000000000000..f89d34997a079 --- /dev/null +++ b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp @@ -0,0 +1,119 @@ +// Copyright 2023 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 PATH_SMOOTHER__ELASTIC_BAND_SMOOTHER_HPP_ +#define PATH_SMOOTHER__ELASTIC_BAND_SMOOTHER_HPP_ + +#include "motion_utils/motion_utils.hpp" +#include "path_smoother/common_structs.hpp" +#include "path_smoother/elastic_band.hpp" +#include "path_smoother/type_alias.hpp" +#include "rclcpp/rclcpp.hpp" +#include "tier4_autoware_utils/tier4_autoware_utils.hpp" + +#include +#include +#include +#include +#include + +namespace path_smoother +{ +class ElasticBandSmoother : public rclcpp::Node +{ +public: + explicit ElasticBandSmoother(const rclcpp::NodeOptions & node_options); + +protected: + class DrivingDirectionChecker + { + public: + bool isDrivingForward(const std::vector & path_points) + { + const auto is_driving_forward = motion_utils::isDrivingForward(path_points); + is_driving_forward_ = is_driving_forward ? is_driving_forward.get() : is_driving_forward_; + return is_driving_forward_; + } + + private: + bool is_driving_forward_{true}; + }; + DrivingDirectionChecker driving_direction_checker_{}; + + // argument variables + mutable std::shared_ptr time_keeper_ptr_{nullptr}; + + // flags for some functions + bool enable_debug_info_; + + // algorithms + std::shared_ptr eb_path_smoother_ptr_{nullptr}; + + // parameters + CommonParam common_param_{}; + EgoNearestParam ego_nearest_param_{}; + + // variables for subscribers + Odometry::SharedPtr ego_state_ptr_; + + // variables for previous information + std::shared_ptr> prev_optimized_traj_points_ptr_; + + // interface publisher + rclcpp::Publisher::SharedPtr traj_pub_; + rclcpp::Publisher::SharedPtr path_pub_; + + // interface subscriber + rclcpp::Subscription::SharedPtr path_sub_; + rclcpp::Subscription::SharedPtr odom_sub_; + + // debug publisher + rclcpp::Publisher::SharedPtr debug_extended_traj_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_pub_; + + // parameter callback + rcl_interfaces::msg::SetParametersResult onParam( + const std::vector & parameters); + OnSetParametersCallbackHandle::SharedPtr set_param_res_; + + // subscriber callback function + void onPath(const Path::SharedPtr); + + // reset functions + void initializePlanning(); + void resetPreviousData(); + + // main functions + bool isDataReady(const Path & path, rclcpp::Clock clock) const; + PlannerData createPlannerData(const Path & path) const; + std::vector generateOptimizedTrajectory(const PlannerData & planner_data); + std::vector extendTrajectory( + const std::vector & traj_points, + const std::vector & optimized_points) const; + + // functions in generateOptimizedTrajectory + std::vector optimizeTrajectory(const PlannerData & planner_data); + std::vector getPrevOptimizedTrajectory( + const std::vector & traj_points) const; + void applyInputVelocity( + std::vector & output_traj_points, + const std::vector & input_traj_points, + const geometry_msgs::msg::Pose & ego_pose) const; + void insertZeroVelocityOutsideDrivableArea( + const PlannerData & planner_data, std::vector & traj_points) const; + void publishVirtualWall(const geometry_msgs::msg::Pose & stop_pose) const; +}; +} // namespace path_smoother + +#endif // PATH_SMOOTHER__ELASTIC_BAND_SMOOTHER_HPP_ diff --git a/planning/path_smoother/include/path_smoother/type_alias.hpp b/planning/path_smoother/include/path_smoother/type_alias.hpp new file mode 100644 index 0000000000000..d6434c3935d1e --- /dev/null +++ b/planning/path_smoother/include/path_smoother/type_alias.hpp @@ -0,0 +1,44 @@ +// Copyright 2023 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 PATH_SMOOTHER__TYPE_ALIAS_HPP_ +#define PATH_SMOOTHER__TYPE_ALIAS_HPP_ + +#include "autoware_auto_planning_msgs/msg/path.hpp" +#include "autoware_auto_planning_msgs/msg/path_point.hpp" +#include "autoware_auto_planning_msgs/msg/trajectory.hpp" +#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "geometry_msgs/msg/point.hpp" +#include "geometry_msgs/msg/pose.hpp" +#include "geometry_msgs/msg/twist.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "std_msgs/msg/header.hpp" +#include "tier4_debug_msgs/msg/string_stamped.hpp" + +namespace path_smoother +{ +// std_msgs +using std_msgs::msg::Header; +// planning +using autoware_auto_planning_msgs::msg::Path; +using autoware_auto_planning_msgs::msg::PathPoint; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_auto_planning_msgs::msg::TrajectoryPoint; +// navigation +using nav_msgs::msg::Odometry; +// debug +using tier4_debug_msgs::msg::StringStamped; +} // namespace path_smoother + +#endif // PATH_SMOOTHER__TYPE_ALIAS_HPP_ diff --git a/planning/path_smoother/include/path_smoother/utils/geometry_utils.hpp b/planning/path_smoother/include/path_smoother/utils/geometry_utils.hpp new file mode 100644 index 0000000000000..39783b958fa61 --- /dev/null +++ b/planning/path_smoother/include/path_smoother/utils/geometry_utils.hpp @@ -0,0 +1,35 @@ +// Copyright 2023 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 PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_ +#define PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_ + +#include + +namespace path_smoother +{ +namespace geometry_utils +{ +template +bool isSamePoint(const T1 & t1, const T2 & t2) +{ + const auto p1 = tier4_autoware_utils::getPoint(t1); + const auto p2 = tier4_autoware_utils::getPoint(t2); + + constexpr double epsilon = 1e-6; + return (std::abs(p1.x - p2.x) <= epsilon && std::abs(p1.y - p2.y) <= epsilon); +} +} // namespace geometry_utils +} // namespace path_smoother +#endif // PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_ diff --git a/planning/path_smoother/include/path_smoother/utils/trajectory_utils.hpp b/planning/path_smoother/include/path_smoother/utils/trajectory_utils.hpp new file mode 100644 index 0000000000000..a8a97964f21a4 --- /dev/null +++ b/planning/path_smoother/include/path_smoother/utils/trajectory_utils.hpp @@ -0,0 +1,177 @@ +// Copyright 2023 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 PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_ +#define PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_ + +#include "interpolation/linear_interpolation.hpp" +#include "interpolation/spline_interpolation.hpp" +#include "interpolation/spline_interpolation_points_2d.hpp" +#include "motion_utils/trajectory/trajectory.hpp" +#include "path_smoother/common_structs.hpp" +#include "path_smoother/type_alias.hpp" + +#include + +#include "autoware_auto_planning_msgs/msg/path_point.hpp" +#include "autoware_auto_planning_msgs/msg/trajectory.hpp" + +#include "boost/optional/optional_fwd.hpp" + +#include +#include +#include +#include +#include + +namespace path_smoother +{ +namespace trajectory_utils +{ +template +std::optional getPointIndexAfter( + const T & points, const geometry_msgs::msg::Point & target_pos, const size_t target_seg_idx, + const double max_offset, const double min_offset) +{ + if (points.empty()) { + return std::nullopt; + } + + double sum_length = + -motion_utils::calcLongitudinalOffsetToSegment(points, target_seg_idx, target_pos); + + std::optional output_idx{std::nullopt}; + + // search forward + if (sum_length < min_offset) { + for (size_t i = target_seg_idx + 1; i < points.size(); ++i) { + sum_length += tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1)); + if (min_offset < sum_length) { + output_idx = i - 1; + } + if (max_offset < sum_length) { + break; + } + } + return output_idx; + } + + // search backward + for (size_t i = target_seg_idx; 0 < i; + --i) { // NOTE: use size_t since i is always positive value + sum_length -= tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1)); + if (sum_length < min_offset) { + output_idx = i - 1; + } + if (sum_length < max_offset) { + break; + } + } + + return output_idx; +} + +template +TrajectoryPoint convertToTrajectoryPoint(const T & point) +{ + TrajectoryPoint traj_point; + traj_point.pose = tier4_autoware_utils::getPose(point); + traj_point.longitudinal_velocity_mps = point.longitudinal_velocity_mps; + traj_point.lateral_velocity_mps = point.lateral_velocity_mps; + traj_point.heading_rate_rps = point.heading_rate_rps; + return traj_point; +} + +template +std::vector convertToTrajectoryPoints(const std::vector & points) +{ + std::vector traj_points; + for (const auto & point : points) { + const auto traj_point = convertToTrajectoryPoint(point); + traj_points.push_back(traj_point); + } + return traj_points; +} + +template +size_t findEgoSegmentIndex( + const std::vector & points, const geometry_msgs::msg::Pose & ego_pose, + const EgoNearestParam & ego_nearest_param) +{ + return motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + points, ego_pose, ego_nearest_param.dist_threshold, ego_nearest_param.yaw_threshold); +} + +Trajectory createTrajectory( + const std_msgs::msg::Header & header, const std::vector & traj_points); + +Path create_path(Path path_msg, const std::vector & traj_points); + +std::vector resampleTrajectoryPoints( + const std::vector traj_points, const double interval); + +std::vector resampleTrajectoryPointsWithoutStopPoint( + const std::vector traj_points, const double interval); + +template +std::optional updateFrontPointForFix( + std::vector & points, std::vector & points_for_fix, const double delta_arc_length, + const EgoNearestParam & ego_nearest_param) +{ + // calculate front point to insert in points as a fixed point + const size_t front_seg_idx_for_fix = trajectory_utils::findEgoSegmentIndex( + points_for_fix, tier4_autoware_utils::getPose(points.front()), ego_nearest_param); + const size_t front_point_idx_for_fix = front_seg_idx_for_fix; + const auto & front_fix_point = points_for_fix.at(front_point_idx_for_fix); + + // check if the points_for_fix is longer in front than points + const double lon_offset_to_prev_front = + motion_utils::calcSignedArcLength(points, 0, front_fix_point.pose.position); + if (0 < lon_offset_to_prev_front) { + RCLCPP_WARN( + rclcpp::get_logger("path_smoother.trajectory_utils"), + "Fixed point will not be inserted due to the error during calculation."); + return std::nullopt; + } + + const double dist = tier4_autoware_utils::calcDistance2d(points.front(), front_fix_point); + + // check if deviation is not too large + constexpr double max_lat_error = 3.0; + if (max_lat_error < dist) { + RCLCPP_WARN( + rclcpp::get_logger("path_smoother.trajectory_utils"), + "New Fixed point is too far from points %f [m]", dist); + } + + // update pose + if (dist < delta_arc_length) { + // only pose is updated + points.front() = front_fix_point; + } else { + // add new front point + T new_front_point; + new_front_point = front_fix_point; + points.insert(points.begin(), new_front_point); + } + + return front_point_idx_for_fix; +} + +void insertStopPoint( + std::vector & traj_points, const geometry_msgs::msg::Pose & input_stop_pose, + const size_t stop_seg_idx); +} // namespace trajectory_utils +} // namespace path_smoother +#endif // PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_ diff --git a/planning/path_smoother/launch/elastic_band_smoother.launch.xml b/planning/path_smoother/launch/elastic_band_smoother.launch.xml new file mode 100644 index 0000000000000..db91e1e2dd97d --- /dev/null +++ b/planning/path_smoother/launch/elastic_band_smoother.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/planning/obstacle_avoidance_planner/media/debug/eb_fixed_traj_visualization.png b/planning/path_smoother/media/debug/eb_fixed_traj_visualization.png similarity index 100% rename from planning/obstacle_avoidance_planner/media/debug/eb_fixed_traj_visualization.png rename to planning/path_smoother/media/debug/eb_fixed_traj_visualization.png diff --git a/planning/obstacle_avoidance_planner/media/debug/eb_traj_visualization.png b/planning/path_smoother/media/debug/eb_traj_visualization.png similarity index 100% rename from planning/obstacle_avoidance_planner/media/debug/eb_traj_visualization.png rename to planning/path_smoother/media/debug/eb_traj_visualization.png diff --git a/planning/obstacle_avoidance_planner/media/eb.svg b/planning/path_smoother/media/eb.svg similarity index 100% rename from planning/obstacle_avoidance_planner/media/eb.svg rename to planning/path_smoother/media/eb.svg diff --git a/planning/obstacle_avoidance_planner/media/eb_constraint.svg b/planning/path_smoother/media/eb_constraint.svg similarity index 100% rename from planning/obstacle_avoidance_planner/media/eb_constraint.svg rename to planning/path_smoother/media/eb_constraint.svg diff --git a/planning/path_smoother/package.xml b/planning/path_smoother/package.xml new file mode 100644 index 0000000000000..f0e0381f1706b --- /dev/null +++ b/planning/path_smoother/package.xml @@ -0,0 +1,41 @@ + + + + path_smoother + 0.1.0 + The path_smoother package + Takayuki Murooka + Maxime CLEMENT + Apache License 2.0 + + Takayuki Murooka + Maxime CLEMENT + + ament_cmake_auto + autoware_cmake + + autoware_auto_planning_msgs + geometry_msgs + interpolation + motion_utils + nav_msgs + osqp_interface + planning_test_utils + rclcpp + rclcpp_components + std_msgs + tf2_ros + tier4_autoware_utils + tier4_debug_msgs + + ament_cmake_ros + ament_index_python + ament_lint_auto + autoware_lint_common + autoware_testing + fake_test_node + + + ament_cmake + + diff --git a/planning/obstacle_avoidance_planner/src/eb_path_smoother.cpp b/planning/path_smoother/src/elastic_band.cpp similarity index 80% rename from planning/obstacle_avoidance_planner/src/eb_path_smoother.cpp rename to planning/path_smoother/src/elastic_band.cpp index 31af863eed8f0..f46c73d8b1e83 100644 --- a/planning/obstacle_avoidance_planner/src/eb_path_smoother.cpp +++ b/planning/path_smoother/src/elastic_band.cpp @@ -12,12 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "obstacle_avoidance_planner/eb_path_smoother.hpp" +#include "path_smoother/elastic_band.hpp" #include "motion_utils/motion_utils.hpp" -#include "obstacle_avoidance_planner/type_alias.hpp" -#include "obstacle_avoidance_planner/utils/geometry_utils.hpp" -#include "obstacle_avoidance_planner/utils/trajectory_utils.hpp" +#include "path_smoother/type_alias.hpp" +#include "path_smoother/utils/geometry_utils.hpp" +#include "path_smoother/utils/trajectory_utils.hpp" +#include "tf2/utils.h" #include #include @@ -69,41 +70,43 @@ std::vector toStdVector(const Eigen::VectorXd & eigen_vec) } } // namespace -namespace obstacle_avoidance_planner +namespace path_smoother { EBPathSmoother::EBParam::EBParam(rclcpp::Node * node) { { // option - enable_warm_start = node->declare_parameter("eb.option.enable_warm_start"); + enable_warm_start = node->declare_parameter("elastic_band.option.enable_warm_start"); enable_optimization_validation = - node->declare_parameter("eb.option.enable_optimization_validation"); + node->declare_parameter("elastic_band.option.enable_optimization_validation"); } { // common - delta_arc_length = node->declare_parameter("eb.common.delta_arc_length"); - num_points = node->declare_parameter("eb.common.num_points"); + delta_arc_length = node->declare_parameter("elastic_band.common.delta_arc_length"); + num_points = node->declare_parameter("elastic_band.common.num_points"); } { // clearance - num_joint_points = node->declare_parameter("eb.clearance.num_joint_points"); - clearance_for_fix = node->declare_parameter("eb.clearance.clearance_for_fix"); - clearance_for_joint = node->declare_parameter("eb.clearance.clearance_for_joint"); - clearance_for_smooth = node->declare_parameter("eb.clearance.clearance_for_smooth"); + num_joint_points = node->declare_parameter("elastic_band.clearance.num_joint_points"); + clearance_for_fix = node->declare_parameter("elastic_band.clearance.clearance_for_fix"); + clearance_for_joint = + node->declare_parameter("elastic_band.clearance.clearance_for_joint"); + clearance_for_smooth = + node->declare_parameter("elastic_band.clearance.clearance_for_smooth"); } { // weight - smooth_weight = node->declare_parameter("eb.weight.smooth_weight"); - lat_error_weight = node->declare_parameter("eb.weight.lat_error_weight"); + smooth_weight = node->declare_parameter("elastic_band.weight.smooth_weight"); + lat_error_weight = node->declare_parameter("elastic_band.weight.lat_error_weight"); } { // qp - qp_param.max_iteration = node->declare_parameter("eb.qp.max_iteration"); - qp_param.eps_abs = node->declare_parameter("eb.qp.eps_abs"); - qp_param.eps_rel = node->declare_parameter("eb.qp.eps_rel"); + qp_param.max_iteration = node->declare_parameter("elastic_band.qp.max_iteration"); + qp_param.eps_abs = node->declare_parameter("elastic_band.qp.eps_abs"); + qp_param.eps_rel = node->declare_parameter("elastic_band.qp.eps_rel"); } // validation - max_validation_error = node->declare_parameter("eb.validation.max_error"); + max_validation_error = node->declare_parameter("elastic_band.validation.max_error"); } void EBPathSmoother::EBParam::onParam(const std::vector & parameters) @@ -111,43 +114,46 @@ void EBPathSmoother::EBParam::onParam(const std::vector & par using tier4_autoware_utils::updateParam; { // option - updateParam(parameters, "eb.option.enable_warm_start", enable_warm_start); + updateParam(parameters, "elastic_band.option.enable_warm_start", enable_warm_start); updateParam( - parameters, "eb.option.enable_optimization_validation", enable_optimization_validation); + parameters, "elastic_band.option.enable_optimization_validation", + enable_optimization_validation); } { // common - updateParam(parameters, "eb.common.delta_arc_length", delta_arc_length); - updateParam(parameters, "eb.common.num_points", num_points); + updateParam(parameters, "elastic_band.common.delta_arc_length", delta_arc_length); + updateParam(parameters, "elastic_band.common.num_points", num_points); } { // clearance - updateParam(parameters, "eb.clearance.num_joint_points", num_joint_points); - updateParam(parameters, "eb.clearance.clearance_for_fix", clearance_for_fix); - updateParam(parameters, "eb.clearance.clearance_for_joint", clearance_for_joint); - updateParam(parameters, "eb.clearance.clearance_for_smooth", clearance_for_smooth); + updateParam(parameters, "elastic_band.clearance.num_joint_points", num_joint_points); + updateParam(parameters, "elastic_band.clearance.clearance_for_fix", clearance_for_fix); + updateParam( + parameters, "elastic_band.clearance.clearance_for_joint", clearance_for_joint); + updateParam( + parameters, "elastic_band.clearance.clearance_for_smooth", clearance_for_smooth); } { // weight - updateParam(parameters, "eb.weight.smooth_weight", smooth_weight); - updateParam(parameters, "eb.weight.lat_error_weight", lat_error_weight); + updateParam(parameters, "elastic_band.weight.smooth_weight", smooth_weight); + updateParam(parameters, "elastic_band.weight.lat_error_weight", lat_error_weight); } { // qp - updateParam(parameters, "eb.qp.max_iteration", qp_param.max_iteration); - updateParam(parameters, "eb.qp.eps_abs", qp_param.eps_abs); - updateParam(parameters, "eb.qp.eps_rel", qp_param.eps_rel); + updateParam(parameters, "elastic_band.qp.max_iteration", qp_param.max_iteration); + updateParam(parameters, "elastic_band.qp.eps_abs", qp_param.eps_abs); + updateParam(parameters, "elastic_band.qp.eps_rel", qp_param.eps_rel); } } EBPathSmoother::EBPathSmoother( rclcpp::Node * node, const bool enable_debug_info, const EgoNearestParam ego_nearest_param, - const TrajectoryParam & traj_param, const std::shared_ptr time_keeper_ptr) + const CommonParam & common_param, const std::shared_ptr time_keeper_ptr) : enable_debug_info_(enable_debug_info), ego_nearest_param_(ego_nearest_param), - traj_param_(traj_param), + common_param_(common_param), time_keeper_ptr_(time_keeper_ptr), - logger_(node->get_logger().get_child("eb_path_smoother")) + logger_(node->get_logger().get_child("elastic_band_smoother")) { // eb param eb_param_ = EBParam(node); @@ -162,10 +168,10 @@ void EBPathSmoother::onParam(const std::vector & parameters) eb_param_.onParam(parameters); } -void EBPathSmoother::initialize(const bool enable_debug_info, const TrajectoryParam & traj_param) +void EBPathSmoother::initialize(const bool enable_debug_info, const CommonParam & common_param) { enable_debug_info_ = enable_debug_info; - traj_param_ = traj_param; + common_param_ = common_param; } void EBPathSmoother::resetPreviousData() @@ -182,7 +188,7 @@ EBPathSmoother::getEBTrajectory(const PlannerData & planner_data) // 1. crop trajectory const double forward_traj_length = eb_param_.num_points * eb_param_.delta_arc_length; - const double backward_traj_length = traj_param_.output_backward_traj_length; + const double backward_traj_length = common_param_.output_backward_traj_length; const size_t ego_seg_idx = trajectory_utils::findEgoSegmentIndex(p.traj_points, p.ego_pose, ego_nearest_param_); @@ -422,4 +428,4 @@ std::optional> EBPathSmoother::convertOptimizedPoin time_keeper_ptr_->toc(__func__, " "); return eb_traj_points; } -} // namespace obstacle_avoidance_planner +} // namespace path_smoother diff --git a/planning/path_smoother/src/elastic_band_smoother.cpp b/planning/path_smoother/src/elastic_band_smoother.cpp new file mode 100644 index 0000000000000..6546995f1013a --- /dev/null +++ b/planning/path_smoother/src/elastic_band_smoother.cpp @@ -0,0 +1,373 @@ +// Copyright 2023 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 "path_smoother/elastic_band_smoother.hpp" + +#include "interpolation/spline_interpolation_points_2d.hpp" +#include "path_smoother/utils/geometry_utils.hpp" +#include "path_smoother/utils/trajectory_utils.hpp" +#include "rclcpp/time.hpp" + +#include +#include + +namespace path_smoother +{ +namespace +{ +template +std::vector concatVectors(const std::vector & prev_vector, const std::vector & next_vector) +{ + std::vector concatenated_vector; + concatenated_vector.insert(concatenated_vector.end(), prev_vector.begin(), prev_vector.end()); + concatenated_vector.insert(concatenated_vector.end(), next_vector.begin(), next_vector.end()); + return concatenated_vector; +} + +StringStamped createStringStamped(const rclcpp::Time & now, const std::string & data) +{ + StringStamped msg; + msg.stamp = now; + msg.data = data; + return msg; +} + +void setZeroVelocityAfterStopPoint(std::vector & traj_points) +{ + const auto opt_zero_vel_idx = motion_utils::searchZeroVelocityIndex(traj_points); + if (opt_zero_vel_idx) { + for (size_t i = opt_zero_vel_idx.get(); i < traj_points.size(); ++i) { + traj_points.at(i).longitudinal_velocity_mps = 0.0; + } + } +} + +bool hasZeroVelocity(const TrajectoryPoint & traj_point) +{ + constexpr double zero_vel = 0.0001; + return std::abs(traj_point.longitudinal_velocity_mps) < zero_vel; +} +} // namespace + +ElasticBandSmoother::ElasticBandSmoother(const rclcpp::NodeOptions & node_options) +: Node("path_smoother", node_options), time_keeper_ptr_(std::make_shared()) +{ + // interface publisher + traj_pub_ = create_publisher("~/output/traj", 1); + path_pub_ = create_publisher("~/output/path", 1); + + // interface subscriber + path_sub_ = create_subscription( + "~/input/path", 1, std::bind(&ElasticBandSmoother::onPath, this, std::placeholders::_1)); + odom_sub_ = create_subscription( + "~/input/odometry", 1, [this](const Odometry::SharedPtr msg) { ego_state_ptr_ = msg; }); + + // debug publisher + debug_extended_traj_pub_ = create_publisher("~/debug/extended_traj", 1); + debug_calculation_time_pub_ = create_publisher("~/debug/calculation_time", 1); + + { // parameters + // parameters for ego nearest search + ego_nearest_param_ = EgoNearestParam(this); + + // parameters for trajectory + common_param_ = CommonParam(this); + } + + eb_path_smoother_ptr_ = std::make_shared( + this, enable_debug_info_, ego_nearest_param_, common_param_, time_keeper_ptr_); + + // reset planners + initializePlanning(); + + // set parameter callback + set_param_res_ = this->add_on_set_parameters_callback( + std::bind(&ElasticBandSmoother::onParam, this, std::placeholders::_1)); +} + +rcl_interfaces::msg::SetParametersResult ElasticBandSmoother::onParam( + const std::vector & parameters) +{ + using tier4_autoware_utils::updateParam; + + // parameters for ego nearest search + ego_nearest_param_.onParam(parameters); + + // parameters for trajectory + common_param_.onParam(parameters); + + // parameters for core algorithms + eb_path_smoother_ptr_->onParam(parameters); + + // reset planners + initializePlanning(); + + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + result.reason = "success"; + return result; +} + +void ElasticBandSmoother::initializePlanning() +{ + RCLCPP_INFO(get_logger(), "Initialize planning"); + + eb_path_smoother_ptr_->initialize(false, common_param_); + resetPreviousData(); +} + +void ElasticBandSmoother::resetPreviousData() +{ + eb_path_smoother_ptr_->resetPreviousData(); + + prev_optimized_traj_points_ptr_ = nullptr; +} + +void ElasticBandSmoother::onPath(const Path::SharedPtr path_ptr) +{ + time_keeper_ptr_->init(); + time_keeper_ptr_->tic(__func__); + + // check if data is ready and valid + if (!isDataReady(*path_ptr, *get_clock())) { + return; + } + + // 0. return if path is backward + // TODO(murooka): support backward path + const auto is_driving_forward = driving_direction_checker_.isDrivingForward(path_ptr->points); + if (!is_driving_forward) { + RCLCPP_WARN_THROTTLE( + get_logger(), *get_clock(), 5000, + "Backward path is NOT supported. Just converting path to trajectory"); + + const auto traj_points = trajectory_utils::convertToTrajectoryPoints(path_ptr->points); + const auto output_traj_msg = trajectory_utils::createTrajectory(path_ptr->header, traj_points); + traj_pub_->publish(output_traj_msg); + path_pub_->publish(*path_ptr); + return; + } + + // 1. create planner data + const auto planner_data = createPlannerData(*path_ptr); + + // 2. generate optimized trajectory + const auto optimized_traj_points = generateOptimizedTrajectory(planner_data); + + // 3. extend trajectory to connect the optimized trajectory and the following path smoothly + auto full_traj_points = extendTrajectory(planner_data.traj_points, optimized_traj_points); + + // 4. set zero velocity after stop point + setZeroVelocityAfterStopPoint(full_traj_points); + + time_keeper_ptr_->toc(__func__, ""); + *time_keeper_ptr_ << "========================================"; + time_keeper_ptr_->endLine(); + + // publish calculation_time + // NOTE: This function must be called after measuring onPath calculation time + const auto calculation_time_msg = createStringStamped(now(), time_keeper_ptr_->getLog()); + debug_calculation_time_pub_->publish(calculation_time_msg); + + const auto output_traj_msg = + trajectory_utils::createTrajectory(path_ptr->header, full_traj_points); + traj_pub_->publish(output_traj_msg); + const auto output_path_msg = trajectory_utils::create_path(*path_ptr, full_traj_points); + path_pub_->publish(output_path_msg); +} + +bool ElasticBandSmoother::isDataReady(const Path & path, rclcpp::Clock clock) const +{ + if (!ego_state_ptr_) { + RCLCPP_INFO_SKIPFIRST_THROTTLE(get_logger(), clock, 5000, "Waiting for ego pose and twist."); + return false; + } + + if (path.points.size() < 2) { + RCLCPP_INFO_SKIPFIRST_THROTTLE(get_logger(), clock, 5000, "Path points size is less than 1."); + return false; + } + + if (path.left_bound.empty() || path.right_bound.empty()) { + RCLCPP_INFO_SKIPFIRST_THROTTLE( + get_logger(), clock, 5000, "Left or right bound in path is empty."); + return false; + } + + return true; +} + +PlannerData ElasticBandSmoother::createPlannerData(const Path & path) const +{ + // create planner data + PlannerData planner_data; + planner_data.header = path.header; + planner_data.traj_points = trajectory_utils::convertToTrajectoryPoints(path.points); + planner_data.left_bound = path.left_bound; + planner_data.right_bound = path.right_bound; + planner_data.ego_pose = ego_state_ptr_->pose.pose; + planner_data.ego_vel = ego_state_ptr_->twist.twist.linear.x; + return planner_data; +} + +std::vector ElasticBandSmoother::generateOptimizedTrajectory( + const PlannerData & planner_data) +{ + time_keeper_ptr_->tic(__func__); + + const auto & input_traj_points = planner_data.traj_points; + + // 1. calculate trajectory with Elastic Band + auto optimized_traj_points = optimizeTrajectory(planner_data); + + // 2. update velocity + applyInputVelocity(optimized_traj_points, input_traj_points, planner_data.ego_pose); + + time_keeper_ptr_->toc(__func__, " "); + return optimized_traj_points; +} + +std::vector ElasticBandSmoother::optimizeTrajectory( + const PlannerData & planner_data) +{ + time_keeper_ptr_->tic(__func__); + const auto & p = planner_data; + + const auto eb_traj = eb_path_smoother_ptr_->getEBTrajectory(planner_data); + if (!eb_traj) return getPrevOptimizedTrajectory(p.traj_points); + + time_keeper_ptr_->toc(__func__, " "); + return *eb_traj; +} + +std::vector ElasticBandSmoother::getPrevOptimizedTrajectory( + const std::vector & traj_points) const +{ + if (prev_optimized_traj_points_ptr_) return *prev_optimized_traj_points_ptr_; + return traj_points; +} + +void ElasticBandSmoother::applyInputVelocity( + std::vector & output_traj_points, + const std::vector & input_traj_points, + const geometry_msgs::msg::Pose & ego_pose) const +{ + time_keeper_ptr_->tic(__func__); + + // crop forward for faster calculation + const double output_traj_length = motion_utils::calcArcLength(output_traj_points); + constexpr double margin_traj_length = 10.0; + const auto forward_cropped_input_traj_points = [&]() { + const size_t ego_seg_idx = + trajectory_utils::findEgoSegmentIndex(input_traj_points, ego_pose, ego_nearest_param_); + return motion_utils::cropForwardPoints( + input_traj_points, ego_pose.position, ego_seg_idx, output_traj_length + margin_traj_length); + }(); + + // update velocity + size_t input_traj_start_idx = 0; + for (size_t i = 0; i < output_traj_points.size(); i++) { + // crop backward for efficient calculation + const auto cropped_input_traj_points = std::vector{ + forward_cropped_input_traj_points.begin() + input_traj_start_idx, + forward_cropped_input_traj_points.end()}; + + const size_t nearest_seg_idx = trajectory_utils::findEgoSegmentIndex( + cropped_input_traj_points, output_traj_points.at(i).pose, ego_nearest_param_); + input_traj_start_idx = nearest_seg_idx; + + // calculate velocity with zero order hold + const double velocity = cropped_input_traj_points.at(nearest_seg_idx).longitudinal_velocity_mps; + output_traj_points.at(i).longitudinal_velocity_mps = velocity; + } + + // insert stop point explicitly + const auto stop_idx = motion_utils::searchZeroVelocityIndex(forward_cropped_input_traj_points); + if (stop_idx) { + const auto input_stop_pose = forward_cropped_input_traj_points.at(stop_idx.get()).pose; + const size_t stop_seg_idx = trajectory_utils::findEgoSegmentIndex( + output_traj_points, input_stop_pose, ego_nearest_param_); + + // calculate and insert stop pose on output trajectory + trajectory_utils::insertStopPoint(output_traj_points, input_stop_pose, stop_seg_idx); + } + + time_keeper_ptr_->toc(__func__, " "); +} + +std::vector ElasticBandSmoother::extendTrajectory( + const std::vector & traj_points, + const std::vector & optimized_traj_points) const +{ + time_keeper_ptr_->tic(__func__); + + const auto & joint_start_pose = optimized_traj_points.back().pose; + + // calculate end idx of optimized points on path points + const size_t joint_start_traj_seg_idx = + trajectory_utils::findEgoSegmentIndex(traj_points, joint_start_pose, ego_nearest_param_); + + // crop trajectory for extension + constexpr double joint_traj_max_length_for_smoothing = 15.0; + constexpr double joint_traj_min_length_for_smoothing = 5.0; + const auto joint_end_traj_point_idx = trajectory_utils::getPointIndexAfter( + traj_points, joint_start_pose.position, joint_start_traj_seg_idx, + joint_traj_max_length_for_smoothing, joint_traj_min_length_for_smoothing); + + // calculate full trajectory points + const auto full_traj_points = [&]() { + if (!joint_end_traj_point_idx) { + return optimized_traj_points; + } + + const auto extended_traj_points = std::vector{ + traj_points.begin() + *joint_end_traj_point_idx, traj_points.end()}; + + // NOTE: if optimized_traj_points's back is non zero velocity and extended_traj_points' front is + // zero velocity, the zero velocity will be inserted in the whole joint trajectory. + auto modified_optimized_traj_points = optimized_traj_points; + if (!extended_traj_points.empty() && !modified_optimized_traj_points.empty()) { + modified_optimized_traj_points.back().longitudinal_velocity_mps = + extended_traj_points.front().longitudinal_velocity_mps; + } + + return concatVectors(modified_optimized_traj_points, extended_traj_points); + }(); + + // resample trajectory points + auto resampled_traj_points = trajectory_utils::resampleTrajectoryPoints( + full_traj_points, common_param_.output_delta_arc_length); + + // update stop velocity on joint + for (size_t i = joint_start_traj_seg_idx + 1; i <= joint_end_traj_point_idx; ++i) { + if (hasZeroVelocity(traj_points.at(i))) { + if (i != 0 && !hasZeroVelocity(traj_points.at(i - 1))) { + // Here is when current point is 0 velocity, but previous point is not 0 velocity. + const auto & input_stop_pose = traj_points.at(i).pose; + const size_t stop_seg_idx = trajectory_utils::findEgoSegmentIndex( + resampled_traj_points, input_stop_pose, ego_nearest_param_); + + // calculate and insert stop pose on output trajectory + trajectory_utils::insertStopPoint(resampled_traj_points, input_stop_pose, stop_seg_idx); + } + } + } + + time_keeper_ptr_->toc(__func__, " "); + return resampled_traj_points; +} +} // namespace path_smoother + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(path_smoother::ElasticBandSmoother) diff --git a/planning/path_smoother/src/utils/trajectory_utils.cpp b/planning/path_smoother/src/utils/trajectory_utils.cpp new file mode 100644 index 0000000000000..56432d16d1a7f --- /dev/null +++ b/planning/path_smoother/src/utils/trajectory_utils.cpp @@ -0,0 +1,109 @@ +// Copyright 2023 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 "path_smoother/utils/trajectory_utils.hpp" + +#include "motion_utils/motion_utils.hpp" +#include "path_smoother/utils/geometry_utils.hpp" + +#include "autoware_auto_planning_msgs/msg/path_point.hpp" +#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "geometry_msgs/msg/point32.hpp" +#include "geometry_msgs/msg/pose.hpp" + +#include +#include +#include +#include +#include +#include + +namespace path_smoother +{ +namespace trajectory_utils +{ +Trajectory createTrajectory( + const std_msgs::msg::Header & header, const std::vector & traj_points) +{ + auto traj = motion_utils::convertToTrajectory(traj_points); + traj.header = header; + + return traj; +} + +Path create_path(Path path_msg, const std::vector & traj_points) +{ + path_msg.points.clear(); + PathPoint pp; + for (const auto & p : traj_points) { + pp.pose = p.pose; + pp.longitudinal_velocity_mps = p.longitudinal_velocity_mps; + pp.lateral_velocity_mps = p.lateral_velocity_mps; + pp.heading_rate_rps = p.heading_rate_rps; + pp.is_final = true; + path_msg.points.push_back(pp); + } + return path_msg; +} + +std::vector resampleTrajectoryPoints( + const std::vector traj_points, const double interval) +{ + constexpr bool enable_resampling_stop_point = true; + + const auto traj = motion_utils::convertToTrajectory(traj_points); + const auto resampled_traj = motion_utils::resampleTrajectory( + traj, interval, false, true, true, enable_resampling_stop_point); + return motion_utils::convertToTrajectoryPointArray(resampled_traj); +} + +// NOTE: stop point will not be resampled +std::vector resampleTrajectoryPointsWithoutStopPoint( + const std::vector traj_points, const double interval) +{ + constexpr bool enable_resampling_stop_point = false; + + const auto traj = motion_utils::convertToTrajectory(traj_points); + const auto resampled_traj = motion_utils::resampleTrajectory( + traj, interval, false, true, true, enable_resampling_stop_point); + return motion_utils::convertToTrajectoryPointArray(resampled_traj); +} + +void insertStopPoint( + std::vector & traj_points, const geometry_msgs::msg::Pose & input_stop_pose, + const size_t stop_seg_idx) +{ + const double offset_to_segment = motion_utils::calcLongitudinalOffsetToSegment( + traj_points, stop_seg_idx, input_stop_pose.position); + + const auto traj_spline = SplineInterpolationPoints2d(traj_points); + const auto stop_pose = traj_spline.getSplineInterpolatedPose(stop_seg_idx, offset_to_segment); + + if (geometry_utils::isSamePoint(traj_points.at(stop_seg_idx), stop_pose)) { + traj_points.at(stop_seg_idx).longitudinal_velocity_mps = 0.0; + return; + } + if (geometry_utils::isSamePoint(traj_points.at(stop_seg_idx + 1), stop_pose)) { + traj_points.at(stop_seg_idx + 1).longitudinal_velocity_mps = 0.0; + return; + } + + TrajectoryPoint additional_traj_point; + additional_traj_point.pose = stop_pose; + additional_traj_point.longitudinal_velocity_mps = 0.0; + + traj_points.insert(traj_points.begin() + stop_seg_idx + 1, additional_traj_point); +} +} // namespace trajectory_utils +} // namespace path_smoother diff --git a/planning/path_smoother/test/test_path_smoother_node_interface.cpp b/planning/path_smoother/test/test_path_smoother_node_interface.cpp new file mode 100644 index 0000000000000..b18c49b0e88b0 --- /dev/null +++ b/planning/path_smoother/test/test_path_smoother_node_interface.cpp @@ -0,0 +1,62 @@ +// Copyright 2023 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 "ament_index_cpp/get_package_share_directory.hpp" +#include "path_smoother/elastic_band_smoother.hpp" +#include "planning_interface_test_manager/planning_interface_test_manager.hpp" +#include "planning_interface_test_manager/planning_interface_test_manager_utils.hpp" + +#include + +#include + +TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory) +{ + rclcpp::init(0, nullptr); + + auto test_manager = std::make_shared(); + + auto node_options = rclcpp::NodeOptions{}; + + const auto planning_test_utils_dir = + ament_index_cpp::get_package_share_directory("planning_test_utils"); + const auto path_smoothing_dir = ament_index_cpp::get_package_share_directory("path_smoother"); + + node_options.arguments( + {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml", + "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml", + "--params-file", path_smoothing_dir + "/config/elastic_band_smoother.param.yaml"}); + + auto test_target_node = std::make_shared(node_options); + + // publish necessary topics from test_manager + test_manager->publishOdometry(test_target_node, "path_smoother/input/odometry"); + + // set subscriber with topic name + test_manager->setTrajectorySubscriber("path_smoother/output/traj"); + test_manager->setPathSubscriber("path_smoother/output/path"); + + // set input topic name (this topic is changed to test node) + test_manager->setPathInputTopicName("path_smoother/input/path"); + + // test with normal trajectory + ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalPath(test_target_node)); + + EXPECT_GE(test_manager->getReceivedTopicNum(), 1); + + // test with trajectory with empty/one point/overlapping point + ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalPath(test_target_node)); + + rclcpp::shutdown(); +} From 4001ee64d56fd6355afa93626942abc22630a84f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 10 Jul 2023 11:40:30 +0900 Subject: [PATCH 113/118] feat(avoidance): output avoidance path with unsafe flag when the yield is necessary (#4183) * feat(avoidance): output avoidance path with unsafe flag when the yield is necessary Signed-off-by: satoshi-ota * feat(avoidance): keep rtc status in unsafe condition Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../avoidance/avoidance_module.hpp | 1 - .../avoidance/avoidance_module.cpp | 20 +++++++++---------- 2 files changed, 9 insertions(+), 12 deletions(-) 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 5751e1873a579..79a1b5d0dfe4e 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 @@ -580,7 +580,6 @@ class AvoidanceModule : public SceneModuleInterface return; } - initRTCStatus(); unlockNewModuleLaunch(); current_raw_shift_lines_.clear(); 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 6cf187268e4ca..11e2ccb82939e 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 @@ -114,27 +114,25 @@ bool AvoidanceModule::isExecutionRequested() const } // Check ego is in preferred lane - const auto avoid_data = avoidance_data_; - - updateInfoMarker(avoid_data); - updateDebugMarker(avoid_data, path_shifter_, debug_data_); + updateInfoMarker(avoidance_data_); + updateDebugMarker(avoidance_data_, path_shifter_, debug_data_); // there is object that should be avoid. return true. - if (!!avoid_data.stop_target_object) { + if (!!avoidance_data_.stop_target_object) { return true; } - if (avoid_data.unapproved_new_sl.empty()) { + if (avoidance_data_.unapproved_new_sl.empty()) { return false; } - return !avoid_data.target_objects.empty(); + return !avoidance_data_.target_objects.empty(); } bool AvoidanceModule::isExecutionReady() const { DEBUG_PRINT("AVOIDANCE isExecutionReady"); - return true; + return avoidance_data_.safe; } ModuleStatus AvoidanceModule::updateState() @@ -534,6 +532,7 @@ void AvoidanceModule::fillEgoStatus( * if the avoidance has already been initiated. */ if (!can_yield_maneuver) { + data.safe = true; // overwrite safety judge. data.yield_required = false; data.safe_new_sl = data.unapproved_new_sl; RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 500, "unsafe. but could not transit yield status."); @@ -545,7 +544,7 @@ void AvoidanceModule::fillEgoStatus( */ { data.yield_required = true; - data.safe_new_sl.clear(); + data.safe_new_sl = data.unapproved_new_sl; } /** @@ -2605,8 +2604,7 @@ CandidateOutput AvoidanceModule::planCandidate() const CandidateOutput output; - auto shifted_path = data.yield_required ? utils::avoidance::toShiftedPath(data.reference_path) - : data.candidate_path; + auto shifted_path = data.candidate_path; if (!data.safe_new_sl.empty()) { // clip from shift start index for visualize utils::clipPathLength( From 1bb0aa2bbda455b4fbd37803cea20a15dae52a28 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 10 Jul 2023 12:24:46 +0900 Subject: [PATCH 114/118] chore(start_planner): fix typos (#4208) Signed-off-by: kosuke55 --- .../start_planner/start_planner_module.hpp | 2 +- .../start_planner/start_planner_module.cpp | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 6aa3ca9ac2239..313162d6473cc 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -115,7 +115,7 @@ class StartPlannerModule : public SceneModuleInterface std::shared_ptr parameters_; vehicle_info_util::VehicleInfo vehicle_info_; - std::vector> start_planner_planners_; + std::vector> start_planners_; PullOutStatus status_; std::deque odometry_buffer_; diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 35f1e2b2b9408..dd42b18666ec3 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -49,13 +49,13 @@ StartPlannerModule::StartPlannerModule( // set enabled planner if (parameters_->enable_shift_pull_out) { - start_planner_planners_.push_back( + start_planners_.push_back( std::make_shared(node, *parameters, lane_departure_checker_)); } if (parameters_->enable_geometric_pull_out) { - start_planner_planners_.push_back(std::make_shared(node, *parameters)); + start_planners_.push_back(std::make_shared(node, *parameters)); } - if (start_planner_planners_.empty()) { + if (start_planners_.empty()) { RCLCPP_ERROR(getLogger(), "Not found enabled planner"); } } @@ -257,7 +257,7 @@ CandidateOutput StartPlannerModule::planCandidate() const std::shared_ptr StartPlannerModule::getCurrentPlanner() const { - for (const auto & planner : start_planner_planners_) { + for (const auto & planner : start_planners_) { if (status_.planner_type == planner->getPlannerType()) { return planner; } @@ -458,7 +458,7 @@ void StartPlannerModule::planWithPriority( using PriorityOrder = std::vector>>; const auto make_loop_order_planner_first = [&]() { PriorityOrder order_priority; - for (const auto & planner : start_planner_planners_) { + for (const auto & planner : start_planners_) { for (size_t i = 0; i < start_pose_candidates.size(); i++) { order_priority.emplace_back(i, planner); } @@ -469,7 +469,7 @@ void StartPlannerModule::planWithPriority( const auto make_loop_order_pose_first = [&]() { PriorityOrder order_priority; for (size_t i = 0; i < start_pose_candidates.size(); i++) { - for (const auto & planner : start_planner_planners_) { + for (const auto & planner : start_planners_) { order_priority.emplace_back(i, planner); } } From 0c1b6930ec9586864a8885ce7b1293f6231f45e4 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 10 Jul 2023 13:57:34 +0900 Subject: [PATCH 115/118] refactor(behavior_path_planner): remove unused code (#4181) * feat(lane_change): remove behavior tree class from the lane chagne module (#4175) Signed-off-by: yutaka * refactor(node): remove unused config (#4180) * refactor(node): remove unused config Signed-off-by: satoshi-ota * refactor(node): clean up Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota * refactor(behavior_path_planner): don't generate drivable area in each modules Signed-off-by: satoshi-ota --------- Signed-off-by: yutaka Signed-off-by: satoshi-ota Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> --- .../config/behavior_path_planner.param.yaml | 4 - ...ior_path_planner_tree_lane_change_only.xml | 86 ------------ ...path_planner_tree_lane_change_only_old.xml | 100 -------------- .../config/behavior_path_planner_tree_old.xml | 110 --------------- .../behavior_path_planner_tree_pull_out.xml | 100 -------------- ..._planner_tree_with_external_request_LC.xml | 74 ---------- .../behavior_path_planner_node.hpp | 2 +- .../lane_change/external_request.hpp | 13 -- .../scene_module/lane_change/interface.hpp | 56 -------- .../scene_module/lane_change/normal.hpp | 25 ---- .../src/behavior_path_planner_node.cpp | 11 +- .../avoidance/avoidance_module.cpp | 6 - .../goal_planner/goal_planner_module.cpp | 15 -- .../lane_change/external_request.cpp | 6 - .../scene_module/lane_change/interface.cpp | 130 ------------------ .../src/scene_module/lane_change/normal.cpp | 88 ------------ .../side_shift/side_shift_module.cpp | 7 +- .../start_planner/start_planner_module.cpp | 9 -- .../goal_planner/freespace_pull_over.cpp | 7 - .../utils/start_planner/shift_pull_out.cpp | 7 - .../behavior_path_planner/src/utils/utils.cpp | 7 - 21 files changed, 5 insertions(+), 858 deletions(-) delete mode 100644 planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only.xml delete mode 100644 planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only_old.xml delete mode 100644 planning/behavior_path_planner/config/behavior_path_planner_tree_old.xml delete mode 100644 planning/behavior_path_planner/config/behavior_path_planner_tree_pull_out.xml delete mode 100644 planning/behavior_path_planner/config/behavior_path_planner_tree_with_external_request_LC.xml 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 a35f920dfb482..02dc13ffd84da 100644 --- a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml +++ b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml @@ -1,10 +1,6 @@ /**: ros__parameters: verbose: false - - groot_zmq_publisher_port: 1666 - groot_zmq_server_port: 1667 - planning_hz: 10.0 backward_path_length: 5.0 forward_path_length: 300.0 diff --git a/planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only.xml b/planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only.xml deleted file mode 100644 index 8988dd41b50fb..0000000000000 --- a/planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only.xml +++ /dev/null @@ -1,86 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - desc - - - desc - - - - - - desc - - - desc - - - - desc - - - desc - - - - - - - - desc - - - - - desc - - - desc - - - - - - - - diff --git a/planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only_old.xml b/planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only_old.xml deleted file mode 100644 index 46b2c4a8a3f33..0000000000000 --- a/planning/behavior_path_planner/config/behavior_path_planner_tree_lane_change_only_old.xml +++ /dev/null @@ -1,100 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - desc - - - desc - - - - - - - - - desc - - - desc - - - - - desc - - - desc - - - - - - - - - - desc - - - - - - desc - - - desc - - - - - - - - - diff --git a/planning/behavior_path_planner/config/behavior_path_planner_tree_old.xml b/planning/behavior_path_planner/config/behavior_path_planner_tree_old.xml deleted file mode 100644 index 97601698c4eb7..0000000000000 --- a/planning/behavior_path_planner/config/behavior_path_planner_tree_old.xml +++ /dev/null @@ -1,110 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - desc - - - desc - - - - - - - - - desc - - - desc - - - - - desc - - - desc - - - - - - - - - - desc - - - - - - desc - - - desc - - - - - - - - - diff --git a/planning/behavior_path_planner/config/behavior_path_planner_tree_pull_out.xml b/planning/behavior_path_planner/config/behavior_path_planner_tree_pull_out.xml deleted file mode 100644 index 32f30af69ac36..0000000000000 --- a/planning/behavior_path_planner/config/behavior_path_planner_tree_pull_out.xml +++ /dev/null @@ -1,100 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - desc - - - desc - - - - - - - - - desc - - - desc - - - - - desc - - - desc - - - - - - - - - - desc - - - - - - desc - - - desc - - - - - - - - - diff --git a/planning/behavior_path_planner/config/behavior_path_planner_tree_with_external_request_LC.xml b/planning/behavior_path_planner/config/behavior_path_planner_tree_with_external_request_LC.xml deleted file mode 100644 index 0410f775f7d17..0000000000000 --- a/planning/behavior_path_planner/config/behavior_path_planner_tree_with_external_request_LC.xml +++ /dev/null @@ -1,74 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - desc - - - - - desc - - - - desc - - - - desc - - - - desc - - - - - - - - desc - - - - desc - - - - - 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 0ec1fe0ca493a..e6ed8b7063d2c 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 @@ -153,7 +153,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node * @brief extract path from behavior tree output */ PathWithLaneId::SharedPtr getPath( - const BehaviorModuleOutput & bt_out, const std::shared_ptr & planner_data, + const BehaviorModuleOutput & output, const std::shared_ptr & planner_data, const std::shared_ptr & planner_manager); bool keepInputPoints(const std::vector> & statuses) const; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request.hpp index 51a71ef7cd061..d9c77d6db337e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request.hpp @@ -33,19 +33,6 @@ class ExternalRequestLaneChange : public NormalLaneChange ExternalRequestLaneChange & operator=(ExternalRequestLaneChange &&) = delete; ~ExternalRequestLaneChange() override = default; }; - -class ExternalRequestLaneChangeBT : public NormalLaneChangeBT -{ -public: - ExternalRequestLaneChangeBT( - const std::shared_ptr & parameters, Direction direction); - - ExternalRequestLaneChangeBT(const ExternalRequestLaneChangeBT &) = delete; - ExternalRequestLaneChangeBT(ExternalRequestLaneChangeBT &&) = delete; - ExternalRequestLaneChangeBT & operator=(const ExternalRequestLaneChangeBT &) = delete; - ExternalRequestLaneChangeBT & operator=(ExternalRequestLaneChangeBT &&) = delete; - ~ExternalRequestLaneChangeBT() override = default; -}; } // namespace behavior_path_planner #endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__EXTERNAL_REQUEST_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp index 1171b92343e30..232437f710b6a 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp @@ -136,62 +136,6 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface protected: void updateRTCStatus(const double start_distance, const double finish_distance) override; }; - -class LaneChangeBTInterface : public LaneChangeInterface -{ -public: - LaneChangeBTInterface( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters, - const std::unordered_map > & rtc_interface_ptr_map, - std::unique_ptr && module_type); - - LaneChangeBTInterface(const LaneChangeBTInterface &) = delete; - LaneChangeBTInterface(LaneChangeBTInterface &&) = delete; - LaneChangeBTInterface & operator=(const LaneChangeBTInterface &) = delete; - LaneChangeBTInterface & operator=(LaneChangeBTInterface &&) = delete; - ~LaneChangeBTInterface() override = default; - - void processOnEntry() override; - - BehaviorModuleOutput plan() override; - - BehaviorModuleOutput planWaitingApproval() override; - - CandidateOutput planCandidate() const override; - - void acceptVisitor(const std::shared_ptr & visitor) const override; - -protected: - bool is_activated_{false}; -}; - -class LaneChangeBTModule : public LaneChangeBTInterface -{ -public: - LaneChangeBTModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters); - -protected: - void updateRTCStatus(const double start_distance, const double finish_distance) override; -}; - -class ExternalRequestLaneChangeLeftBTModule : public LaneChangeBTInterface -{ -public: - ExternalRequestLaneChangeLeftBTModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters); -}; - -class ExternalRequestLaneChangeRightBTModule : public LaneChangeBTInterface -{ -public: - ExternalRequestLaneChangeRightBTModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters); -}; } // namespace behavior_path_planner #endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__INTERFACE_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp index cac0252e274ae..8b3dea03a8c8b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp @@ -110,30 +110,5 @@ class NormalLaneChange : public LaneChangeBase rclcpp::Logger logger_ = rclcpp::get_logger("lane_change").get_child(getModuleTypeStr()); }; - -class NormalLaneChangeBT : public NormalLaneChange -{ -public: - NormalLaneChangeBT( - const std::shared_ptr & parameters, LaneChangeModuleType type, - Direction direction); - - NormalLaneChangeBT(const NormalLaneChangeBT &) = delete; - NormalLaneChangeBT(NormalLaneChangeBT &&) = delete; - NormalLaneChangeBT & operator=(const NormalLaneChangeBT &) = delete; - NormalLaneChangeBT & operator=(NormalLaneChangeBT &&) = delete; - ~NormalLaneChangeBT() override = default; - - PathWithLaneId getReferencePath() const override; - -protected: - lanelet::ConstLanelets getCurrentLanes() const override; - - int getNumToPreferredLane(const lanelet::ConstLanelet & lane) const override; - - PathWithLaneId getPrepareSegment( - const lanelet::ConstLanelets & current_lanes, const double arc_length_from_current, - const double backward_path_length, const double prepare_length) const override; -}; } // namespace behavior_path_planner #endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__NORMAL_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 7857c2962d001..76873b8e248ba 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -122,8 +122,6 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod createSubscriptionOptions(this)); { - RCLCPP_INFO(get_logger(), "not use behavior tree."); - const std::string path_candidate_name_space = "/planning/path_candidate/"; const std::string path_reference_name_space = "/planning/path_reference/"; @@ -508,7 +506,7 @@ void BehaviorPathPlannerNode::run() planner_data_->route_handler->setMap(*map_ptr); } - std::unique_lock lk_manager(mutex_manager_); // for bt_manager_ or planner_manager_ + std::unique_lock lk_manager(mutex_manager_); // for planner_manager_ // update route const bool is_first_time = !(planner_data_->route_handler->isHandlerReady()); @@ -523,7 +521,6 @@ void BehaviorPathPlannerNode::run() // Reset behavior tree when new route is received, // so that the each modules do not have to care about the "route jump". if (!is_first_time && !has_same_route_id) { - RCLCPP_DEBUG(get_logger(), "new route is received. reset behavior tree."); planner_manager_->reset(); } } @@ -852,16 +849,14 @@ Path BehaviorPathPlannerNode::convertToPath( } PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath( - const BehaviorModuleOutput & bt_output, const std::shared_ptr & planner_data, + const BehaviorModuleOutput & output, const std::shared_ptr & planner_data, const std::shared_ptr & planner_manager) { // TODO(Horibe) do some error handling when path is not available. - auto path = bt_output.path ? bt_output.path : planner_data->prev_output_path; + auto path = output.path ? output.path : planner_data->prev_output_path; path->header = planner_data->route_handler->getRouteHeader(); path->header.stamp = this->now(); - RCLCPP_DEBUG( - get_logger(), "BehaviorTreeManager: output is %s.", bt_output.path ? "FOUND" : "NOT FOUND"); PathWithLaneId connected_path; const auto module_status_ptr_vec = planner_manager->getSceneModuleStatus(); 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 11e2ccb82939e..58ef8f5fa5b3e 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 @@ -2369,12 +2369,6 @@ void AvoidanceModule::generateExtendedDrivableArea(BehaviorModuleOutput & output output.drivable_area_info = utils::combineDrivableAreaInfo( current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); } - - { // for old architecture - // NOTE: Obstacles to avoid are not extracted from the drivable area with an old architecture. - utils::generateDrivableArea( - *output.path, drivable_lanes, false, planner_data_->parameters.vehicle_length, planner_data_); - } } void AvoidanceModule::modifyPathVelocityToPreventAccelerationOnAvoidance(ShiftedPath & path) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 92b465c6ffdb2..3c4feebe35529 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -584,9 +584,6 @@ void GoalPlannerModule::selectSafePullOverPath() for (auto & path : status_.pull_over_path->partial_paths) { const size_t ego_idx = planner_data_->findEgoIndex(path.points); utils::clipPathLength(path, ego_idx, planner_data_->parameters); - const auto target_drivable_lanes = getNonOverlappingExpandedLanes(path, status_.lanes); - utils::generateDrivableArea( - path, target_drivable_lanes, false, planner_data_->parameters.vehicle_length, planner_data_); } } @@ -976,12 +973,6 @@ PathWithLaneId GoalPlannerModule::generateStopPath() } } - // generate drivable area - const auto drivable_lanes = utils::generateDrivableLanes(status_.current_lanes); - const auto target_drivable_lanes = getNonOverlappingExpandedLanes(reference_path, drivable_lanes); - utils::generateDrivableArea( - reference_path, target_drivable_lanes, false, common_parameters.vehicle_length, planner_data_); - return reference_path; } @@ -1011,12 +1002,6 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() status_.stop_pose = stop_path.points.at(*stop_idx).point.pose; } - // generate drivable area - const auto drivable_lanes = utils::generateDrivableLanes(status_.current_lanes); - const auto target_drivable_lanes = getNonOverlappingExpandedLanes(stop_path, drivable_lanes); - utils::generateDrivableArea( - stop_path, target_drivable_lanes, false, common_parameters.vehicle_length, planner_data_); - return stop_path; } diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp index 110a993214ae4..a74a51b7e2cdb 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp @@ -34,10 +34,4 @@ ExternalRequestLaneChange::ExternalRequestLaneChange( : NormalLaneChange(parameters, LaneChangeModuleType::EXTERNAL_REQUEST, direction) { } - -ExternalRequestLaneChangeBT::ExternalRequestLaneChangeBT( - const std::shared_ptr & parameters, Direction direction) -: NormalLaneChangeBT(parameters, LaneChangeModuleType::EXTERNAL_REQUEST, direction) -{ -} } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index 2c1ba45c3ef84..045484a7c8cd6 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -505,134 +505,4 @@ void AvoidanceByLaneChangeInterface::updateRTCStatus( rtc_interface_ptr_map_.at(direction)->updateCooperateStatus( uuid_map_.at(direction), isExecutionReady(), start_distance, finish_distance, clock_->now()); } - -LaneChangeBTInterface::LaneChangeBTInterface( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters, - const std::unordered_map > & rtc_interface_ptr_map, - std::unique_ptr && module_type) -: LaneChangeInterface{name, node, parameters, rtc_interface_ptr_map, std::move(module_type)} -{ -} - -void LaneChangeBTInterface::processOnEntry() -{ - module_type_->updateLaneChangeStatus(); -} - -BehaviorModuleOutput LaneChangeBTInterface::plan() -{ - resetPathCandidate(); - resetPathReference(); - is_activated_ = isActivated(); - - if (!module_type_->isValidPath()) { - return {}; - } - - auto output = module_type_->generateOutput(); - path_reference_ = getPreviousModuleOutput().reference_path; - *prev_approved_path_ = *output.path; - - updateSteeringFactorPtr(output); - clearWaitingApproval(); - - return output; -} - -BehaviorModuleOutput LaneChangeBTInterface::planWaitingApproval() -{ - const auto path = module_type_->getReferencePath(); - if (!path.points.empty()) { - *prev_approved_path_ = module_type_->getReferencePath(); - } - - BehaviorModuleOutput out; - out.path = std::make_shared(*prev_approved_path_); - out.reference_path = getPreviousModuleOutput().reference_path; - out.turn_signal_info = getPreviousModuleOutput().turn_signal_info; - - const auto candidate = planCandidate(); - path_candidate_ = std::make_shared(candidate.path_candidate); - - path_reference_ = getPreviousModuleOutput().reference_path; - updateRTCStatus( - candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change); - is_abort_path_approved_ = false; - - return out; -} - -CandidateOutput LaneChangeBTInterface::planCandidate() const -{ - LaneChangePath selected_path; - - if (module_type_->isAbortState()) { - selected_path = module_type_->getLaneChangePath(); - } else { - [[maybe_unused]] const auto [found_valid_path, found_safe_path] = - module_type_->getSafePath(selected_path); - } - - selected_path.path.header = module_type_->getRouteHeader(); - - if (selected_path.path.points.empty()) { - return {}; - } - - CandidateOutput output = assignToCandidate(selected_path, module_type_->getEgoPosition()); - - updateSteeringFactorPtr(output, selected_path); - return output; -} - -void LaneChangeBTInterface::acceptVisitor(const std::shared_ptr & visitor) const -{ - if (visitor) { - visitor->visitLaneChangeBTInterface(this); - } -} - -void SceneModuleVisitor::visitLaneChangeBTInterface(const LaneChangeBTInterface * module) const -{ - external_request_lane_change_bt_visitor_ = module->get_debug_msg_array(); -} - -LaneChangeBTModule::LaneChangeBTModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters) -: LaneChangeBTInterface{ - name, node, parameters, createRTCInterfaceMap(node, name, {"left", "right"}), - std::make_unique(parameters, LaneChangeModuleType::NORMAL, Direction::NONE)} -{ -} - -void LaneChangeBTModule::updateRTCStatus(const double start_distance, const double finish_distance) -{ - const auto direction = std::invoke([&]() -> std::string { - const auto dir = module_type_->getDirection(); - return (dir == Direction::LEFT) ? "left" : "right"; - }); - - rtc_interface_ptr_map_.at(direction)->updateCooperateStatus( - uuid_map_.at(direction), isExecutionReady(), start_distance, finish_distance, clock_->now()); -} - -ExternalRequestLaneChangeLeftBTModule::ExternalRequestLaneChangeLeftBTModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters) -: LaneChangeBTInterface{ - name, node, parameters, createRTCInterfaceMap(node, name, {""}), - std::make_unique(parameters, Direction::LEFT)} -{ -} - -ExternalRequestLaneChangeRightBTModule::ExternalRequestLaneChangeRightBTModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters) -: LaneChangeBTInterface{ - name, node, parameters, createRTCInterfaceMap(node, name, {""}), - std::make_unique(parameters, Direction::RIGHT)} -{ -} } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index fadb445b73392..eed66650520e9 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -155,7 +155,6 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) { - const auto & common_parameters = planner_data_->parameters; const auto & dp = planner_data_->drivable_area_expansion_parameters; const auto drivable_lanes = utils::lane_change::generateDrivableLanes( @@ -170,10 +169,6 @@ void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) current_drivable_area_info.drivable_lanes = expanded_lanes; output.drivable_area_info = utils::combineDrivableAreaInfo(current_drivable_area_info, prev_drivable_area_info_); - - // for old architecture - utils::generateDrivableArea( - *output.path, expanded_lanes, false, common_parameters.vehicle_length, planner_data_); } void NormalLaneChange::insertStopPoint(PathWithLaneId & path) @@ -1028,87 +1023,4 @@ bool NormalLaneChange::getAbortPath() abort_path_ = std::make_shared(abort_path); return true; } - -NormalLaneChangeBT::NormalLaneChangeBT( - const std::shared_ptr & parameters, LaneChangeModuleType type, - Direction direction) -: NormalLaneChange(parameters, type, direction) -{ -} - -PathWithLaneId NormalLaneChangeBT::getReferencePath() const -{ - PathWithLaneId reference_path; - if (!utils::isEgoWithinOriginalLane( - status_.current_lanes, getEgoPose(), planner_data_->parameters)) { - return reference_path; - } - - const auto & route_handler = getRouteHandler(); - const auto & current_pose = getEgoPose(); - const auto & common_parameters = planner_data_->parameters; - - // Set header - reference_path.header = getRouteHeader(); - - const auto current_lanes = getCurrentLanes(); - - if (current_lanes.empty()) { - return reference_path; - } - - reference_path = utils::getCenterLinePath( - *route_handler, current_lanes, current_pose, common_parameters.backward_path_length, - common_parameters.forward_path_length, common_parameters); - - const auto shift_intervals = - route_handler->getLateralIntervalsToPreferredLane(current_lanes.back()); - const double lane_change_buffer = - utils::calcMinimumLaneChangeLength(common_parameters, shift_intervals); - - reference_path = utils::setDecelerationVelocity( - *route_handler, reference_path, current_lanes, common_parameters.lane_change_prepare_duration, - lane_change_buffer); - - const auto & dp = planner_data_->drivable_area_expansion_parameters; - - const auto drivable_lanes = utils::generateDrivableLanes(current_lanes); - const auto shorten_lanes = utils::cutOverlappedLanes(reference_path, drivable_lanes); - const auto expanded_lanes = utils::expandLanelets( - shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, - dp.drivable_area_types_to_skip); - utils::generateDrivableArea( - reference_path, expanded_lanes, false, common_parameters.vehicle_length, planner_data_); - - return reference_path; -} - -lanelet::ConstLanelets NormalLaneChangeBT::getCurrentLanes() const -{ - return utils::getCurrentLanes(planner_data_); -} - -int NormalLaneChangeBT::getNumToPreferredLane(const lanelet::ConstLanelet & lane) const -{ - return std::abs(getRouteHandler()->getNumLaneToPreferredLane(lane)); -} - -PathWithLaneId NormalLaneChangeBT::getPrepareSegment( - const lanelet::ConstLanelets & current_lanes, const double arc_length_from_current, - const double backward_path_length, const double prepare_length) const -{ - if (current_lanes.empty()) { - return PathWithLaneId(); - } - - const double s_start = arc_length_from_current - backward_path_length; - const double s_end = arc_length_from_current + prepare_length; - - RCLCPP_DEBUG(logger_, "start: %f, end: %f", s_start, s_end); - - PathWithLaneId prepare_segment = - getRouteHandler()->getCenterLinePath(current_lanes, s_start, s_end); - - return prepare_segment; -} } // namespace behavior_path_planner 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 d235cd1866181..5102570a5e3b2 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 @@ -407,15 +407,10 @@ BehaviorModuleOutput SideShiftModule::adjustDrivableArea(const ShiftedPath & pat const auto expanded_lanes = utils::expandLanelets(shorten_lanes, left_offset, right_offset, dp.drivable_area_types_to_skip); - { // for old architecture - utils::generateDrivableArea( - output_path, expanded_lanes, false, p.vehicle_length, planner_data_); - out.path = std::make_shared(output_path); - } - { // for new architecture // NOTE: side shift module is not launched with other modules. Therefore, drivable_lanes can be // assigned without combining. + out.path = std::make_shared(output_path); out.drivable_area_info.drivable_lanes = expanded_lanes; out.drivable_area_info.is_already_expanded = true; } diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index dd42b18666ec3..2441f62ef6cf8 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -192,8 +192,6 @@ BehaviorModuleOutput StartPlannerModule::plan() } const auto target_drivable_lanes = getNonOverlappingExpandedLanes(path, status_.lanes); - utils::generateDrivableArea( - path, target_drivable_lanes, false, planner_data_->parameters.vehicle_length, planner_data_); DrivableAreaInfo current_drivable_area_info; current_drivable_area_info.drivable_lanes = target_drivable_lanes; @@ -322,8 +320,6 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() const auto expanded_lanes = utils::expandLanelets( drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, dp.drivable_area_types_to_skip); - utils::generateDrivableArea( - stop_path, expanded_lanes, false, planner_data_->parameters.vehicle_length, planner_data_); for (auto & p : stop_path.points) { p.point.longitudinal_velocity_mps = 0.0; } @@ -334,7 +330,6 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); output.path = std::make_shared(stop_path); - output.drivable_area_info.drivable_lanes = status_.lanes; output.reference_path = getPreviousModuleOutput().reference_path; output.turn_signal_info = calcTurnSignalInfo(); path_candidate_ = std::make_shared(getFullPath()); @@ -520,10 +515,6 @@ PathWithLaneId StartPlannerModule::generateStopPath() const // generate drivable area const auto target_drivable_lanes = getNonOverlappingExpandedLanes(path, status_.lanes); - // for old architecture - utils::generateDrivableArea( - path, target_drivable_lanes, false, planner_data_->parameters.vehicle_length, planner_data_); - return path; } diff --git a/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp index a3e710b853503..ebfac8a347134 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp @@ -103,19 +103,12 @@ boost::optional FreespacePullOver::plan(const Pose & goal_pose) utils::correctDividedPathVelocity(partial_paths); - const double drivable_area_margin = planner_data_->parameters.vehicle_width; for (auto & path : partial_paths) { const auto is_driving_forward = motion_utils::isDrivingForward(path.points); if (!is_driving_forward) { // path points is less than 2 return {}; } - - // for old architecture - // NOTE: drivable_area_info is assigned outside this function. - const double offset = planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; - utils::generateDrivableArea( - path, planner_data_->parameters.vehicle_length, offset, *is_driving_forward); } PullOverPath pull_over_path{}; diff --git a/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp b/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp index fc24c3d9f2d20..9d21dbae99171 100644 --- a/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp +++ b/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp @@ -114,13 +114,6 @@ boost::optional ShiftPullOut::plan(Pose start_pose, Pose goal_pose) continue; } - // Generate drivable area - // for old architecture - // NOTE: drivable_area_info is assigned outside this function. - const auto shorten_lanes = utils::cutOverlappedLanes(shift_path, drivable_lanes); - utils::generateDrivableArea( - shift_path, shorten_lanes, false, common_parameters.vehicle_length, planner_data_); - shift_path.header = planner_data_->route_handler->getRouteHeader(); return pull_out_path; diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 6dbe0559ea266..209cfd181b0cc 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -967,7 +967,6 @@ BehaviorModuleOutput createGoalAroundPath(const std::shared_ptrparameters; const auto & route_handler = planner_data->route_handler; const auto & modified_goal = planner_data->prev_modified_goal; @@ -1002,9 +1001,6 @@ BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr(reference_path); output.reference_path = std::make_shared(reference_path); output.drivable_area_info.drivable_lanes = drivable_lanes; @@ -2286,9 +2282,6 @@ std::shared_ptr generateCenterLinePath( centerline_path->header = route_handler->getRouteHeader(); - utils::generateDrivableArea( - *centerline_path, drivable_lanes, false, p.vehicle_length, planner_data); - return centerline_path; } From 2cb75ee4d0c31c62a6f1c34c4eb1ebdd973c24ad Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Mon, 10 Jul 2023 14:07:19 +0900 Subject: [PATCH 116/118] fix: max velocity display (#4203) fix max velocity display Signed-off-by: Yukihito Saito Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp b/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp index 0520b7292080f..098be3a93ddd0 100644 --- a/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp +++ b/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp @@ -77,7 +77,7 @@ void MaxVelocityDisplay::onInitialize() overlay_->updateTextureSize(property_length_->getInt(), property_length_->getInt()); overlay_->setPosition(property_left_->getInt(), property_top_->getInt()); overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); - processMessage(last_msg_ptr_); + updateVisualization(); // QColor background_color; // background_color.setAlpha(0); From d4bb8bdb26faf17423e4188d97042b982764a603 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Mon, 10 Jul 2023 05:12:57 +0000 Subject: [PATCH 117/118] chore: sync files (#4205) Signed-off-by: GitHub Co-authored-by: shmpwk --- .github/workflows/build-and-test.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 383eb2def936c..7568c89908fd7 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -27,6 +27,14 @@ jobs: - name: Check out repository uses: actions/checkout@v3 + - name: Free disk space (Ubuntu) + uses: jlumbroso/free-disk-space@v1.2.0 + with: + tool-cache: false + dotnet: false + swap-storage: false + large-packages: false + - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 From 5605b19a1d0d8fcb4d9afb45a08934dda7e595ec Mon Sep 17 00:00:00 2001 From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Date: Mon, 10 Jul 2023 16:08:46 +0900 Subject: [PATCH 118/118] feat(roi_cluster_fusion): update default value of `only_allow_inside_cluster` is `true` (#4212) Signed-off-by: ktro2828 --- .../launch/roi_cluster_fusion.launch.xml | 2 +- .../src/roi_cluster_fusion/node.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml index a946da66f2488..d136cc9393703 100644 --- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml @@ -74,7 +74,7 @@ - + diff --git a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index af3dd15d98abc..7b0a181e3dbd0 100644 --- a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -40,7 +40,7 @@ RoiClusterFusionNode::RoiClusterFusionNode(const rclcpp::NodeOptions & options) use_iou_y_ = declare_parameter("use_iou_y", false); use_iou_ = declare_parameter("use_iou", false); use_cluster_semantic_type_ = declare_parameter("use_cluster_semantic_type", false); - only_allow_inside_cluster_ = declare_parameter("only_allow_inside_cluster_", false); + only_allow_inside_cluster_ = declare_parameter("only_allow_inside_cluster_", true); roi_scale_factor_ = declare_parameter("roi_scale_factor", 1.1); iou_threshold_ = declare_parameter("iou_threshold", 0.1); remove_unknown_ = declare_parameter("remove_unknown", false);

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z{=d+5`uJY|n6I`ZLls5@XXtF$1sUD6EGL>Xh6Ry_kQPPgs(GExm}WD1m`u0vXdGv6 zWtD7g*maNv4(1~N7Zj{_i<6W#_WB^Zv3_V6` zm1c-W!F%4_i?nR94j;{d5X@XqCVAccPoH>If68X(W*#y|fnT%V=DE>fgVKc*9@uEj zcd@?tcJo?ka%b1(a~OT$2hAyTCnt7$Y)fu+J~xNjK8i*9zHS+(El)?OuTQO^Z_Y$=4OZ|7<9H?!u`V=Pk$lh zh5xoqIrb`i z=U^vCXZ(N+7t0DaN75djJf7V5{O9Qab+-}k#Ch>N+t{S&@u(Mx4;=W5vCN`YNwyHq zu>^=>w;A@EQ@z}}&qk5IM2B+5+uaTQXu;iypv*_ + + + + + + diff --git a/common/traffic_light_recognition_marker_publisher/package.xml b/common/traffic_light_recognition_marker_publisher/package.xml new file mode 100644 index 0000000000000..d12022c01684e --- /dev/null +++ b/common/traffic_light_recognition_marker_publisher/package.xml @@ -0,0 +1,30 @@ + + + + traffic_light_recognition_marker_publisher + 0.0.0 + The traffic_light_recognition_marker_publisher package + Tomoya Kimura + Takeshi Miura + Shumpei Wakabayashi + Apache License 2.0 + + ament_cmake + autoware_cmake + + autoware_auto_mapping_msgs + autoware_auto_perception_msgs + geometry_msgs + lanelet2_extension + rclcpp + rclcpp_components + tier4_autoware_utils + visualization_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp b/common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp new file mode 100644 index 0000000000000..6076d3fa32f26 --- /dev/null +++ b/common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp @@ -0,0 +1,164 @@ +// 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 "traffic_light_recognition_marker_publisher.hpp" + +#include +#include +#include +#include +#include + +TrafficLightRecognitionMarkerPublisher::TrafficLightRecognitionMarkerPublisher( + const rclcpp::NodeOptions & options) +: Node("traffic_light_recognition_marker_publisher", options) +{ + using std::placeholders::_1; + + sub_map_ptr_ = this->create_subscription( + "~/input/lanelet2_map", rclcpp::QoS{1}.transient_local(), + std::bind(&TrafficLightRecognitionMarkerPublisher::onMap, this, _1)); + sub_tlr_ptr_ = this->create_subscription( + "~/input/traffic_signals", rclcpp::QoS{1}, + std::bind(&TrafficLightRecognitionMarkerPublisher::onTrafficSignalArray, this, _1)); + pub_marker_ptr_ = + this->create_publisher("~/output/marker", rclcpp::QoS{1}); +} + +void TrafficLightRecognitionMarkerPublisher::onMap(const HADMapBin::ConstSharedPtr msg_ptr) +{ + is_map_ready_ = false; + lanelet::LaneletMapPtr viz_lanelet_map(new lanelet::LaneletMap); + lanelet::utils::conversion::fromBinMsg(*msg_ptr, viz_lanelet_map); + lanelet::ConstLanelets lanelets = lanelet::utils::query::laneletLayer(viz_lanelet_map); + std::vector tl_regulatory_elements = + lanelet::utils::query::autowareTrafficLights(lanelets); + for (const auto & tl : tl_regulatory_elements) { + const auto tl_lights = tl->trafficLights(); + for (const auto & tl_light : tl_lights) { + if (tl_light.isLineString()) { + lanelet::ConstLineString3d tl_linestring = + static_cast(tl_light); + int32_t tl_id = static_cast(tl_light.id()); + Pose tl_pose; + tl_pose.position.x = (tl_linestring.front().x() + tl_linestring.back().x()) / 2; + tl_pose.position.y = (tl_linestring.front().y() + tl_linestring.back().y()) / 2; + tl_pose.position.z = tl_linestring.front().z() + 1.0; + tl_position_map_[tl_id] = tl_pose; + } + } + } + is_map_ready_ = true; +} + +void TrafficLightRecognitionMarkerPublisher::onTrafficSignalArray( + const TrafficSignalArray::ConstSharedPtr msg_ptr) +{ + if (!is_map_ready_) { + return; + } + MarkerArray markers; + marker_id = 0; + for (const auto & tl : msg_ptr->signals) { + if (tl_position_map_.count(tl.map_primitive_id) == 0) continue; + auto tl_position = tl_position_map_[tl.map_primitive_id]; + for (const auto tl_light : tl.lights) { + const auto marker = getTrafficLightMarker(tl_position, tl_light.color, tl_light.shape); + markers.markers.emplace_back(marker); + marker_id++; + tl_position.position.z += 0.5; + } + } + pub_marker_ptr_->publish(markers); +} + +visualization_msgs::msg::Marker TrafficLightRecognitionMarkerPublisher::getTrafficLightMarker( + const Pose & tl_pose, const uint8_t tl_color, const uint8_t tl_shape) +{ + visualization_msgs::msg::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.ns = "traffic_light_color"; + marker.id = marker_id; + marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; + marker.lifetime = rclcpp::Duration::from_seconds(1.0); + marker.action = visualization_msgs::msg::Marker::ADD; + marker.pose = tl_pose; + marker.color = getTrafficLightColor(tl_color, tl_shape); + marker.scale.z = 0.5; + marker.frame_locked = false; + marker.text = getTrafficLightString(tl_color, tl_shape); + + return marker; +} + +std::string TrafficLightRecognitionMarkerPublisher::getTrafficLightString( + const uint8_t tl_color, const uint8_t tl_shape) +{ + if (tl_shape == TrafficLight::LEFT_ARROW) return "LEFT_ARROW"; + if (tl_shape == TrafficLight::RIGHT_ARROW) return "RIGHT_ARROW"; + if (tl_shape == TrafficLight::UP_ARROW) return "UP_ARROW"; + if (tl_shape == TrafficLight::DOWN_ARROW) return "DOWN_ARROW"; + if (tl_shape == TrafficLight::DOWN_LEFT_ARROW) return "DOWN_LEFT_ARROW"; + if (tl_shape == TrafficLight::DOWN_RIGHT_ARROW) return "DOWN_RIGHT_ARROW"; + + if (tl_color == TrafficLight::RED) return "RED"; + if (tl_color == TrafficLight::GREEN) return "GREEN"; + if (tl_color == TrafficLight::AMBER) return "AMBER"; + + if (tl_shape == TrafficLight::UNKNOWN) return "UNKNOWN"; + + return "UNKNOWN"; +} + +std_msgs::msg::ColorRGBA TrafficLightRecognitionMarkerPublisher::getTrafficLightColor( + const uint8_t tl_color, const uint8_t tl_shape) +{ + std_msgs::msg::ColorRGBA c; + c.r = 1.0f; + c.g = 1.0f; + c.b = 1.0f; + c.a = 0.999; + + if ( + tl_shape == TrafficLight::LEFT_ARROW || tl_shape == TrafficLight::RIGHT_ARROW || + tl_shape == TrafficLight::UP_ARROW || tl_shape == TrafficLight::DOWN_ARROW || + tl_shape == TrafficLight::DOWN_LEFT_ARROW || tl_shape == TrafficLight::DOWN_RIGHT_ARROW) { + return c; // white + } + + if (tl_color == TrafficLight::RED) { + c.r = 1.0f; + c.g = 0.0f; + c.b = 0.0f; + return c; // red + } + if (tl_color == TrafficLight::GREEN) { + c.r = 0.0f; + c.g = 1.0f; + c.b = 0.0f; + return c; // green + } + if (tl_color == TrafficLight::AMBER) { + c.r = 1.0f; + c.g = 1.0f; + c.b = 0.0f; + return c; // amber + } + + return c; // white +} + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(TrafficLightRecognitionMarkerPublisher) diff --git a/common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp b/common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp new file mode 100644 index 0000000000000..de9aea14b7e5a --- /dev/null +++ b/common/traffic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp @@ -0,0 +1,62 @@ +// 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 TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_ +#define TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +class TrafficLightRecognitionMarkerPublisher : public rclcpp::Node +{ +public: + using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin; + using TrafficSignalArray = autoware_auto_perception_msgs::msg::TrafficSignalArray; + using TrafficLight = autoware_auto_perception_msgs::msg::TrafficLight; + using MarkerArray = visualization_msgs::msg::MarkerArray; + using Pose = geometry_msgs::msg::Pose; + + explicit TrafficLightRecognitionMarkerPublisher(const rclcpp::NodeOptions & options); + +private: + rclcpp::Subscription::SharedPtr sub_map_ptr_; + rclcpp::Subscription::SharedPtr + sub_tlr_ptr_; + rclcpp::Publisher::SharedPtr pub_marker_ptr_; + + void onMap(const HADMapBin::ConstSharedPtr msg_ptr); + void onTrafficSignalArray(const TrafficSignalArray::ConstSharedPtr msg_ptr); + visualization_msgs::msg::Marker getTrafficLightMarker( + const Pose & tl_pose, const uint8_t tl_color, const uint8_t tl_shape); + + std::string getTrafficLightString(const uint8_t tl_color, const uint8_t tl_shape); + std_msgs::msg::ColorRGBA getTrafficLightColor(const uint8_t tl_color, const uint8_t tl_shape); + + std::map tl_position_map_; + bool is_map_ready_ = false; + int32_t marker_id = 0; +}; + +#endif // TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_ From 1b697794356ec6deb7a27b107ebd348b905b1a8c Mon Sep 17 00:00:00 2001 From: Tao Zhong <55872497+tzhong518@users.noreply.github.com> Date: Wed, 28 Jun 2023 17:25:29 +0900 Subject: [PATCH 046/118] fix(replace motorbike with motorcycle): fix yolox's labelmap (#4102) fix:replace motorbike with motorcycle Signed-off-by: tzhong518 --- perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp index 65307ff28acde..e450ba6b5817e 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -199,6 +199,8 @@ void TrtYoloXNode::replaceLabelMap() auto & label = label_map_[i]; if (label == "PERSON") { label = "PEDESTRIAN"; + } else if (label == "MOTORBIKE") { + label = "MOTORCYCLE"; } else if ( label != "CAR" && label != "PEDESTRIAN" && label != "BUS" && label != "TRUCK" && label != "BICYCLE" && label != "MOTORCYCLE") { From 2919364143357807f2cfef9ff2264cb5eb9bb137 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 28 Jun 2023 23:58:25 +0900 Subject: [PATCH 047/118] feat(behavior_path_planner): add getCurrentLanes with length args (#4108) Signed-off-by: kosuke55 --- .../behavior_path_planner/utils/utils.hpp | 3 +++ .../behavior_path_planner/src/utils/utils.cpp | 21 +++++++++++++------ 2 files changed, 18 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index cc2d109f0cf1c..a8be9cdbe1c3e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -350,6 +350,9 @@ BehaviorModuleOutput getReferencePath( // object label std::uint8_t getHighestProbLabel(const std::vector & classification); +lanelet::ConstLanelets getCurrentLanes( + const std::shared_ptr & planner_data, const double backward_path_length, + const double forward_path_length); lanelet::ConstLanelets getCurrentLanes(const std::shared_ptr & planner_data); lanelet::ConstLanelets getCurrentLanesFromPath( diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 5b89b352d9574..fabf857aa0b40 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -2573,23 +2573,32 @@ std::uint8_t getHighestProbLabel(const std::vector & class return label; } -lanelet::ConstLanelets getCurrentLanes(const std::shared_ptr & planner_data) +lanelet::ConstLanelets getCurrentLanes( + const std::shared_ptr & planner_data, const double backward_path_length, + const double forward_path_length) { const auto & route_handler = planner_data->route_handler; const auto current_pose = planner_data->self_odometry->pose.pose; - const auto & common_parameters = planner_data->parameters; lanelet::ConstLanelet current_lane; if (!route_handler->getClosestLaneletWithinRoute(current_pose, ¤t_lane)) { - // RCLCPP_ERROR(getLogger(), "failed to find closest lanelet within route!!!"); - std::cerr << "failed to find closest lanelet within route!!!" << std::endl; + auto clock{rclcpp::Clock{RCL_ROS_TIME}}; + RCLCPP_ERROR_STREAM_THROTTLE( + rclcpp::get_logger("behavior_path_planner").get_child("utils"), clock, 1000, + "failed to find closest lanelet within route!!!"); return {}; // TODO(Horibe) what should be returned? } // For current_lanes with desired length return route_handler->getLaneletSequence( - current_lane, current_pose, common_parameters.backward_path_length, - common_parameters.forward_path_length); + current_lane, current_pose, backward_path_length, forward_path_length); +} + +lanelet::ConstLanelets getCurrentLanes(const std::shared_ptr & planner_data) +{ + const auto & common_parameters = planner_data->parameters; + return getCurrentLanes( + planner_data, common_parameters.backward_path_length, common_parameters.forward_path_length); } lanelet::ConstLanelets getCurrentLanesFromPath( From df3f7b885aaeaa949ffff601c4ef65511c435103 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 29 Jun 2023 07:37:59 +0900 Subject: [PATCH 048/118] feat(behavior_path_planner)!: remove macro (#4106) * refactor(avoidance): remove macro Signed-off-by: satoshi-ota * refactor(behavior_path_planner): remove macro Signed-off-by: satoshi-ota * refactor(start_planner): remove macro Signed-off-by: satoshi-ota * refactor(goal_planner): remove macro Signed-off-by: satoshi-ota * refactor(side_shift): remove macro Signed-off-by: satoshi-ota * refactor(lane_change): remove macro Signed-off-by: satoshi-ota * refactor(dynamic_avoidance): remove macro Signed-off-by: satoshi-ota * refactor(behavior_path_planner): remove files Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- planning/behavior_path_planner/CMakeLists.txt | 38 +--- .../behavior_path_planner_node.hpp | 34 +--- .../behavior_tree_manager.hpp | 90 --------- .../behavior_path_planner/module_status.hpp | 10 - .../avoidance/avoidance_module.hpp | 7 - .../dynamic_avoidance_module.hpp | 6 - .../goal_planner/goal_planner_module.hpp | 11 +- .../lane_following/lane_following_module.hpp | 58 ------ .../scene_module_bt_node_interface.hpp | 63 ------- .../scene_module/scene_module_interface.hpp | 100 ---------- .../side_shift/side_shift_module.hpp | 10 - .../start_planner/start_planner_module.hpp | 11 -- .../default_fixed_goal_planner.hpp | 4 - .../src/behavior_path_planner_node.cpp | 138 -------------- .../src/behavior_tree_manager.cpp | 175 ------------------ .../avoidance/avoidance_module.cpp | 56 ------ .../dynamic_avoidance_module.cpp | 14 -- .../goal_planner/goal_planner_module.cpp | 24 +-- .../scene_module/lane_change/interface.cpp | 12 -- .../lane_following/lane_following_module.cpp | 94 ---------- .../scene_module_bt_node_interface.cpp | 138 -------------- .../side_shift/side_shift_module.cpp | 48 ----- .../start_planner/start_planner_module.cpp | 62 ------- .../default_fixed_goal_planner.cpp | 34 ---- .../behavior_path_planner/src/utils/utils.cpp | 22 --- 25 files changed, 12 insertions(+), 1247 deletions(-) delete mode 100644 planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp delete mode 100644 planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp delete mode 100644 planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp delete mode 100644 planning/behavior_path_planner/src/behavior_tree_manager.cpp delete mode 100644 planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp delete mode 100644 planning/behavior_path_planner/src/scene_module/scene_module_bt_node_interface.cpp diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 4463620dcc4a9..bf135003fd353 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -7,21 +7,26 @@ autoware_package() find_package(OpenCV REQUIRED) find_package(magic_enum CONFIG REQUIRED) -set(COMPILE_WITH_OLD_ARCHITECTURE FALSE) - -set(common_src +ament_auto_add_library(behavior_path_planner_node SHARED + src/planner_manager.cpp src/steering_factor_interface.cpp src/behavior_path_planner_node.cpp src/scene_module/scene_module_visitor.cpp src/scene_module/avoidance/avoidance_module.cpp + src/scene_module/avoidance/manager.cpp src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp + src/scene_module/dynamic_avoidance/manager.cpp src/scene_module/start_planner/start_planner_module.cpp + src/scene_module/start_planner/manager.cpp src/scene_module/goal_planner/goal_planner_module.cpp + src/scene_module/goal_planner/manager.cpp src/scene_module/side_shift/side_shift_module.cpp + src/scene_module/side_shift/manager.cpp src/scene_module/lane_change/interface.cpp src/scene_module/lane_change/normal.cpp src/scene_module/lane_change/external_request.cpp src/scene_module/lane_change/avoidance_by_lane_change.cpp + src/scene_module/lane_change/manager.cpp src/turn_signal_decider.cpp src/utils/utils.cpp src/utils/path_utils.cpp @@ -50,33 +55,6 @@ set(common_src src/marker_util/lane_change/debug.cpp ) -if(COMPILE_WITH_OLD_ARCHITECTURE) - ament_auto_add_library(behavior_path_planner_node SHARED - src/behavior_tree_manager.cpp - src/scene_module/scene_module_bt_node_interface.cpp - src/scene_module/lane_following/lane_following_module.cpp - ${common_src} - ) - - target_compile_definitions(behavior_path_planner_node PRIVATE USE_OLD_ARCHITECTURE) - - message(WARNING "Build behavior_path_planner with OLD framework...") - -else() - ament_auto_add_library(behavior_path_planner_node SHARED - src/planner_manager.cpp - src/scene_module/avoidance/manager.cpp - src/scene_module/dynamic_avoidance/manager.cpp - src/scene_module/start_planner/manager.cpp - src/scene_module/goal_planner/manager.cpp - src/scene_module/side_shift/manager.cpp - src/scene_module/lane_change/manager.cpp - ${common_src} - ) - - message(WARNING "Build behavior_path_planner with NEW framework...") -endif() - target_include_directories(behavior_path_planner_node SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIR} ) 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 d06a3aae68e4f..454106e4e6811 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 @@ -16,26 +16,14 @@ #define BEHAVIOR_PATH_PLANNER__BEHAVIOR_PATH_PLANNER_NODE_HPP_ #include "behavior_path_planner/data_manager.hpp" -#include "behavior_path_planner/scene_module/scene_module_interface.hpp" - -#ifdef USE_OLD_ARCHITECTURE -#include "behavior_path_planner/behavior_tree_manager.hpp" -#include "behavior_path_planner/scene_module/avoidance/avoidance_module.hpp" -#include "behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp" -#include "behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp" -#include "behavior_path_planner/scene_module/lane_following/lane_following_module.hpp" -#include "behavior_path_planner/scene_module/side_shift/side_shift_module.hpp" -#include "behavior_path_planner/scene_module/start_planner/start_planner_module.hpp" -#else #include "behavior_path_planner/planner_manager.hpp" #include "behavior_path_planner/scene_module/avoidance/manager.hpp" #include "behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp" #include "behavior_path_planner/scene_module/goal_planner/manager.hpp" #include "behavior_path_planner/scene_module/lane_change/manager.hpp" +#include "behavior_path_planner/scene_module/scene_module_interface.hpp" #include "behavior_path_planner/scene_module/side_shift/manager.hpp" #include "behavior_path_planner/scene_module/start_planner/manager.hpp" -#endif - #include "behavior_path_planner/steering_factor_interface.hpp" #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp" #include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp" @@ -127,11 +115,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node std::shared_ptr planner_data_; -#ifdef USE_OLD_ARCHITECTURE - std::shared_ptr bt_manager_; -#else std::shared_ptr planner_manager_; -#endif std::unique_ptr steering_factor_interface_ptr_; Scenario::SharedPtr current_scenario_{nullptr}; @@ -160,10 +144,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node BehaviorPathPlannerParameters getCommonParam(); -#ifdef USE_OLD_ARCHITECTURE - BehaviorTreeManagerParam getBehaviorTreeManagerParam(); -#endif - AvoidanceParameters getAvoidanceParam(); DynamicAvoidanceParameters getDynamicAvoidanceParam(); LaneChangeParameters getLaneChangeParam(); @@ -196,15 +176,9 @@ class BehaviorPathPlannerNode : public rclcpp::Node /** * @brief extract path from behavior tree output */ -#ifdef USE_OLD_ARCHITECTURE - PathWithLaneId::SharedPtr getPath( - const BehaviorModuleOutput & bt_out, const std::shared_ptr & planner_data, - const std::shared_ptr & bt_manager); -#else PathWithLaneId::SharedPtr getPath( const BehaviorModuleOutput & bt_out, const std::shared_ptr & planner_data, const std::shared_ptr & planner_manager); -#endif bool keepInputPoints(const std::vector> & statuses) const; @@ -246,11 +220,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node /** * @brief publish path candidate */ -#ifdef USE_OLD_ARCHITECTURE - void publishPathCandidate( - const std::vector> & scene_modules, - const std::shared_ptr & planner_data); -#else void publishPathCandidate( const std::vector> & managers, const std::shared_ptr & planner_data); @@ -258,7 +227,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node void publishPathReference( const std::vector> & managers, const std::shared_ptr & planner_data); -#endif /** * @brief convert path with lane id to path for publish path candidate diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp deleted file mode 100644 index f179b90139705..0000000000000 --- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp +++ /dev/null @@ -1,90 +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 BEHAVIOR_PATH_PLANNER__BEHAVIOR_TREE_MANAGER_HPP_ -#define BEHAVIOR_PATH_PLANNER__BEHAVIOR_TREE_MANAGER_HPP_ - -#include "behavior_path_planner/data_manager.hpp" -#include "behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp" -#include "behavior_path_planner/scene_module/scene_module_visitor.hpp" - -#include -#include - -#include - -#include -#include -#include -#include - -#include -#include -#include - -namespace behavior_path_planner -{ -struct BehaviorTreeManagerParam -{ - std::string bt_tree_config_path; - int groot_zmq_publisher_port; - int groot_zmq_server_port; -}; - -class BehaviorTreeManager -{ -public: - BehaviorTreeManager(rclcpp::Node & node, const BehaviorTreeManagerParam & param); - void createBehaviorTree(); - void registerSceneModule(const std::shared_ptr & p); - - void resetBehaviorTree(); - - BehaviorModuleOutput run(const std::shared_ptr & data); - std::vector> getModulesStatus(); - std::shared_ptr getAllSceneModuleDebugMsgData(); - std::vector> getSceneModules() const - { - return scene_modules_; - } - - AvoidanceDebugMsgArray getAvoidanceDebugMsgArray(); - -private: - BehaviorTreeManagerParam bt_manager_param_; - std::shared_ptr current_planner_data_; - std::vector> scene_modules_; - std::vector> modules_status_; - rclcpp::Logger logger_; - rclcpp::Clock clock_; - std::shared_ptr scene_module_visitor_ptr_; - - BT::BehaviorTreeFactory bt_factory_; - BT::Tree bt_tree_; - BT::Blackboard::Ptr blackboard_; - - void resetNotRunningModulePathCandidate(); - - // For Groot monitoring - std::unique_ptr groot_monitor_; - - void addGrootMonitoring( - BT::Tree * tree, uint16_t publisher_port, uint16_t server_port, - uint16_t max_msg_per_second = 25); - - void resetGrootMonitor(); -}; -} // namespace behavior_path_planner - -#endif // BEHAVIOR_PATH_PLANNER__BEHAVIOR_TREE_MANAGER_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/module_status.hpp b/planning/behavior_path_planner/include/behavior_path_planner/module_status.hpp index cfb5209ff795c..f6a7a10b21db1 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/module_status.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/module_status.hpp @@ -15,16 +15,8 @@ #ifndef BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_ #define BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_ -#ifdef USE_OLD_ARCHITECTURE -#include -#endif - namespace behavior_path_planner { - -#ifdef USE_OLD_ARCHITECTURE -using ModuleStatus = BT::NodeStatus; -#else enum class ModuleStatus { IDLE = 0, RUNNING = 1, @@ -32,8 +24,6 @@ enum class ModuleStatus { FAILURE = 3, // SKIPPED = 4, }; -#endif - } // namespace behavior_path_planner #endif // BEHAVIOR_PATH_PLANNER__MODULE_STATUS_HPP_ 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 28357af3cda84..5751e1873a579 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 @@ -46,14 +46,9 @@ using tier4_planning_msgs::msg::AvoidanceDebugMsg; class AvoidanceModule : public SceneModuleInterface { public: -#ifdef USE_OLD_ARCHITECTURE - AvoidanceModule( - const std::string & name, rclcpp::Node & node, std::shared_ptr parameters); -#else AvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map > & rtc_interface_ptr_map); -#endif ModuleStatus updateState() override; ModuleStatus getNodeStatusWhileWaitingApproval() const override { return ModuleStatus::SUCCESS; } @@ -67,12 +62,10 @@ class AvoidanceModule : public SceneModuleInterface void updateData() override; void acceptVisitor(const std::shared_ptr & visitor) const override; -#ifndef USE_OLD_ARCHITECTURE void updateModuleParams(const std::shared_ptr & parameters) { parameters_ = parameters; } -#endif std::shared_ptr get_debug_msg_array() const; private: diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp index 4898188c71319..32735b72913fa 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp @@ -109,11 +109,6 @@ class DynamicAvoidanceModule : public SceneModuleInterface } }; -#ifdef USE_OLD_ARCHITECTURE - DynamicAvoidanceModule( - const std::string & name, rclcpp::Node & node, - std::shared_ptr parameters); -#else DynamicAvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, @@ -123,7 +118,6 @@ class DynamicAvoidanceModule : public SceneModuleInterface { parameters_ = parameters; } -#endif bool isExecutionRequested() const override; bool isExecutionReady() const override; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index da2665723ae90..1e4a1370ac867 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -87,11 +87,6 @@ struct PUllOverStatus class GoalPlannerModule : public SceneModuleInterface { public: -#ifdef USE_OLD_ARCHITECTURE - GoalPlannerModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters); -#else GoalPlannerModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, @@ -101,7 +96,6 @@ class GoalPlannerModule : public SceneModuleInterface { parameters_ = parameters; } -#endif BehaviorModuleOutput run() override; bool isExecutionRequested() const override; @@ -152,10 +146,7 @@ class GoalPlannerModule : public SceneModuleInterface tier4_autoware_utils::LinearRing2d vehicle_footprint_; -// save last time and pose -#ifdef USE_OLD_ARCHITECTURE - std::unique_ptr last_received_time_; -#endif + // save last time and pose std::unique_ptr last_approved_time_; std::unique_ptr last_increment_time_; std::unique_ptr last_path_update_time_; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp deleted file mode 100644 index d908dea155180..0000000000000 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp +++ /dev/null @@ -1,58 +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 BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_FOLLOWING__LANE_FOLLOWING_MODULE_HPP_ -#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_FOLLOWING__LANE_FOLLOWING_MODULE_HPP_ - -#include "behavior_path_planner/scene_module/scene_module_interface.hpp" -#include "behavior_path_planner/utils/lane_following/module_data.hpp" - -#include - -#include - -#include -#include -#include - -namespace behavior_path_planner -{ -using autoware_auto_planning_msgs::msg::PathWithLaneId; - -class LaneFollowingModule : public SceneModuleInterface -{ -public: - LaneFollowingModule(const std::string & name, rclcpp::Node & node); - - bool isExecutionRequested() const override; - bool isExecutionReady() const override; - BT::NodeStatus updateState() override; - BehaviorModuleOutput plan() override; - CandidateOutput planCandidate() const override; - void processOnEntry() override; - void processOnExit() override; - - void setParameters(const std::shared_ptr & parameters); - void acceptVisitor( - [[maybe_unused]] const std::shared_ptr & visitor) const override - { - } - -private: - BehaviorModuleOutput getReferencePath() const; - void initParam(); -}; -} // namespace behavior_path_planner - -#endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_FOLLOWING__LANE_FOLLOWING_MODULE_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp deleted file mode 100644 index e3578928782f3..0000000000000 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_bt_node_interface.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 BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SCENE_MODULE_BT_NODE_INTERFACE_HPP_ -#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SCENE_MODULE_BT_NODE_INTERFACE_HPP_ - -#include "behavior_path_planner/scene_module/scene_module_interface.hpp" - -#include - -#include -#include - -namespace behavior_path_planner -{ -struct SceneModuleStatus -{ - explicit SceneModuleStatus(const std::string & n) : module_name(n) {} - std::string module_name; // TODO(Horibe) should be const - bool is_requested{false}; - bool is_execution_ready{false}; - bool is_waiting_approval{false}; - BT::NodeStatus status{BT::NodeStatus::SUCCESS}; -}; - -class SceneModuleBTNodeInterface : public BT::CoroActionNode -{ -public: - SceneModuleBTNodeInterface( - const std::string & name, const BT::NodeConfiguration & config, - const std::shared_ptr & scene_module, - const std::shared_ptr & module_status); - -protected: - std::shared_ptr scene_module_; - std::shared_ptr module_status_; - -public: - BT::NodeStatus tick() override; - void halt() override; - static BT::PortsList providedPorts(); - - BT::NodeStatus planCandidate(BT::TreeNode & self); -}; - -BT::NodeStatus isExecutionRequested( - const std::shared_ptr p, - const std::shared_ptr & status); - -} // namespace behavior_path_planner - -#endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SCENE_MODULE_BT_NODE_INTERFACE_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp index 68db46e68b1d3..f068bff5e8caa 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp @@ -76,37 +76,11 @@ class SceneModuleInterface clock_{node.get_clock()}, is_waiting_approval_{false}, is_locked_new_module_launch_{false}, -#ifdef USE_OLD_ARCHITECTURE - current_state_{ModuleStatus::SUCCESS}, -#else current_state_{ModuleStatus::IDLE}, -#endif rtc_interface_ptr_map_(rtc_interface_ptr_map), steering_factor_interface_ptr_( std::make_unique(&node, utils::convertToSnakeCase(name))) { -#ifdef USE_OLD_ARCHITECTURE - { - const auto ns = std::string("~/debug/") + utils::convertToSnakeCase(name); - pub_debug_marker_ = node.create_publisher(ns, 20); - } - - { - const auto ns = std::string("~/info/") + utils::convertToSnakeCase(name); - pub_info_marker_ = node.create_publisher(ns, 20); - } - - { - const auto ns = std::string("~/virtual_wall/") + utils::convertToSnakeCase(name); - pub_virtual_wall_ = node.create_publisher(ns, 20); - } - - { - const auto ns = std::string("~/output/stop_reasons"); - pub_stop_reasons_ = node.create_publisher(ns, 20); - } -#endif - for (auto itr = rtc_interface_ptr_map_.begin(); itr != rtc_interface_ptr_map_.end(); ++itr) { uuid_map_.emplace(itr->first, generateUUID()); } @@ -185,10 +159,6 @@ class SceneModuleInterface */ virtual BehaviorModuleOutput run() { -#ifdef USE_OLD_ARCHITECTURE - current_state_ = ModuleStatus::RUNNING; -#endif - updateData(); if (!isWaitingApproval()) { @@ -212,11 +182,7 @@ class SceneModuleInterface { RCLCPP_DEBUG(getLogger(), "%s %s", name_.c_str(), __func__); -#ifdef USE_OLD_ARCHITECTURE - current_state_ = ModuleStatus::SUCCESS; -#else current_state_ = ModuleStatus::IDLE; -#endif stop_reason_ = StopReason(); @@ -314,61 +280,6 @@ class SceneModuleInterface */ virtual void setData(const std::shared_ptr & data) { planner_data_ = data; } -#ifdef USE_OLD_ARCHITECTURE - void publishInfoMarker() { pub_info_marker_->publish(info_marker_); } - - void publishDebugMarker() { pub_debug_marker_->publish(debug_marker_); } - - void publishStopReasons() - { - StopReasonArray stop_reason_array; - stop_reason_array.header.frame_id = "map"; - stop_reason_array.header.stamp = clock_->now(); - - const auto reason = getStopReason(); - if (reason.reason == "") { - return; - } - - stop_reason_array.stop_reasons.push_back(reason); - - pub_stop_reasons_->publish(stop_reason_array); - } - - void publishVirtualWall() - { - MarkerArray markers{}; - - const auto opt_stop_pose = getStopPose(); - if (!!opt_stop_pose) { - const auto virtual_wall = createStopVirtualWallMarker( - opt_stop_pose.get(), utils::convertToSnakeCase(name()), rclcpp::Clock().now(), 0); - appendMarkerArray(virtual_wall, &markers); - } - - const auto opt_slow_pose = getSlowPose(); - if (!!opt_slow_pose) { - const auto virtual_wall = createSlowDownVirtualWallMarker( - opt_slow_pose.get(), utils::convertToSnakeCase(name()), rclcpp::Clock().now(), 0); - appendMarkerArray(virtual_wall, &markers); - } - - const auto opt_dead_pose = getDeadPose(); - if (!!opt_dead_pose) { - const auto virtual_wall = createDeadLineVirtualWallMarker( - opt_dead_pose.get(), utils::convertToSnakeCase(name()), rclcpp::Clock().now(), 0); - appendMarkerArray(virtual_wall, &markers); - } - - const auto module_specific_wall = getModuleVirtualWall(); - appendMarkerArray(module_specific_wall, &markers); - - pub_virtual_wall_->publish(markers); - - resetWallPoses(); - } -#endif - bool isWaitingApproval() const { return is_waiting_approval_; } bool isLockedNewModuleLaunch() const { return is_locked_new_module_launch_; } @@ -459,13 +370,6 @@ class SceneModuleInterface rclcpp::Logger logger_; -#ifdef USE_OLD_ARCHITECTURE - rclcpp::Publisher::SharedPtr pub_info_marker_; - rclcpp::Publisher::SharedPtr pub_debug_marker_; - rclcpp::Publisher::SharedPtr pub_virtual_wall_; - rclcpp::Publisher::SharedPtr pub_stop_reasons_; -#endif - BehaviorModuleOutput previous_module_output_; protected: @@ -575,11 +479,7 @@ class SceneModuleInterface PlanResult path_candidate_; PlanResult path_reference_; -#ifdef USE_OLD_ARCHITECTURE - ModuleStatus current_state_{ModuleStatus::SUCCESS}; -#else ModuleStatus current_state_{ModuleStatus::IDLE}; -#endif StopReason stop_reason_; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp index 250ece8190e37..8118d05ef225d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp @@ -40,16 +40,10 @@ using tier4_planning_msgs::msg::LateralOffset; class SideShiftModule : public SceneModuleInterface { public: -#ifdef USE_OLD_ARCHITECTURE - SideShiftModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters); -#else SideShiftModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, const std::unordered_map > & rtc_interface_ptr_map); -#endif bool isExecutionRequested() const override; bool isExecutionReady() const override; @@ -81,10 +75,6 @@ class SideShiftModule : public SceneModuleInterface void initVariables(); -#ifdef USE_OLD_ARCHITECTURE - void onLateralOffset(const LateralOffset::ConstSharedPtr lateral_offset_msg); -#endif - // non-const methods BehaviorModuleOutput adjustDrivableArea(const ShiftedPath & path) const; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index a48c24b183111..6aa3ca9ac2239 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -66,11 +66,6 @@ struct PullOutStatus class StartPlannerModule : public SceneModuleInterface { public: -#ifdef USE_OLD_ARCHITECTURE - StartPlannerModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters); -#else StartPlannerModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, @@ -80,7 +75,6 @@ class StartPlannerModule : public SceneModuleInterface { parameters_ = parameters; } -#endif BehaviorModuleOutput run() override; @@ -156,11 +150,6 @@ class StartPlannerModule : public SceneModuleInterface bool hasFinishedCurrentPath(); void setDebugData() const; - -// temporary for old architecture -#ifdef USE_OLD_ARCHITECTURE - mutable bool is_executed_{false}; -#endif }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp index 568ecdc98c705..40c339e507683 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp @@ -32,10 +32,6 @@ class DefaultFixedGoalPlanner : public FixedGoalPlannerBase BehaviorModuleOutput plan(const std::shared_ptr & planner_data) const override; protected: -#ifdef USE_OLD_ARCHITECTURE - boost::optional getReferencePath( - const std::shared_ptr & planner_data) const; -#endif PathWithLaneId modifyPathForSmoothGoalConnection( const PathWithLaneId & path, const std::shared_ptr & planner_data) const; }; 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 4ed96ebe463ae..410c443b94ed9 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -137,66 +137,6 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod m_set_param_res = this->add_on_set_parameters_callback( std::bind(&BehaviorPathPlannerNode::onSetParam, this, std::placeholders::_1)); -#ifdef USE_OLD_ARCHITECTURE - // behavior tree manager - { - RCLCPP_INFO(get_logger(), "use behavior tree."); - - const std::string path_candidate_name_space = "/planning/path_candidate/"; - const std::lock_guard lock(mutex_manager_); // for bt_manager_ - - bt_manager_ = std::make_shared(*this, getBehaviorTreeManagerParam()); - - auto side_shift_module = - std::make_shared("SideShift", *this, side_shift_param_ptr_); - bt_manager_->registerSceneModule(side_shift_module); - - auto avoidance_module = - std::make_shared("Avoidance", *this, avoidance_param_ptr_); - path_candidate_publishers_.emplace( - "Avoidance", create_publisher(path_candidate_name_space + "avoidance", 1)); - bt_manager_->registerSceneModule(avoidance_module); - - auto lane_following_module = std::make_shared("LaneFollowing", *this); - bt_manager_->registerSceneModule(lane_following_module); - - auto ext_request_lane_change_right_module = - std::make_shared( - "ExternalRequestLaneChangeRight", *this, lane_change_param_ptr_); - path_candidate_publishers_.emplace( - "ExternalRequestLaneChangeRight", - create_publisher(path_candidate_name_space + "external_request_lane_change_right", 1)); - bt_manager_->registerSceneModule(ext_request_lane_change_right_module); - - auto ext_request_lane_change_left_module = - std::make_shared( - "ExternalRequestLaneChangeLeft", *this, lane_change_param_ptr_); - path_candidate_publishers_.emplace( - "ExternalRequestLaneChangeLeft", - create_publisher(path_candidate_name_space + "external_request_lane_change_left", 1)); - bt_manager_->registerSceneModule(ext_request_lane_change_left_module); - - auto lane_change_module = - std::make_shared("LaneChange", *this, lane_change_param_ptr_); - path_candidate_publishers_.emplace( - "LaneChange", create_publisher(path_candidate_name_space + "lane_change", 1)); - bt_manager_->registerSceneModule(lane_change_module); - - auto goal_planner = - std::make_shared("GoalPlanner", *this, goal_planner_param_ptr_); - path_candidate_publishers_.emplace( - "GoalPlanner", create_publisher(path_candidate_name_space + "goal_planner", 1)); - bt_manager_->registerSceneModule(goal_planner); - - auto start_planner_module = - std::make_shared("StartPlanner", *this, start_planner_param_ptr_); - path_candidate_publishers_.emplace( - "StartPlanner", create_publisher(path_candidate_name_space + "start_planner", 1)); - bt_manager_->registerSceneModule(start_planner_module); - - bt_manager_->createBehaviorTree(); - } -#else { RCLCPP_INFO(get_logger(), "not use behavior tree."); @@ -308,7 +248,6 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod planner_manager_->registerSceneModuleManager(manager); } } -#endif // turn signal decider { @@ -335,19 +274,11 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod std::vector BehaviorPathPlannerNode::getWaitingApprovalModules() { -#ifdef USE_OLD_ARCHITECTURE - auto registered_modules_ptr = bt_manager_->getSceneModules(); - std::vector waiting_approval_modules; - for (const auto & module : registered_modules_ptr) { - if (module->isWaitingApproval() == true) { - waiting_approval_modules.push_back(module->name()); -#else auto all_scene_module_ptr = planner_manager_->getSceneModuleStatus(); std::vector waiting_approval_modules; for (const auto & module : all_scene_module_ptr) { if (module->is_waiting_approval == true) { waiting_approval_modules.push_back(module->module_name); -#endif } } return waiting_approval_modules; @@ -1126,17 +1057,6 @@ StartPlannerParameters BehaviorPathPlannerNode::getStartPlannerParam() return p; } -#ifdef USE_OLD_ARCHITECTURE -BehaviorTreeManagerParam BehaviorPathPlannerNode::getBehaviorTreeManagerParam() -{ - BehaviorTreeManagerParam p{}; - p.bt_tree_config_path = declare_parameter("bt_tree_config_path"); - p.groot_zmq_publisher_port = declare_parameter("groot_zmq_publisher_port"); - p.groot_zmq_server_port = declare_parameter("groot_zmq_server_port"); - return p; -} -#endif - // wait until mandatory data is ready bool BehaviorPathPlannerNode::isDataReady() { @@ -1232,9 +1152,7 @@ void BehaviorPathPlannerNode::run() const bool is_first_time = !(planner_data_->route_handler->isHandlerReady()); if (route_ptr) { planner_data_->route_handler->setRoute(*route_ptr); -#ifndef USE_OLD_ARCHITECTURE planner_manager_->resetRootLanelet(planner_data_); -#endif // uuid is not changed when rerouting with modified goal, // in this case do not need to rest modules. @@ -1244,36 +1162,22 @@ void BehaviorPathPlannerNode::run() // so that the each modules do not have to care about the "route jump". if (!is_first_time && !has_same_route_id) { RCLCPP_DEBUG(get_logger(), "new route is received. reset behavior tree."); -#ifdef USE_OLD_ARCHITECTURE - bt_manager_->resetBehaviorTree(); -#else planner_manager_->reset(); -#endif } } -#ifndef USE_OLD_ARCHITECTURE const auto controlled_by_autoware_autonomously = planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS && planner_data_->operation_mode->is_autoware_control_enabled; if (!controlled_by_autoware_autonomously) { planner_manager_->resetRootLanelet(planner_data_); } -#endif // run behavior planner -#ifdef USE_OLD_ARCHITECTURE - const auto output = bt_manager_->run(planner_data_); -#else const auto output = planner_manager_->run(planner_data_); -#endif // path handling -#ifdef USE_OLD_ARCHITECTURE - const auto path = getPath(output, planner_data_, bt_manager_); -#else const auto path = getPath(output, planner_data_, planner_manager_); -#endif // update planner data planner_data_->prev_output_path = path; @@ -1305,19 +1209,10 @@ void BehaviorPathPlannerNode::run() get_logger(), *get_clock(), 5000, "behavior path output is empty! Stop publish."); } -#ifdef USE_OLD_ARCHITECTURE - publishPathCandidate(bt_manager_->getSceneModules(), planner_data_); - publishSceneModuleDebugMsg(bt_manager_->getAllSceneModuleDebugMsgData()); -#else publishSceneModuleDebugMsg(planner_manager_->getDebugMsg()); publishPathCandidate(planner_manager_->getSceneModuleManagers(), planner_data_); publishPathReference(planner_manager_->getSceneModuleManagers(), planner_data_); stop_reason_publisher_->publish(planner_manager_->getStopReasons()); -#endif - -#ifdef USE_OLD_ARCHITECTURE - lk_manager.unlock(); // release bt_manager_ -#endif if (output.modified_goal) { PoseWithUuidStamped modified_goal = *(output.modified_goal); @@ -1336,12 +1231,10 @@ void BehaviorPathPlannerNode::run() lk_pd.unlock(); // release planner_data_ -#ifndef USE_OLD_ARCHITECTURE planner_manager_->print(); planner_manager_->publishMarker(); planner_manager_->publishVirtualWall(); lk_manager.unlock(); // release planner_manager_ -#endif RCLCPP_DEBUG(get_logger(), "----- behavior path planner end -----\n\n"); } @@ -1518,20 +1411,6 @@ void BehaviorPathPlannerNode::publishSceneModuleDebugMsg( } } -#ifdef USE_OLD_ARCHITECTURE -void BehaviorPathPlannerNode::publishPathCandidate( - const std::vector> & scene_modules, - const std::shared_ptr & planner_data) -{ - for (auto & module : scene_modules) { - if (path_candidate_publishers_.count(module->name()) != 0) { - path_candidate_publishers_.at(module->name()) - ->publish( - convertToPath(module->getPathCandidate(), module->isExecutionReady(), planner_data)); - } - } -} -#else void BehaviorPathPlannerNode::publishPathCandidate( const std::vector> & managers, const std::shared_ptr & planner_data) @@ -1583,7 +1462,6 @@ void BehaviorPathPlannerNode::publishPathReference( } } } -#endif Path BehaviorPathPlannerNode::convertToPath( const std::shared_ptr & path_candidate_ptr, const bool is_ready, @@ -1611,15 +1489,9 @@ Path BehaviorPathPlannerNode::convertToPath( return output; } -#ifdef USE_OLD_ARCHITECTURE -PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath( - const BehaviorModuleOutput & bt_output, const std::shared_ptr & planner_data, - const std::shared_ptr & bt_manager) -#else PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath( const BehaviorModuleOutput & bt_output, const std::shared_ptr & planner_data, const std::shared_ptr & planner_manager) -#endif { // TODO(Horibe) do some error handling when path is not available. @@ -1630,11 +1502,7 @@ PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath( get_logger(), "BehaviorTreeManager: output is %s.", bt_output.path ? "FOUND" : "NOT FOUND"); PathWithLaneId connected_path; -#ifdef USE_OLD_ARCHITECTURE - const auto module_status_ptr_vec = bt_manager->getModulesStatus(); -#else const auto module_status_ptr_vec = planner_manager->getSceneModuleStatus(); -#endif const auto resampled_path = utils::resamplePathWithSpline( *path, planner_data->parameters.output_path_interval, keepInputPoints(module_status_ptr_vec)); @@ -1645,11 +1513,7 @@ PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath( bool BehaviorPathPlannerNode::keepInputPoints( const std::vector> & statuses) const { -#ifdef USE_OLD_ARCHITECTURE - const std::vector target_modules = {"GoalPlanner", "Avoidance"}; -#else const std::vector target_modules = {"goal_planner", "avoidance"}; -#endif const auto target_status = ModuleStatus::RUNNING; @@ -1745,12 +1609,10 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam( return result; } -#ifndef USE_OLD_ARCHITECTURE { const std::lock_guard lock(mutex_manager_); // for planner_manager_ planner_manager_->updateModuleParams(parameters); } -#endif result.successful = true; result.reason = "success"; diff --git a/planning/behavior_path_planner/src/behavior_tree_manager.cpp b/planning/behavior_path_planner/src/behavior_tree_manager.cpp deleted file mode 100644 index 2e8627b745db8..0000000000000 --- a/planning/behavior_path_planner/src/behavior_tree_manager.cpp +++ /dev/null @@ -1,175 +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 "behavior_path_planner/behavior_tree_manager.hpp" - -#include "behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp" -#include "behavior_path_planner/scene_module/scene_module_interface.hpp" -#include "behavior_path_planner/scene_module/scene_module_visitor.hpp" -#include "behavior_path_planner/utils/utils.hpp" - -#include -#include -#include -#include -#include - -namespace behavior_path_planner -{ -BehaviorTreeManager::BehaviorTreeManager( - rclcpp::Node & node, const BehaviorTreeManagerParam & param) -: bt_manager_param_(param), - logger_(node.get_logger().get_child("behavior_tree_manager")), - clock_(*node.get_clock()) -{ -} - -void BehaviorTreeManager::createBehaviorTree() -{ - blackboard_ = BT::Blackboard::create(); - try { - bt_tree_ = bt_factory_.createTreeFromFile(bt_manager_param_.bt_tree_config_path, blackboard_); - } catch (...) { - RCLCPP_ERROR( - logger_, "Failed to create BT from: %s", bt_manager_param_.bt_tree_config_path.c_str()); - exit(EXIT_FAILURE); - } - addGrootMonitoring( - &bt_tree_, bt_manager_param_.groot_zmq_publisher_port, bt_manager_param_.groot_zmq_server_port); -} - -void BehaviorTreeManager::registerSceneModule(const std::shared_ptr & module) -{ - const std::string & name = module->name(); - const auto status = std::make_shared(name); - - // simple condition node for "isRequested" - bt_factory_.registerSimpleCondition(name + "_Request", [module, status](BT::TreeNode &) { - return isExecutionRequested(module, status); - }); - - // simple action node for "planCandidate" - auto bt_node = - std::make_shared("", BT::NodeConfiguration{}, module, status); - bt_factory_.registerSimpleAction( - name + "_PlanCandidate", - [bt_node](BT::TreeNode & tree_node) { return bt_node->planCandidate(tree_node); }, - SceneModuleBTNodeInterface::providedPorts()); - - // register builder with default tick functor for "plan" - auto builder = [module, status]( - const std::string & _name, const BT::NodeConfiguration & _config) { - return std::make_unique(_name, _config, module, status); - }; - bt_factory_.registerBuilder(name + "_Plan", builder); - - scene_modules_.push_back(module); - modules_status_.push_back(status); -} - -BehaviorModuleOutput BehaviorTreeManager::run(const std::shared_ptr & data) -{ - current_planner_data_ = data; - - // set planner_data & reset status - std::for_each( - scene_modules_.begin(), scene_modules_.end(), [&data](const auto & m) { m->setData(data); }); - std::for_each(modules_status_.begin(), modules_status_.end(), [](const auto & s) { - *s = SceneModuleStatus{s->module_name}; - }); - - const bool is_any_module_running = std::any_of( - scene_modules_.begin(), scene_modules_.end(), - [](const auto & module) { return module->getCurrentStatus() == BT::NodeStatus::RUNNING; }); - - if ( - !is_any_module_running && - utils::isEgoOutOfRoute( - data->self_odometry->pose.pose, data->prev_modified_goal, data->route_handler)) { - BehaviorModuleOutput output = utils::createGoalAroundPath(data); - return output; - } - - // reset blackboard - blackboard_->set("output", BehaviorModuleOutput{}); - - const auto res = bt_tree_.tickRoot(); - - const auto output = blackboard_->get("output"); - - RCLCPP_DEBUG(logger_, "BehaviorPathPlanner::run end status = %s", BT::toStr(res).c_str()); - - resetNotRunningModulePathCandidate(); - - std::for_each(scene_modules_.begin(), scene_modules_.end(), [](const auto & m) { - m->publishInfoMarker(); - m->publishDebugMarker(); - m->publishStopReasons(); - m->publishVirtualWall(); - if (!m->isExecutionRequested()) { - m->onExit(); - } - m->publishRTCStatus(); - m->publishSteeringFactor(); - }); - return output; -} - -std::vector> -BehaviorTreeManager::getModulesStatus() -{ - return modules_status_; -} - -void BehaviorTreeManager::resetNotRunningModulePathCandidate() -{ - const bool is_any_module_running = std::any_of( - scene_modules_.begin(), scene_modules_.end(), - [](const auto & module) { return module->getCurrentStatus() == BT::NodeStatus::RUNNING; }); - - for (auto & module : scene_modules_) { - if (is_any_module_running && (module->getCurrentStatus() != BT::NodeStatus::RUNNING)) { - module->resetPathCandidate(); - } - } -} - -void BehaviorTreeManager::resetBehaviorTree() -{ - bt_tree_.haltTree(); -} - -void BehaviorTreeManager::addGrootMonitoring( - BT::Tree * tree, uint16_t publisher_port, uint16_t server_port, uint16_t max_msg_per_second) -{ - groot_monitor_ = - std::make_unique(*tree, max_msg_per_second, publisher_port, server_port); -} - -void BehaviorTreeManager::resetGrootMonitor() -{ - if (groot_monitor_) { - groot_monitor_.reset(); - } -} - -std::shared_ptr BehaviorTreeManager::getAllSceneModuleDebugMsgData() -{ - scene_module_visitor_ptr_ = std::make_shared(); - for (const auto & module : scene_modules_) { - module->acceptVisitor(scene_module_visitor_ptr_); - } - return scene_module_visitor_ptr_; -} -} // namespace behavior_path_planner 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 91f1c23c3008d..587afb1fdee57 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 @@ -96,20 +96,12 @@ bool isDrivingSameLane( } } // namespace -#ifdef USE_OLD_ARCHITECTURE -AvoidanceModule::AvoidanceModule( - const std::string & name, rclcpp::Node & node, std::shared_ptr parameters) -: SceneModuleInterface{name, node, createRTCInterfaceMap(node, name, {"left", "right"})}, - parameters_{parameters}, - helper_{parameters} -#else AvoidanceModule::AvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map) : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters}, helper_{parameters} -#endif { } @@ -122,26 +114,11 @@ bool AvoidanceModule::isExecutionRequested() const } // Check ego is in preferred lane -#ifdef USE_OLD_ARCHITECTURE - const auto avoid_data = calcAvoidancePlanningData(debug_data_); - - const auto current_lanes = utils::getCurrentLanes(planner_data_); - lanelet::ConstLanelet current_lane; - lanelet::utils::query::getClosestLanelet( - current_lanes, planner_data_->self_odometry->pose.pose, ¤t_lane); - const auto num = planner_data_->route_handler->getNumLaneToPreferredLane(current_lane); - - if (num != 0) { - return false; - } -#else const auto avoid_data = avoidance_data_; -#endif updateInfoMarker(avoid_data); updateDebugMarker(avoid_data, path_shifter_, debug_data_); -#ifndef USE_OLD_ARCHITECTURE // there is object that should be avoid. return true. if (!!avoid_data.stop_target_object) { return true; @@ -150,7 +127,6 @@ bool AvoidanceModule::isExecutionRequested() const if (avoid_data.unapproved_new_sl.empty()) { return false; } -#endif return !avoid_data.target_objects.empty(); } @@ -201,14 +177,10 @@ ModuleStatus AvoidanceModule::updateState() helper_.setPreviousDrivingLanes(data.current_lanelets); -#ifdef USE_OLD_ARCHITECTURE - return ModuleStatus::RUNNING; -#else if (is_plan_running || current_state_ == ModuleStatus::RUNNING) { return ModuleStatus::RUNNING; } return ModuleStatus::IDLE; -#endif } bool AvoidanceModule::isAvoidancePlanRunning() const @@ -253,14 +225,9 @@ AvoidancePlanningData AvoidanceModule::calcAvoidancePlanningData(DebugData & deb }(); // center line path (output of this function must have size > 1) -#ifdef USE_OLD_ARCHITECTURE - const auto center_path = - utils::calcCenterLinePath(planner_data_, reference_pose, longest_dist_to_shift_line); -#else const auto center_path = utils::calcCenterLinePath( planner_data_, reference_pose, longest_dist_to_shift_line, *getPreviousModuleOutput().reference_path); -#endif debug.center_line = center_path; if (center_path.points.size() < 2) { @@ -270,11 +237,7 @@ AvoidancePlanningData AvoidanceModule::calcAvoidancePlanningData(DebugData & deb } // reference path -#ifdef USE_OLD_ARCHITECTURE - data.reference_path_rough = center_path; -#else data.reference_path_rough = extendBackwardLength(*getPreviousModuleOutput().path); -#endif data.reference_path = utils::resamplePathWithSpline( data.reference_path_rough, parameters_->resample_interval_for_planning); @@ -295,14 +258,8 @@ AvoidancePlanningData AvoidanceModule::calcAvoidancePlanningData(DebugData & deb calcSignedArcLength(data.reference_path.points, getEgoPosition(), 0)); // lanelet info -#ifdef USE_OLD_ARCHITECTURE - data.current_lanelets = utils::calcLaneAroundPose( - planner_data_->route_handler, reference_pose, planner_data_->parameters.forward_path_length, - planner_data_->parameters.backward_path_length); -#else data.current_lanelets = utils::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); -#endif // keep avoidance state data.state = avoidance_data_.state; @@ -2676,11 +2633,9 @@ BehaviorModuleOutput AvoidanceModule::planWaitingApproval() // we can execute the plan() since it handles the approval appropriately. BehaviorModuleOutput out = plan(); -#ifndef USE_OLD_ARCHITECTURE if (path_shifter_.getShiftLines().empty()) { out.turn_signal_info = getPreviousModuleOutput().turn_signal_info; } -#endif const auto all_unavoidable = std::all_of( data.target_objects.begin(), data.target_objects.end(), @@ -2932,7 +2887,6 @@ void AvoidanceModule::updateData() helper_.setData(planner_data_); -#ifndef USE_OLD_ARCHITECTURE if (!helper_.isInitialized()) { helper_.setPreviousSplineShiftPath(toShiftedPath(*getPreviousModuleOutput().path)); helper_.setPreviousLinearShiftPath(toShiftedPath(*getPreviousModuleOutput().path)); @@ -2940,7 +2894,6 @@ void AvoidanceModule::updateData() helper_.setPreviousDrivingLanes( utils::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_)); } -#endif debug_data_ = DebugData(); avoidance_data_ = calcAvoidancePlanningData(debug_data_); @@ -2959,15 +2912,6 @@ void AvoidanceModule::updateData() // update registered shift point for new reference path & remove past objects updateRegisteredRawShiftLines(); -#ifdef USE_OLD_ARCHITECTURE - if (!helper_.isInitialized()) { - helper_.setPreviousSplineShiftPath(toShiftedPath(avoidance_data_.reference_path)); - helper_.setPreviousLinearShiftPath(toShiftedPath(avoidance_data_.reference_path)); - helper_.setPreviousReferencePath(avoidance_data_.reference_path); - helper_.setPreviousDrivingLanes(avoidance_data_.current_lanelets); - } -#endif - fillShiftLine(avoidance_data_, debug_data_); fillEgoStatus(avoidance_data_, debug_data_); fillDebugData(avoidance_data_, debug_data_); diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index a8a7f89c54021..262fbb55301ba 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -145,19 +145,11 @@ std::pair projectObstacleVelocityToTrajectory( } } // namespace -#ifdef USE_OLD_ARCHITECTURE -DynamicAvoidanceModule::DynamicAvoidanceModule( - const std::string & name, rclcpp::Node & node, - std::shared_ptr parameters) -: SceneModuleInterface{name, node, createRTCInterfaceMap(node, name, {""})}, - parameters_{std::move(parameters)} -#else DynamicAvoidanceModule::DynamicAvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map) : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{std::move(parameters)} -#endif { } @@ -216,12 +208,6 @@ ModuleStatus DynamicAvoidanceModule::updateState() return ModuleStatus::SUCCESS; } -#ifndef USE_OLD_ARCHITECTURE - if (!isActivated() || isWaitingApproval()) { - return ModuleStatus::IDLE; - } -#endif - return ModuleStatus::RUNNING; } diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 09eeb0697c698..c7725b0ccf0f0 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -47,20 +47,12 @@ using tier4_autoware_utils::inverseTransformPose; namespace behavior_path_planner { -#ifdef USE_OLD_ARCHITECTURE -GoalPlannerModule::GoalPlannerModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters) -: SceneModuleInterface{name, node, createRTCInterfaceMap(node, name, {""})}, parameters_{parameters} -{ -#else GoalPlannerModule::GoalPlannerModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, const std::unordered_map > & rtc_interface_ptr_map) : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters} { -#endif LaneDepartureChecker lane_departure_checker{}; lane_departure_checker.setVehicleInfo(vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo()); @@ -232,11 +224,9 @@ BehaviorModuleOutput GoalPlannerModule::run() current_state_ = ModuleStatus::RUNNING; updateOccupancyGrid(); -#ifndef USE_OLD_ARCHITECTURE if (!isActivated()) { return planWaitingApproval(); } -#endif return plan(); } @@ -490,22 +480,12 @@ void GoalPlannerModule::generateGoalCandidates() { const auto & route_handler = planner_data_->route_handler; -// with old architecture, module instance is not cleared when new route is received -// so need to reset status here. -#ifdef USE_OLD_ARCHITECTURE - // initialize when receiving new route - if (!last_received_time_ || *last_received_time_ != route_handler->getRouteHeader().stamp) { - // this process causes twice reset when receiving first route. - resetStatus(); - } - last_received_time_ = std::make_unique(route_handler->getRouteHeader().stamp); - -#else + // with old architecture, module instance is not cleared when new route is received + // so need to reset status here. // todo: move this check out of this function after old architecture is removed if (!goal_candidates_.empty()) { return; } -#endif // calculate goal candidates const Pose goal_pose = route_handler->getGoalPose(); diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index 26051c4d78f3e..ab2c87c7e1ff9 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -82,22 +82,14 @@ ModuleStatus LaneChangeInterface::updateState() } if (!module_type_->isValidPath()) { -#ifdef USE_OLD_ARCHITECTURE - return ModuleStatus::FAILURE; -#else return ModuleStatus::RUNNING; -#endif } if (module_type_->isAbortState()) { -#ifdef USE_OLD_ARCHITECTURE - return module_type_->hasFinishedAbort() ? ModuleStatus::FAILURE : ModuleStatus::RUNNING; -#else if (module_type_->hasFinishedAbort()) { resetLaneChangeModule(); } return ModuleStatus::RUNNING; -#endif } if (module_type_->hasFinishedLaneChange()) { @@ -153,14 +145,10 @@ ModuleStatus LaneChangeInterface::updateState() getLogger().get_child(module_type_->getModuleTypeStr()), *clock_, 5000, "Lane change path is unsafe. Cancel lane change."); module_type_->toCancelState(); -#ifdef USE_OLD_ARCHITECTURE - return isWaitingApproval() ? ModuleStatus::RUNNING : ModuleStatus::FAILURE; -#else if (!isWaitingApproval()) { resetLaneChangeModule(); } return ModuleStatus::RUNNING; -#endif } if (!module_type_->isAbortEnabled()) { 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 deleted file mode 100644 index 2c0985251b845..0000000000000 --- a/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp +++ /dev/null @@ -1,94 +0,0 @@ -// Copyright 2021-2023 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 "behavior_path_planner/scene_module/lane_following/lane_following_module.hpp" - -#include "behavior_path_planner/utils/path_utils.hpp" -#include "behavior_path_planner/utils/utils.hpp" - -#include - -#include -#include - -namespace behavior_path_planner -{ -LaneFollowingModule::LaneFollowingModule(const std::string & name, rclcpp::Node & node) -// RTCInterface is temporarily registered, but not used. -: SceneModuleInterface{name, node, {}} -{ - initParam(); -} - -void LaneFollowingModule::initParam() -{ - clearWaitingApproval(); // no need approval -} - -bool LaneFollowingModule::isExecutionRequested() const -{ - return true; -} - -bool LaneFollowingModule::isExecutionReady() const -{ - return true; -} - -BT::NodeStatus LaneFollowingModule::updateState() -{ - return BT::NodeStatus::SUCCESS; -} - -BehaviorModuleOutput LaneFollowingModule::plan() -{ - return getReferencePath(); -} -CandidateOutput LaneFollowingModule::planCandidate() const -{ - const auto path = getReferencePath().path; - if (!path) { - return {}; - } - return CandidateOutput(*path); -} -void LaneFollowingModule::processOnEntry() -{ - initParam(); - current_state_ = BT::NodeStatus::RUNNING; -} -void LaneFollowingModule::processOnExit() -{ - initParam(); - current_state_ = BT::NodeStatus::SUCCESS; -} - -BehaviorModuleOutput LaneFollowingModule::getReferencePath() const -{ - const auto & route_handler = planner_data_->route_handler; - const auto current_pose = planner_data_->self_odometry->pose.pose; - const double dist_threshold = planner_data_->parameters.ego_nearest_dist_threshold; - const double yaw_threshold = planner_data_->parameters.ego_nearest_yaw_threshold; - - lanelet::ConstLanelet current_lane; - if (!route_handler->getClosestLaneletWithConstrainsWithinRoute( - current_pose, ¤t_lane, dist_threshold, yaw_threshold)) { - RCLCPP_ERROR_THROTTLE( - getLogger(), *clock_, 5000, "failed to find closest lanelet within route!!!"); - return {}; // TODO(Horibe) - } - - return utils::getReferencePath(current_lane, planner_data_); -} -} // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/scene_module/scene_module_bt_node_interface.cpp b/planning/behavior_path_planner/src/scene_module/scene_module_bt_node_interface.cpp deleted file mode 100644 index 855e099c1ce21..0000000000000 --- a/planning/behavior_path_planner/src/scene_module/scene_module_bt_node_interface.cpp +++ /dev/null @@ -1,138 +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 "behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp" - -#include -#include - -namespace behavior_path_planner -{ -BT::NodeStatus isExecutionRequested( - const std::shared_ptr p, - const std::shared_ptr & status) -{ - const auto ret = p->isExecutionRequested(); - status->is_requested = ret; - RCLCPP_DEBUG_STREAM(p->getLogger(), "name = " << p->name() << ", result = " << ret); - return ret ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE; -} - -SceneModuleBTNodeInterface::SceneModuleBTNodeInterface( - const std::string & name, const BT::NodeConfiguration & config, - const std::shared_ptr & scene_module, - const std::shared_ptr & module_status) -: BT::CoroActionNode(name, config), scene_module_(scene_module), module_status_(module_status) -{ -} - -BT::NodeStatus SceneModuleBTNodeInterface::tick() -{ - RCLCPP_DEBUG_STREAM( - scene_module_->getLogger(), "bt::tick is called. module name: " << scene_module_->name()); - auto current_status = BT::NodeStatus::RUNNING; - - scene_module_->onEntry(); - module_status_->is_waiting_approval = scene_module_->isWaitingApproval(); - module_status_->is_execution_ready = scene_module_->isExecutionReady(); - - const bool is_lane_following = scene_module_->name() == "LaneFollowing"; - - const bool is_waiting_approval = !scene_module_->isActivated(); - if (is_waiting_approval && !is_lane_following) { - scene_module_->lockRTCCommand(); - try { - // NOTE: Since BehaviorTreeCpp has an issue to shadow the exception reason thrown - // in the TreeNode, catch and display it here until the issue is fixed. - scene_module_->updateData(); - auto res = setOutput("output", scene_module_->planWaitingApproval()); - if (!res) { - RCLCPP_ERROR_STREAM(scene_module_->getLogger(), "setOutput() failed : " << res.error()); - } - module_status_->is_waiting_approval = scene_module_->isWaitingApproval(); - module_status_->is_execution_ready = scene_module_->isExecutionReady(); - } catch (const std::exception & e) { - RCLCPP_ERROR_STREAM( - scene_module_->getLogger(), "behavior module has failed with exception: " << e.what()); - // std::exit(EXIT_FAILURE); // TODO(Horibe) do appropriate handing - } - scene_module_->unlockRTCCommand(); - return scene_module_->getNodeStatusWhileWaitingApproval(); - } - - while (rclcpp::ok()) { - // NOTE: Since BehaviorTreeCpp has an issue to shadow the exception reason thrown - // in the TreeNode, catch and display it here until the issue is fixed. - scene_module_->lockRTCCommand(); - try { - auto res = setOutput("output", scene_module_->run()); - if (!res) { - RCLCPP_ERROR_STREAM(scene_module_->getLogger(), "setOutput() failed : " << res.error()); - } - - scene_module_->updateCurrentState(); - current_status = scene_module_->getCurrentStatus(); - - // for data output - module_status_->status = current_status; - module_status_->is_waiting_approval = scene_module_->isWaitingApproval(); - module_status_->is_execution_ready = scene_module_->isExecutionReady(); - } catch (const std::exception & e) { - RCLCPP_ERROR_STREAM( - scene_module_->getLogger(), "behavior module has failed with exception: " << e.what()); - // std::exit(EXIT_FAILURE); // TODO(Horibe) do appropriate handing - } - - RCLCPP_DEBUG_STREAM( - scene_module_->getLogger(), "on tick: current status = " << BT::toStr(current_status)); - if (current_status != BT::NodeStatus::RUNNING) { - RCLCPP_DEBUG(scene_module_->getLogger(), "on tick: module ended."); - break; - } - - scene_module_->unlockRTCCommand(); - setStatusRunningAndYield(); - } - - scene_module_->onExit(); - RCLCPP_DEBUG_STREAM( - scene_module_->getLogger(), "on tick: return current status = " << BT::toStr(current_status)); - - return current_status; -} - -void SceneModuleBTNodeInterface::halt() -{ - scene_module_->onExit(); - BT::CoroActionNode::halt(); -} - -BT::NodeStatus SceneModuleBTNodeInterface::planCandidate(BT::TreeNode & self) -{ - RCLCPP_DEBUG_STREAM( - scene_module_->getLogger(), "bt::planCandidate module name: " << scene_module_->name()); - auto res = self.setOutput("output", scene_module_->planWaitingApproval()); - if (!res) { - RCLCPP_ERROR_STREAM(scene_module_->getLogger(), "setOutput() failed : " << res.error()); - } - - return BT::NodeStatus::SUCCESS; -} - -BT::PortsList SceneModuleBTNodeInterface::providedPorts() -{ - return {BT::OutputPort("output", "desc")}; -} - -} // namespace behavior_path_planner 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 fe2a03460b013..d235cd1866181 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 @@ -35,23 +35,12 @@ using tier4_autoware_utils::calcDistance2d; using tier4_autoware_utils::calcOffsetPose; using tier4_autoware_utils::getPoint; -#ifdef USE_OLD_ARCHITECTURE -SideShiftModule::SideShiftModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters) -: SceneModuleInterface{name, node, {}}, parameters_{parameters} -{ - using std::placeholders::_1; - lateral_offset_subscriber_ = node.create_subscription( - "~/input/lateral_offset", 1, std::bind(&SideShiftModule::onLateralOffset, this, _1)); -#else SideShiftModule::SideShiftModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, const std::unordered_map > & rtc_interface_ptr_map) : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters} { -#endif // If lateral offset is subscribed, it approves side shift module automatically clearWaitingApproval(); } @@ -186,7 +175,6 @@ ModuleStatus SideShiftModule::updateState() void SideShiftModule::updateData() { -#ifndef USE_OLD_ARCHITECTURE if ( planner_data_->lateral_offset != nullptr && planner_data_->lateral_offset->stamp != latest_lateral_offset_stamp_) { @@ -196,7 +184,6 @@ void SideShiftModule::updateData() latest_lateral_offset_stamp_ = planner_data_->lateral_offset->stamp; } } -#endif if (current_state_ != ModuleStatus::RUNNING) { return; @@ -214,10 +201,6 @@ void SideShiftModule::updateData() const auto reference_pose = prev_output_.shift_length.empty() ? planner_data_->self_odometry->pose.pose : utils::getUnshiftedEgoPose(getEgoPose(), prev_output_); -#ifdef USE_OLD_ARCHITECTURE - const auto centerline_path = - utils::calcCenterLinePath(planner_data_, reference_pose, longest_dist_to_shift_line); -#else if (prev_reference_.points.empty()) { prev_reference_ = *getPreviousModuleOutput().path; } @@ -227,15 +210,10 @@ void SideShiftModule::updateData() const auto centerline_path = utils::calcCenterLinePath( planner_data_, reference_pose, longest_dist_to_shift_line, *getPreviousModuleOutput().reference_path); -#endif constexpr double resample_interval = 1.0; -#ifdef USE_OLD_ARCHITECTURE - reference_path_ = utils::resamplePathWithSpline(centerline_path, resample_interval); -#else const auto backward_extened_path = extendBackwardLength(*getPreviousModuleOutput().path); reference_path_ = utils::resamplePathWithSpline(backward_extened_path, resample_interval); -#endif path_shifter_.setPath(reference_path_); @@ -359,32 +337,6 @@ BehaviorModuleOutput SideShiftModule::planWaitingApproval() return output; } -#ifdef USE_OLD_ARCHITECTURE -void SideShiftModule::onLateralOffset(const LateralOffset::ConstSharedPtr lateral_offset_msg) -{ - const double new_lateral_offset = lateral_offset_msg->lateral_offset; - - RCLCPP_DEBUG( - getLogger(), "onLateralOffset start : lateral offset current = %f, new = &%f", - requested_lateral_offset_, new_lateral_offset); - - // offset is not changed. - if (std::abs(inserted_lateral_offset_ - new_lateral_offset) < 1e-4) { - return; - } - - if (parameters_->shift_request_time_limit < parameters_->time_to_start_shifting) { - RCLCPP_DEBUG( - getLogger(), "Shift request time might be too low. Generated trajectory might be wavy"); - } - // new offset is requested. - if (isReadyForNextRequest(parameters_->shift_request_time_limit)) { - lateral_offset_change_request_ = true; - requested_lateral_offset_ = new_lateral_offset; - } -} -#endif - ShiftLine SideShiftModule::calcShiftLine() const { const auto & p = parameters_; diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index b2cf74893666b..533076be8012a 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -36,30 +36,6 @@ using tier4_autoware_utils::inverseTransformPoint; namespace behavior_path_planner { -#ifdef USE_OLD_ARCHITECTURE -StartPlannerModule::StartPlannerModule( - const std::string & name, rclcpp::Node & node, - const std::shared_ptr & parameters) -: SceneModuleInterface{name, node, createRTCInterfaceMap(node, name, {""})}, - parameters_{parameters}, - vehicle_info_{vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo()} -{ - lane_departure_checker_ = std::make_shared(); - lane_departure_checker_->setVehicleInfo(vehicle_info_); - - // set enabled planner - if (parameters_->enable_shift_pull_out) { - start_planner_planners_.push_back( - std::make_shared(node, *parameters, lane_departure_checker_)); - } - if (parameters_->enable_geometric_pull_out) { - start_planner_planners_.push_back(std::make_shared(node, *parameters)); - } - if (start_planner_planners_.empty()) { - RCLCPP_ERROR(getLogger(), "Not found enabled planner"); - } -} -#else StartPlannerModule::StartPlannerModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, @@ -83,19 +59,12 @@ StartPlannerModule::StartPlannerModule( RCLCPP_ERROR(getLogger(), "Not found enabled planner"); } } -#endif BehaviorModuleOutput StartPlannerModule::run() { -#ifdef USE_OLD_ARCHITECTURE - current_state_ = ModuleStatus::RUNNING; -#endif - -#ifndef USE_OLD_ARCHITECTURE if (!isActivated()) { return planWaitingApproval(); } -#endif return plan(); } @@ -115,9 +84,6 @@ bool StartPlannerModule::isExecutionRequested() const if ( tier4_autoware_utils::calcDistance2d(goal_pose.position, current_pose.position) < parameters_->th_arrived_distance) { -#ifdef USE_OLD_ARCHITECTURE - is_executed_ = false; -#endif return false; } @@ -125,29 +91,17 @@ bool StartPlannerModule::isExecutionRequested() const !planner_data_->prev_route_id || *planner_data_->prev_route_id != planner_data_->route_handler->getRouteUuid(); -#ifdef USE_OLD_ARCHITECTURE - if (is_executed_) { - return true; - } -#endif - if (current_state_ == ModuleStatus::RUNNING) { return true; } if (!has_received_new_route_) { -#ifdef USE_OLD_ARCHITECTURE - is_executed_ = false; -#endif return false; } const bool is_stopped = utils::l2Norm(planner_data_->self_odometry->twist.twist.linear) < parameters_->th_stopped_velocity; if (!is_stopped) { -#ifdef USE_OLD_ARCHITECTURE - is_executed_ = false; -#endif return false; } @@ -163,15 +117,9 @@ bool StartPlannerModule::isExecutionRequested() const auto lanes = current_lanes; lanes.insert(lanes.end(), pull_out_lanes.begin(), pull_out_lanes.end()); if (LaneDepartureChecker::isOutOfLane(lanes, vehicle_footprint)) { -#ifdef USE_OLD_ARCHITECTURE - is_executed_ = false; -#endif return false; } -#ifdef USE_OLD_ARCHITECTURE - is_executed_ = true; -#endif return true; } @@ -184,17 +132,11 @@ ModuleStatus StartPlannerModule::updateState() { RCLCPP_DEBUG(getLogger(), "START_PLANNER updateState"); -#ifdef USE_OLD_ARCHITECTURE - if (isActivated() && !isWaitingApproval()) { - current_state_ = ModuleStatus::RUNNING; - } -#else if (isActivated() && !isWaitingApproval()) { current_state_ = ModuleStatus::RUNNING; } else { current_state_ = ModuleStatus::IDLE; } -#endif if (hasFinishedPullOut()) { return ModuleStatus::SUCCESS; @@ -729,10 +671,6 @@ bool StartPlannerModule::hasFinishedPullOut() const const bool has_finished = arclength_current.length - arclength_pull_out_end.length > 0.0; -#ifdef USE_OLD_ARCHITECTURE - is_executed_ = !has_finished; -#endif - return has_finished; } diff --git a/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp b/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp index 085f72b59d31e..5d77027efa5d0 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp @@ -30,19 +30,8 @@ BehaviorModuleOutput DefaultFixedGoalPlanner::plan( const std::shared_ptr & planner_data) const { BehaviorModuleOutput output = -#ifdef USE_OLD_ARCHITECTURE - // generate reference path in this planner - std::invoke([this, &planner_data]() { - auto path = getReferencePath(planner_data); - if (!path) { - return BehaviorModuleOutput{}; - } - return *path; - }); -#else // use planner previous module reference path getPreviousModuleOutput(); -#endif const PathWithLaneId smoothed_path = modifyPathForSmoothGoalConnection(*(output.path), planner_data); output.path = std::make_shared(smoothed_path); @@ -50,29 +39,6 @@ BehaviorModuleOutput DefaultFixedGoalPlanner::plan( return output; } -#ifdef USE_OLD_ARCHITECTURE -boost::optional DefaultFixedGoalPlanner::getReferencePath( - const std::shared_ptr & planner_data) const -{ - const auto & route_handler = planner_data->route_handler; - const auto current_pose = planner_data->self_odometry->pose.pose; - const double dist_threshold = planner_data->parameters.ego_nearest_dist_threshold; - const double yaw_threshold = planner_data->parameters.ego_nearest_yaw_threshold; - - lanelet::ConstLanelet current_lane{}; - if (route_handler->getClosestLaneletWithConstrainsWithinRoute( - current_pose, ¤t_lane, dist_threshold, yaw_threshold)) { - return utils::getReferencePath(current_lane, planner_data); - } - - if (route_handler->getClosestLaneletWithinRoute(current_pose, ¤t_lane)) { - return utils::getReferencePath(current_lane, planner_data); - } - - return {}; // something wrong -} -#endif - PathWithLaneId DefaultFixedGoalPlanner::modifyPathForSmoothGoalConnection( const PathWithLaneId & path, const std::shared_ptr & planner_data) const { diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index fabf857aa0b40..708f4b6f4823f 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -2409,25 +2409,6 @@ PathWithLaneId getCenterLinePath( const double s_backward = std::max(0., s - backward_path_length); double s_forward = s + forward_path_length; -#ifdef USE_OLD_ARCHITECTURE - const double lane_length = lanelet::utils::getLaneletLength2d(lanelet_sequence); - const auto shift_intervals = - route_handler.getLateralIntervalsToPreferredLane(lanelet_sequence.back()); - const double lane_change_buffer = - utils::calcMinimumLaneChangeLength(parameter, shift_intervals, 0.0); - - if (route_handler.isDeadEndLanelet(lanelet_sequence.back())) { - const double forward_length = std::max(lane_length - lane_change_buffer, 0.0); - s_forward = std::min(s_forward, forward_length); - } - - if (route_handler.isInGoalRouteSection(lanelet_sequence.back())) { - const auto goal_arc_coordinates = - lanelet::utils::getArcCoordinates(lanelet_sequence, route_handler.getGoalPose()); - const double forward_length = std::max(goal_arc_coordinates.length - lane_change_buffer, 0.0); - s_forward = std::min(s_forward, forward_length); - } -#else if (route_handler.isDeadEndLanelet(lanelet_sequence.back())) { const auto lane_length = lanelet::utils::getLaneletLength2d(lanelet_sequence); s_forward = std::clamp(s_forward, 0.0, lane_length); @@ -2438,7 +2419,6 @@ PathWithLaneId getCenterLinePath( lanelet::utils::getArcCoordinates(lanelet_sequence, route_handler.getGoalPose()); s_forward = std::clamp(s_forward, 0.0, goal_arc_coordinates.length); } -#endif const auto raw_path_with_lane_id = route_handler.getCenterLinePath(lanelet_sequence, s_backward, s_forward, true); @@ -2904,10 +2884,8 @@ DrivableAreaInfo combineDrivableAreaInfo( DrivableAreaInfo combined_drivable_area_info; // drivable lanes -#ifndef USE_OLD_ARCHITECTURE combined_drivable_area_info.drivable_lanes = combineDrivableLanes(drivable_area_info1.drivable_lanes, drivable_area_info2.drivable_lanes); -#endif // obstacles for (const auto & obstacle : drivable_area_info1.obstacles) { From ac29eb5df8191ebad303094d8a6d757054eca513 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 29 Jun 2023 11:08:24 +0900 Subject: [PATCH 049/118] fix(start_planner): fix path cut by U turn goal (#4109) * fix(start_planner): fix path cut by U turn goal Signed-off-by: kosuke55 * cut path Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../start_planner/start_planner_module.cpp | 19 ++++++++++++++--- .../start_planner/geometric_pull_out.cpp | 6 +++++- .../utils/start_planner/shift_pull_out.cpp | 21 ++++++++++++------- 3 files changed, 34 insertions(+), 12 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 533076be8012a..e9e28b8e62f9b 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -112,7 +112,12 @@ bool StartPlannerModule::isExecutionRequested() const tier4_autoware_utils::pose2transform(planner_data_->self_odometry->pose.pose)); // Check if ego is not out of lanes - const auto current_lanes = utils::getExtendedCurrentLanes(planner_data_); + // const auto current_lanes = utils::getExtendedCurrentLanes(planner_data_); + const double backward_path_length = + planner_data_->parameters.backward_path_length + parameters_->max_back_distance; + const auto current_lanes = + utils::getCurrentLanes(planner_data_, backward_path_length, std::numeric_limits::max()); + const auto pull_out_lanes = start_planner_utils::getPullOutLanes(planner_data_); auto lanes = current_lanes; lanes.insert(lanes.end(), pull_out_lanes.begin(), pull_out_lanes.end()); @@ -305,7 +310,12 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval() return output; } - const auto current_lanes = utils::getExtendedCurrentLanes(planner_data_); + // const auto current_lanes = utils::getExtendedCurrentLanes(planner_data_); + const double backward_path_length = + planner_data_->parameters.backward_path_length + parameters_->max_back_distance; + const auto current_lanes = + utils::getCurrentLanes(planner_data_, backward_path_length, std::numeric_limits::max()); + const auto pull_out_lanes = start_planner_utils::getPullOutLanes(planner_data_); auto stop_path = status_.back_finished ? getCurrentPath() : status_.backward_path; const auto drivable_lanes = @@ -542,7 +552,10 @@ void StartPlannerModule::updatePullOutStatus() const auto & current_pose = planner_data_->self_odometry->pose.pose; const auto & goal_pose = planner_data_->route_handler->getGoalPose(); - status_.current_lanes = utils::getExtendedCurrentLanes(planner_data_); + const double backward_path_length = + planner_data_->parameters.backward_path_length + parameters_->max_back_distance; + status_.current_lanes = + utils::getCurrentLanes(planner_data_, backward_path_length, std::numeric_limits::max()); status_.pull_out_lanes = start_planner_utils::getPullOutLanes(planner_data_); // combine road and shoulder lanes diff --git a/planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp b/planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp index 261a297f859bf..e4f0e13953924 100644 --- a/planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp +++ b/planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp @@ -40,7 +40,11 @@ boost::optional GeometricPullOut::plan(Pose start_pose, Pose goal_p PullOutPath output; // combine road lane and shoulder lane - const auto road_lanes = utils::getExtendedCurrentLanes(planner_data_); + const double backward_path_length = + planner_data_->parameters.backward_path_length + parameters_.max_back_distance; + const auto road_lanes = + utils::getCurrentLanes(planner_data_, backward_path_length, std::numeric_limits::max()); + const auto shoulder_lanes = getPullOutLanes(planner_data_); auto lanes = road_lanes; lanes.insert(lanes.end(), shoulder_lanes.begin(), shoulder_lanes.end()); diff --git a/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp b/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp index 7d8448802b847..b11bb7731b826 100644 --- a/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp +++ b/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp @@ -44,12 +44,16 @@ boost::optional ShiftPullOut::plan(Pose start_pose, Pose goal_pose) const auto & route_handler = planner_data_->route_handler; const auto & common_parameters = planner_data_->parameters; const auto & dynamic_objects = planner_data_->dynamic_object; - const auto & road_lanes = utils::getExtendedCurrentLanes(planner_data_); - const auto & shoulder_lanes = getPullOutLanes(planner_data_); + const auto shoulder_lanes = getPullOutLanes(planner_data_); if (shoulder_lanes.empty()) { return boost::none; } + const double backward_path_length = + planner_data_->parameters.backward_path_length + parameters_.max_back_distance; + const auto road_lanes = + utils::getCurrentLanes(planner_data_, backward_path_length, std::numeric_limits::max()); + // find candidate paths auto pull_out_paths = calcPullOutPaths( *route_handler, road_lanes, shoulder_lanes, start_pose, goal_pose, common_parameters, @@ -135,6 +139,7 @@ std::vector ShiftPullOut::calcPullOutPaths( } // rename parameter + const double forward_path_length = common_parameter.forward_path_length; const double backward_path_length = common_parameter.backward_path_length; const double minimum_shift_pull_out_distance = parameter.minimum_shift_pull_out_distance; const double lateral_jerk = parameter.lateral_jerk; @@ -150,13 +155,13 @@ std::vector ShiftPullOut::calcPullOutPaths( const auto arc_position_start = getArcCoordinates(road_lanes, start_pose); const double s_start = std::max(arc_position_start.length - backward_path_length, 0.0); const auto arc_position_goal = getArcCoordinates(road_lanes, goal_pose); - const double road_lanes_length = std::accumulate( - road_lanes.begin(), road_lanes.end(), 0.0, [](const double sum, const auto & lane) { - return sum + lanelet::utils::getLaneletLength2d(lane); - }); - // if goal is behind start pose, + + // if goal is behind start pose, use path with forward_path_length const bool goal_is_behind = arc_position_goal.length < s_start; - const double s_end = goal_is_behind ? road_lanes_length : arc_position_goal.length; + const double s_forward_length = s_start + forward_path_length; + const double s_end = + goal_is_behind ? s_forward_length : std::min(arc_position_goal.length, s_forward_length); + constexpr double RESAMPLE_INTERVAL = 1.0; PathWithLaneId road_lane_reference_path = utils::resamplePathWithSpline( route_handler.getCenterLinePath(road_lanes, s_start, s_end), RESAMPLE_INTERVAL); From 5bc699b535e94c167e088597ddd58df48eae8fbc Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 29 Jun 2023 12:47:18 +0900 Subject: [PATCH 050/118] fix(lane_change): safety check chattering (#4105) * fix(lane_change): safety check chattering Signed-off-by: Takamasa Horibe * remove unused default value Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../lane_change/lane_change_module_data.hpp | 5 ++++ .../utils/lane_change/lane_change_path.hpp | 9 ++++--- .../utils/lane_change/utils.hpp | 12 ++++----- .../src/scene_module/lane_change/normal.cpp | 27 +++++++++++-------- .../src/utils/lane_change/utils.cpp | 12 ++++----- 5 files changed, 39 insertions(+), 26 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp index 67a23f23d5827..006040d8eaa4a 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp @@ -94,6 +94,11 @@ struct LaneChangePhaseInfo double lane_changing{0.0}; [[nodiscard]] double sum() const { return prepare + lane_changing; } + + LaneChangePhaseInfo(const double _prepare, const double _lane_changing) + : prepare(_prepare), lane_changing(_lane_changing) + { + } }; struct LaneChangeTargetObjectIndices diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_path.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_path.hpp index 41c2b62ba31e5..7e78ab9045c64 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_path.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_path.hpp @@ -36,9 +36,12 @@ struct LaneChangePath Pose lane_changing_end{}; ShiftedPath shifted_path{}; ShiftLine shift_line{}; - double acceleration{0.0}; - LaneChangePhaseInfo length{}; - LaneChangePhaseInfo duration{}; + + // longitudinal acceleration applied on the prepare and lane-changing phase + LaneChangePhaseInfo longitudinal_acceleration{0.0, 0.0}; + + LaneChangePhaseInfo length{0.0, 0.0}; + LaneChangePhaseInfo duration{0.0, 0.0}; PathWithLaneId prev_path{}; }; using LaneChangePaths = std::vector; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp index 9570ffec56576..872520b4b81e2 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp @@ -90,10 +90,10 @@ std::optional constructCandidatePath( const PathWithLaneId & prepare_segment, const PathWithLaneId & target_segment, const PathWithLaneId & target_lane_reference_path, const ShiftLine & shift_line, const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, - const std::vector> & sorted_lane_ids, const double longitudinal_acceleration, - const double lateral_acceleration, const LaneChangePhaseInfo lane_change_length, - const LaneChangePhaseInfo lane_change_velocity, const double terminal_lane_changing_velocity, - const LaneChangePhaseInfo lane_change_time); + const std::vector> & sorted_lane_ids, + const LaneChangePhaseInfo longitudinal_acceleration, const double lateral_acceleration, + const LaneChangePhaseInfo lane_change_length, const LaneChangePhaseInfo lane_change_velocity, + const double terminal_lane_changing_velocity, const LaneChangePhaseInfo lane_change_time); PathSafetyStatus isLaneChangePathSafe( const LaneChangePath & lane_change_path, const PredictedObjects::ConstSharedPtr dynamic_objects, @@ -101,8 +101,8 @@ PathSafetyStatus isLaneChangePathSafe( const Twist & current_twist, const BehaviorPathPlannerParameters & common_parameter, const behavior_path_planner::LaneChangeParameters & lane_change_parameter, const double front_decel, const double rear_decel, - std::unordered_map & debug_data, const double prepare_acc = 0.0, - const double lane_changing_acc = 0.0); + std::unordered_map & debug_data, const double prepare_acc, + const double lane_changing_acc); bool isObjectIndexIncluded( const size_t & index, const std::vector & dynamic_objects_indices); diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index c004a0b3aec26..20f6aee241115 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -578,11 +578,13 @@ bool NormalLaneChange::getLaneChangePaths( minimum_lane_changing_velocity); // compute actual longitudinal acceleration - const double longitudinal_acc = (prepare_velocity - current_velocity) / prepare_duration; + const double longitudinal_acc_on_prepare = + (prepare_velocity - current_velocity) / prepare_duration; // get path on original lanes const double prepare_length = std::max( - current_velocity * prepare_duration + 0.5 * longitudinal_acc * std::pow(prepare_duration, 2), + current_velocity * prepare_duration + + 0.5 * longitudinal_acc_on_prepare * std::pow(prepare_duration, 2), minimum_prepare_length); if (prepare_length < target_length) { @@ -629,14 +631,15 @@ bool NormalLaneChange::getLaneChangePaths( lateral_acc += lateral_acc_resolution) { const auto lane_changing_time = PathShifter::calcShiftTimeFromJerk( shift_length, common_parameter.lane_changing_lateral_jerk, lateral_acc); - const double lane_changing_lon_acc = utils::lane_change::calcLaneChangingAcceleration( - initial_lane_changing_velocity, max_path_velocity, lane_changing_time, - sampled_longitudinal_acc); + const double longitudinal_acc_on_lane_changing = + utils::lane_change::calcLaneChangingAcceleration( + initial_lane_changing_velocity, max_path_velocity, lane_changing_time, + sampled_longitudinal_acc); const auto lane_changing_length = initial_lane_changing_velocity * lane_changing_time + - 0.5 * lane_changing_lon_acc * lane_changing_time * lane_changing_time; + 0.5 * longitudinal_acc_on_lane_changing * lane_changing_time * lane_changing_time; const auto terminal_lane_changing_velocity = - initial_lane_changing_velocity + lane_changing_lon_acc * lane_changing_time; + initial_lane_changing_velocity + longitudinal_acc_on_lane_changing * lane_changing_time; utils::lane_change::setPrepareVelocity( prepare_segment, current_velocity, terminal_lane_changing_velocity); @@ -701,7 +704,8 @@ bool NormalLaneChange::getLaneChangePaths( const auto candidate_path = utils::lane_change::constructCandidatePath( prepare_segment, target_segment, target_lane_reference_path, shift_line, original_lanelets, - target_lanelets, sorted_lane_ids, lane_changing_lon_acc, lateral_acc, lc_length, + target_lanelets, sorted_lane_ids, + {longitudinal_acc_on_prepare, longitudinal_acc_on_lane_changing}, lateral_acc, lc_length, lc_velocity, terminal_lane_changing_velocity, lc_time); if (!candidate_path) { @@ -752,8 +756,8 @@ bool NormalLaneChange::getLaneChangePaths( const auto [is_safe, is_object_coming_from_rear] = utils::lane_change::isLaneChangePathSafe( *candidate_path, dynamic_objects, dynamic_object_indices, getEgoPose(), getEgoTwist(), common_parameter, *lane_change_parameters_, common_parameter.expected_front_deceleration, - common_parameter.expected_rear_deceleration, object_debug_, longitudinal_acc, - lane_changing_lon_acc); + common_parameter.expected_rear_deceleration, object_debug_, longitudinal_acc_on_prepare, + longitudinal_acc_on_lane_changing); if (is_safe) { return true; @@ -790,7 +794,8 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const path, dynamic_objects, dynamic_object_indices, current_pose, current_twist, common_parameters, *lane_change_parameters_, common_parameters.expected_front_deceleration_for_abort, common_parameters.expected_rear_deceleration_for_abort, debug_data, - status_.lane_change_path.acceleration); + status_.lane_change_path.longitudinal_acceleration.prepare, + status_.lane_change_path.longitudinal_acceleration.lane_changing); return safety_status; } diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp index 04224b380414e..25ad04874994f 100644 --- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp +++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp @@ -210,15 +210,15 @@ std::optional constructCandidatePath( const PathWithLaneId & prepare_segment, const PathWithLaneId & target_segment, const PathWithLaneId & target_lane_reference_path, const ShiftLine & shift_line, const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, - const std::vector> & sorted_lane_ids, const double longitudinal_acceleration, - const double lateral_acceleration, const LaneChangePhaseInfo lane_change_length, - const LaneChangePhaseInfo lane_change_velocity, const double terminal_lane_changing_velocity, - const LaneChangePhaseInfo lane_change_time) + const std::vector> & sorted_lane_ids, + const LaneChangePhaseInfo longitudinal_acceleration, const double lateral_acceleration, + const LaneChangePhaseInfo lane_change_length, const LaneChangePhaseInfo lane_change_velocity, + const double terminal_lane_changing_velocity, const LaneChangePhaseInfo lane_change_time) { PathShifter path_shifter; path_shifter.setPath(target_lane_reference_path); path_shifter.addShiftLine(shift_line); - path_shifter.setLongitudinalAcceleration(longitudinal_acceleration); + path_shifter.setLongitudinalAcceleration(longitudinal_acceleration.lane_changing); ShiftedPath shifted_path; // offset front side @@ -238,7 +238,7 @@ std::optional constructCandidatePath( const auto & lane_changing_length = lane_change_length.lane_changing; LaneChangePath candidate_path; - candidate_path.acceleration = longitudinal_acceleration; + candidate_path.longitudinal_acceleration = longitudinal_acceleration; candidate_path.length.prepare = prepare_length; candidate_path.length.lane_changing = lane_changing_length; candidate_path.duration.prepare = lane_change_time.prepare; From d295c8178f73609b33e69fd954c8b7ac216144f3 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 29 Jun 2023 14:10:12 +0900 Subject: [PATCH 051/118] fix(obstacle_velocity_limiter): remove hardcoded parameter (#4098) Signed-off-by: Maxime CLEMENT --- .../lane_driving/motion_planning/motion_planning.launch.py | 1 - 1 file changed, 1 deletion(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index d491e14bcf3e4..94461c1748439 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -108,7 +108,6 @@ def launch_setup(context, *args, **kwargs): parameters=[ obstacle_velocity_limiter_param, vehicle_info_param, - {"obstacles.dynamic_source": "static_only"}, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) From b86d3d8bc59502fbfa5b4bd14e30e0550bf939e0 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 29 Jun 2023 14:39:50 +0900 Subject: [PATCH 052/118] fix(behavior_path_planner): use previous path for get current lane (#4094) Signed-off-by: Fumiya Watanabe --- .../src/scene_module/lane_change/normal.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 20f6aee241115..77f2b9b842166 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -284,7 +284,7 @@ TurnSignalInfo NormalLaneChange::updateOutputTurnSignal() lanelet::ConstLanelets NormalLaneChange::getCurrentLanes() const { - return utils::getCurrentLanesFromPath(prev_module_reference_path_, planner_data_); + return utils::getCurrentLanesFromPath(prev_module_path_, planner_data_); } lanelet::ConstLanelets NormalLaneChange::getLaneChangeLanes( From 53b1347dc8fb292fa9362a6dc38da15b00bf18bd Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 29 Jun 2023 17:57:45 +0900 Subject: [PATCH 053/118] docs(ad_api_adaptors): fix readme to remove unused service (#4117) Signed-off-by: Takagi, Isamu --- system/default_ad_api_helpers/ad_api_adaptors/README.md | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/system/default_ad_api_helpers/ad_api_adaptors/README.md b/system/default_ad_api_helpers/ad_api_adaptors/README.md index 6cb43c5475828..121befb68c88a 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/README.md +++ b/system/default_ad_api_helpers/ad_api_adaptors/README.md @@ -7,11 +7,10 @@ When a initial pose topic is received, call the localization initialize API. This node depends on the map height fitter library. [See here for more details.](../../../map/map_height_fitter/README.md) -| Interface | Local Name | Global Name | Description | -| ------------ | -------------- | --------------------------------- | ----------------------------------------- | -| Subscription | initialpose | /initialpose | The pose for localization initialization. | -| Client | fit_map_height | /localization/util/fit_map_height | To fix initial pose to map height | -| Client | - | /api/localization/initialize | The localization initialize API. | +| Interface | Local Name | Global Name | Description | +| ------------ | ----------- | ---------------------------- | ----------------------------------------- | +| Subscription | initialpose | /initialpose | The pose for localization initialization. | +| Client | - | /api/localization/initialize | The localization initialize API. | ## routing_adaptor From 8ef04a7594e2bedfcdcf3a928cb267f162c31e75 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 29 Jun 2023 20:05:02 +0900 Subject: [PATCH 054/118] feat(lane_change): update object filtering for lane change (#4103) --- .../utils/lane_change/utils.hpp | 15 +- .../src/scene_module/lane_change/normal.cpp | 38 ++-- .../src/utils/lane_change/utils.cpp | 163 +++++++++--------- 3 files changed, 108 insertions(+), 108 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp index 872520b4b81e2..a724410192b59 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp @@ -150,12 +150,6 @@ lanelet::ConstLanelets getBackwardLanelets( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, const double backward_length); -LaneChangeTargetObjectIndices filterObjectIndices( - const LaneChangePaths & lane_change_paths, const PredictedObjects & objects, - const lanelet::ConstLanelets & target_backward_lanes, const Pose & current_pose, - const double forward_path_length, const LaneChangeParameters & lane_change_parameter, - const double filter_width); - bool isTargetObjectType(const PredictedObject & object, const LaneChangeParameters & parameter); double calcLateralBufferForFiltering(const double vehicle_width, const double lateral_buffer = 0.0); @@ -186,5 +180,14 @@ boost::optional getLeadingStaticObjectIdx( const RouteHandler & route_handler, const LaneChangePath & lane_change_path, const PredictedObjects & objects, const std::vector & obj_indices, const double object_check_min_road_shoulder_width, const double object_shiftable_ratio_threshold); + +std::optional createPolygon( + const lanelet::ConstLanelets & lanes, const double start_dist, const double end_dist); + +LaneChangeTargetObjectIndices filterObject( + const PredictedObjects & objects, const lanelet::ConstLanelets & current_lanes, + const lanelet::ConstLanelets & target_lanes, const lanelet::ConstLanelets & target_backward_lanes, + const Pose & current_pose, const RouteHandler & route_handler, + const LaneChangeParameters & lane_change_parameter); } // namespace behavior_path_planner::utils::lane_change #endif // BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTILS_HPP_ diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 77f2b9b842166..41561493e08d6 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -506,6 +506,7 @@ bool NormalLaneChange::getLaneChangePaths( const auto & route_handler = *getRouteHandler(); const auto & dynamic_objects = planner_data_->dynamic_object; const auto & common_parameter = planner_data_->parameters; + const auto & current_pose = getEgoPose(); const auto backward_path_length = common_parameter.backward_path_length; const auto forward_path_length = common_parameter.forward_path_length; @@ -559,8 +560,6 @@ bool NormalLaneChange::getLaneChangePaths( const auto sorted_lane_ids = utils::lane_change::getSortedLaneIds( route_handler, original_lanelets, target_lanelets, arc_position_from_target.distance); - const auto lateral_buffer = - utils::lane_change::calcLateralBufferForFiltering(common_parameter.vehicle_width, 0.5); const auto target_preferred_lanelets = utils::lane_change::getTargetPreferredLanes( route_handler, original_lanelets, target_lanelets, direction, type_); @@ -569,7 +568,13 @@ bool NormalLaneChange::getLaneChangePaths( const auto target_preferred_lane_poly_2d = lanelet::utils::to2D(target_preferred_lane_poly).basicPolygon(); - LaneChangeTargetObjectIndices dynamic_object_indices; + const auto backward_length = lane_change_parameters_->backward_lane_length; + const auto backward_target_lanes_for_object_filtering = utils::lane_change::getBackwardLanelets( + route_handler, target_lanelets, getEgoPose(), backward_length); + const auto dynamic_object_indices = utils::lane_change::filterObject( + *dynamic_objects, original_lanelets, target_lanelets, + backward_target_lanes_for_object_filtering, current_pose, route_handler, + *lane_change_parameters_); candidate_paths->reserve(longitudinal_acc_sampling_values.size() * lateral_acc_sampling_num); for (const auto & sampled_longitudinal_acc : longitudinal_acc_sampling_values) { @@ -723,16 +728,6 @@ bool NormalLaneChange::getLaneChangePaths( } if (candidate_paths->empty()) { - // only compute dynamic object indices once - const auto backward_length = lane_change_parameters_->backward_lane_length; - const auto backward_target_lanes_for_object_filtering = - utils::lane_change::getBackwardLanelets( - route_handler, target_lanelets, getEgoPose(), backward_length); - dynamic_object_indices = utils::lane_change::filterObjectIndices( - {*candidate_path}, *dynamic_objects, backward_target_lanes_for_object_filtering, - getEgoPose(), common_parameter.forward_path_length, *lane_change_parameters_, - lateral_buffer); - const double object_check_min_road_shoulder_width = lane_change_parameters_->object_check_min_road_shoulder_width; const double object_shiftable_ratio_threshold = @@ -775,21 +770,20 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const const auto & dynamic_objects = planner_data_->dynamic_object; const auto & common_parameters = getCommonParam(); const auto & lane_change_parameters = *lane_change_parameters_; - const auto & route_handler = getRouteHandler(); + const auto & route_handler = *getRouteHandler(); const auto & path = status_.lane_change_path; + const auto & current_lanes = status_.current_lanes; + const auto & target_lanes = status_.lane_change_lanes; // get lanes used for detection const auto backward_target_lanes_for_object_filtering = utils::lane_change::getBackwardLanelets( - *route_handler, path.target_lanelets, current_pose, - lane_change_parameters.backward_lane_length); + route_handler, path.target_lanelets, current_pose, lane_change_parameters.backward_lane_length); - CollisionCheckDebugMap debug_data; - const auto lateral_buffer = - utils::lane_change::calcLateralBufferForFiltering(common_parameters.vehicle_width); - const auto dynamic_object_indices = utils::lane_change::filterObjectIndices( - {path}, *dynamic_objects, backward_target_lanes_for_object_filtering, current_pose, - common_parameters.forward_path_length, lane_change_parameters, lateral_buffer); + const auto dynamic_object_indices = utils::lane_change::filterObject( + *dynamic_objects, current_lanes, target_lanes, backward_target_lanes_for_object_filtering, + current_pose, route_handler, *lane_change_parameters_); + CollisionCheckDebugMap debug_data; const auto safety_status = utils::lane_change::isLaneChangePathSafe( path, dynamic_objects, dynamic_object_indices, current_pose, current_twist, common_parameters, *lane_change_parameters_, common_parameters.expected_front_deceleration_for_abort, diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp index 25ad04874994f..6d1b4486856e1 100644 --- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp +++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp @@ -822,86 +822,6 @@ lanelet::ConstLanelets getBackwardLanelets( return backward_lanes; } -LaneChangeTargetObjectIndices filterObjectIndices( - const LaneChangePaths & lane_change_paths, const PredictedObjects & objects, - const lanelet::ConstLanelets & target_backward_lanes, const Pose & current_pose, - const double forward_path_length, const LaneChangeParameters & lane_change_parameter, - const double filter_width) -{ - // Reserve maximum amount possible - - std::vector current_lane_obj_indices{}; - std::vector target_lane_obj_indices{}; - std::vector others_obj_indices{}; - current_lane_obj_indices.reserve(objects.objects.size()); - target_lane_obj_indices.reserve(objects.objects.size()); - others_obj_indices.reserve(objects.objects.size()); - - const auto & longest_path = lane_change_paths.front(); - const auto & current_lanes = longest_path.reference_lanelets; - const auto & target_lanes = longest_path.target_lanelets; - const auto & ego_path = longest_path.path; - - const auto get_basic_polygon = - [](const lanelet::ConstLanelets & lanes, const double start_dist, const double end_dist) { - const auto polygon_3d = lanelet::utils::getPolygonFromArcLength(lanes, start_dist, end_dist); - return lanelet::utils::to2D(polygon_3d).basicPolygon(); - }; - const auto arc = lanelet::utils::getArcCoordinates(current_lanes, current_pose); - const auto current_polygon = - get_basic_polygon(current_lanes, arc.length, arc.length + forward_path_length); - const auto target_polygon = - get_basic_polygon(target_lanes, 0.0, std::numeric_limits::max()); - LineString2d ego_path_linestring; - ego_path_linestring.reserve(ego_path.points.size()); - for (const auto & pt : ego_path.points) { - const auto & position = pt.point.pose.position; - boost::geometry::append(ego_path_linestring, Point2d(position.x, position.y)); - } - - for (size_t i = 0; i < objects.objects.size(); ++i) { - const auto & obj = objects.objects.at(i); - - if (!isTargetObjectType(obj, lane_change_parameter)) { - continue; - } - - const auto obj_polygon = tier4_autoware_utils::toPolygon2d(obj); - if (boost::geometry::intersects(current_polygon, obj_polygon)) { - const double distance = boost::geometry::distance(obj_polygon, ego_path_linestring); - - if (distance < filter_width) { - current_lane_obj_indices.push_back(i); - continue; - } - } - - const bool is_intersect_with_target = boost::geometry::intersects(target_polygon, obj_polygon); - if (is_intersect_with_target) { - target_lane_obj_indices.push_back(i); - continue; - } - - const bool is_intersect_with_backward = std::invoke([&]() { - for (const auto & ll : target_backward_lanes) { - const bool is_intersect_with_backward = - boost::geometry::intersects(ll.polygon2d().basicPolygon(), obj_polygon); - if (is_intersect_with_backward) { - target_lane_obj_indices.push_back(i); - return true; - } - } - return false; - }); - - if (!is_intersect_with_backward) { - others_obj_indices.push_back(i); - } - } - - return {current_lane_obj_indices, target_lane_obj_indices, others_obj_indices}; -} - bool isTargetObjectType(const PredictedObject & object, const LaneChangeParameters & parameter) { using autoware_auto_perception_msgs::msg::ObjectClassification; @@ -1163,4 +1083,87 @@ boost::optional getLeadingStaticObjectIdx( return leading_obj_idx; } + +std::optional createPolygon( + const lanelet::ConstLanelets & lanes, const double start_dist, const double end_dist) +{ + if (lanes.empty()) { + return {}; + } + const auto polygon_3d = lanelet::utils::getPolygonFromArcLength(lanes, start_dist, end_dist); + return lanelet::utils::to2D(polygon_3d).basicPolygon(); +} + +LaneChangeTargetObjectIndices filterObject( + const PredictedObjects & objects, const lanelet::ConstLanelets & current_lanes, + const lanelet::ConstLanelets & target_lanes, const lanelet::ConstLanelets & target_backward_lanes, + const Pose & current_pose, const RouteHandler & route_handler, + const LaneChangeParameters & lane_change_parameter) +{ + // Guard + if (objects.objects.empty()) { + return {}; + } + + // Get path + const auto path = + route_handler.getCenterLinePath(current_lanes, 0.0, std::numeric_limits::max()); + + const auto current_polygon = + createPolygon(current_lanes, 0.0, std::numeric_limits::max()); + const auto target_polygon = createPolygon(target_lanes, 0.0, std::numeric_limits::max()); + const auto target_backward_polygon = + createPolygon(target_backward_lanes, 0.0, std::numeric_limits::max()); + + LaneChangeTargetObjectIndices filtered_obj_indices; + for (size_t i = 0; i < objects.objects.size(); ++i) { + const auto & object = objects.objects.at(i); + const auto & obj_velocity = object.kinematics.initial_twist_with_covariance.twist.linear.x; + + // ignore specific object types + if (!isTargetObjectType(object, lane_change_parameter)) { + continue; + } + + const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object); + + // calc distance from the current ego position + double max_dist_ego_to_obj = std::numeric_limits::lowest(); + for (const auto & polygon_p : obj_polygon.outer()) { + const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0); + const double dist_ego_to_obj = + motion_utils::calcSignedArcLength(path.points, current_pose.position, obj_p); + max_dist_ego_to_obj = std::max(dist_ego_to_obj, max_dist_ego_to_obj); + } + + // ignore static object that are behind the ego vehicle + if (obj_velocity < 1.0 && max_dist_ego_to_obj < 0.0) { + continue; + } + + // check if the object intersects with target lanes + if (target_polygon && boost::geometry::intersects(target_polygon.value(), obj_polygon)) { + filtered_obj_indices.target_lane.push_back(i); + continue; + } + + // check if the object intersects with target backward lanes + if ( + target_backward_polygon && + boost::geometry::intersects(target_backward_polygon.value(), obj_polygon)) { + filtered_obj_indices.target_lane.push_back(i); + continue; + } + + // check if the object intersects with current lanes + if (current_polygon && boost::geometry::intersects(current_polygon.value(), obj_polygon)) { + filtered_obj_indices.current_lane.push_back(i); + continue; + } + + filtered_obj_indices.other_lane.push_back(i); + } + + return filtered_obj_indices; +} } // namespace behavior_path_planner::utils::lane_change From 9c30691e6b6f6b6dbdb9d54427b8f4e6e3f44df3 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 29 Jun 2023 20:05:20 +0900 Subject: [PATCH 055/118] fix(lane_change): fix termianl lane chagne turn signal (#4115) --- .../src/scene_module/lane_change/interface.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index ab2c87c7e1ff9..713188afb7f0b 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -402,13 +402,13 @@ void LaneChangeInterface::acceptVisitor(const std::shared_ptrgetLaneChangeStatus().lane_change_lanes; + const auto & current_lanes = module_type_->getLaneChangeStatus().current_lanes; const auto & is_valid = module_type_->getLaneChangeStatus().is_valid_path; const auto & lane_change_path = module_type_->getLaneChangeStatus().lane_change_path; const auto & lane_change_param = module_type_->getLaneChangeParam(); if ( - module_type_->getModuleType() != LaneChangeModuleType::NORMAL || target_lanes.empty() || + module_type_->getModuleType() != LaneChangeModuleType::NORMAL || current_lanes.empty() || !is_valid) { return original_turn_signal_info; } @@ -436,13 +436,15 @@ TurnSignalInfo LaneChangeInterface::getCurrentTurnSignalInfo( const auto & route_handler = module_type_->getRouteHandler(); const auto & common_parameter = module_type_->getCommonParam(); const auto shift_intervals = - route_handler->getLateralIntervalsToPreferredLane(target_lanes.back()); + route_handler->getLateralIntervalsToPreferredLane(current_lanes.back()); const double next_lane_change_buffer = utils::calcMinimumLaneChangeLength(common_parameter, shift_intervals); const double & nearest_dist_threshold = common_parameter.ego_nearest_dist_threshold; const double & nearest_yaw_threshold = common_parameter.ego_nearest_yaw_threshold; + const double & base_to_front = common_parameter.base_link2front; - const double buffer = next_lane_change_buffer + min_length_for_turn_signal_activation; + const double buffer = + next_lane_change_buffer + min_length_for_turn_signal_activation + base_to_front; const double path_length = motion_utils::calcArcLength(path.points); const auto & front_point = path.points.front().point.pose.position; const size_t & current_nearest_seg_idx = From 3bef61753c2c2b9c1f90ba73a33c330779f8debb Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Fri, 30 Jun 2023 09:30:55 +0900 Subject: [PATCH 056/118] docs(yabloc): update yabloc readme (#4100) * add yabloc documentation Signed-off-by: Kento Yabuuchi * reflected review Signed-off-by: Kento Yabuuchi * Modify image size Signed-off-by: Kento Yabuuchi * add sample data link Signed-off-by: Kento Yabuuchi --------- Signed-off-by: Kento Yabuuchi --- localization/yabloc/README.md | 59 +++++++++++++++++- .../yabloc/docs/yabloc_image_description.png | Bin 0 -> 677694 bytes localization/yabloc/docs/yabloc_principle.png | Bin 0 -> 959680 bytes .../yabloc/docs/yabloc_rviz_description.png | Bin 0 -> 475695 bytes 4 files changed, 56 insertions(+), 3 deletions(-) create mode 100644 localization/yabloc/docs/yabloc_image_description.png create mode 100644 localization/yabloc/docs/yabloc_principle.png create mode 100644 localization/yabloc/docs/yabloc_rviz_description.png diff --git a/localization/yabloc/README.md b/localization/yabloc/README.md index 34d6c70453c6c..f80dcfc88cf2e 100644 --- a/localization/yabloc/README.md +++ b/localization/yabloc/README.md @@ -4,6 +4,10 @@ [![thumbnail](docs/yabloc_thumbnail.jpg)](https://youtu.be/Eaf6r_BNFfk) +It estimates position by matching road surface markings extracted from images with a vector map. +Point cloud maps and LiDAR are not required. +YabLoc enables users localize vehicles that are not equipped with LiDAR and in environments where point cloud maps are not available. + ## Packages - [yabloc_common](yabloc_common/README.md) @@ -13,8 +17,8 @@ ## How to launch YabLoc instead of NDT -When launching autoware, if you set `localization_mode:=yabloc` as an argument, YabLoc will be launched instead of NDT. -By default, `localization_mode` is `ndt`. +When launching autoware, if you set `localization_mode:=camera` as an argument, YabLoc will be launched instead of NDT. +By default, `localization_mode` is `lidar`. A sample command to run YabLoc is as follows @@ -23,9 +27,58 @@ ros2 launch autoware_launch logging_simulator.launch.xml \ map_path:=$HOME/autoware_map/sample-map-rosbag\ vehicle_model:=sample_vehicle \ sensor_model:=sample_sensor_kit \ - localization_mode:=yabloc + localization_mode:=camera ``` ## Architecture ![node_diagram](docs/yabloc_architecture.drawio.svg) + +## Principle + +The diagram below illustrates the basic principle of YabLoc. +It extracts road surface markings by extracting the line segments using the road area obtained from graph-based segmentation. +The red line at the center-top of the diagram represents the line segments identified as road surface markings. +YabLoc transforms these segments for each particle and determines the particle's weight by comparing them with the cost map generated from Lanelet2. + +![principle](docs/yabloc_principle.png) + +## Visualization + +### Core visualization topics + +These topics are not visualized by default. + + + +| index | topic name | description | +| ----- | -------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | `/localization/yabloc/pf/predicted_particle_marker` | particle distribution of particle filter. Red particles are probable candidate. | +| 2 | `/localization/yabloc/pf/scored_cloud` | 3D projected line segments. the color indicates how well they match the map. | +| 3 | `/localization/yabloc/image_processing/lanelet2_overlay_image` | overlay of lanelet2 (yellow lines) onto image based on estimated pose. If they match well with the actual road markings, it means that the localization performs well. | + +### Image topics for debug + +These topics are not visualized by default. + + + +| index | topic name | description | +| ----- | ----------------------------------------------------------------------- | ----------------------------------------------------------------------------- | +| 1 | `/localization/yabloc/pf/cost_map_image` | cost map made from lanelet2 | +| 2 | `/localization/yabloc/pf/match_image` | projected line segments | +| 3 | `/localization/yabloc/image_processing/image_with_colored_line_segment` | classified line segments. green line segments are used in particle correction | +| 4 | `/localization/yabloc/image_processing/lanelet2_overlay_image` | overlay of lanelet2 | +| 5 | `/localization/yabloc/image_processing/segmented_image` | graph based segmentation result | + +## Limitation + +- Running YabLoc and NDT simultaneously is not supported. + - This is because running both at the same time may be computationally too expensive. + - Also, in most cases, NDT is superior to YabLoc, so there is less benefit to running them at the same time. +- It does not estimate roll and pitch, therefore some of the perception nodes may not work well. +- It does not support multiple cameras now. But it will in the future. +- In places where there are few road surface markings, such as intersections, the estimation heavily relies on GNSS, IMU, and vehicle's wheel odometry. +- If the road boundary or road surface markings are not included in the Lanelet2, the estimation is likely to fail. +- The sample rosbag provided in the autoware tutorial does not include images, so it is not possible to run YabLoc with it. + - If you want to test the functionality of YabLoc, the sample test data provided in this [PR](https://github.com/autowarefoundation/autoware.universe/pull/3946) is useful. diff --git a/localization/yabloc/docs/yabloc_image_description.png b/localization/yabloc/docs/yabloc_image_description.png new file mode 100644 index 0000000000000000000000000000000000000000..d76977535d306911a7355ef2341447b9219799ae GIT binary patch literal 677694 zcmbrl1yCGJ*Dg4aAR)L0cemid2^QSl-6gm~f(8%n?(XjH?(QywJIqel2;ySG3IG7qG63*C85R=!Nguy>75MGLcQJJb 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