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fix(crosswalk): fix module launch condition #871

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Sep 26, 2023
Merged

fix(crosswalk): fix module launch condition #871

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51 changes: 19 additions & 32 deletions planning/behavior_velocity_crosswalk_module/src/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,15 +125,8 @@ CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
void CrosswalkModuleManager::launchNewModules(const PathWithLaneId & path)
{
const auto rh = planner_data_->route_handler_;
if (!opt_use_regulatory_element_) {
opt_use_regulatory_element_ = checkRegulatoryElementExistence(rh->getLaneletMapPtr());
std::ostringstream string_stream;
string_stream << "use crosswalk regulatory element: ";
string_stream << std::boolalpha << *opt_use_regulatory_element_;
RCLCPP_INFO_STREAM(logger_, string_stream.str());
}

const auto launch = [this, &path](const auto id) {
const auto launch = [this, &path](const auto id, const auto & use_regulatory_element) {
if (isModuleRegistered(id)) {
return;
}
Expand All @@ -143,26 +136,23 @@ void CrosswalkModuleManager::launchNewModules(const PathWithLaneId & path)
const auto lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr();

registerModule(std::make_shared<CrosswalkModule>(
node_, id, lanelet_map_ptr, p, *opt_use_regulatory_element_, logger, clock_));
node_, id, lanelet_map_ptr, p, use_regulatory_element, logger, clock_));
generateUUID(id);
updateRTCStatus(getUUID(id), true, std::numeric_limits<double>::lowest(), path.header.stamp);
};

if (*opt_use_regulatory_element_) {
const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>(
path, rh->getLaneletMapPtr(), planner_data_->current_odometry->pose);
const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>(
path, rh->getLaneletMapPtr(), planner_data_->current_odometry->pose);

for (const auto & crosswalk : crosswalk_leg_elem_map) {
launch(crosswalk.first->id());
}
} else {
const auto crosswalk_lanelets = getCrosswalksOnPath(
planner_data_->current_odometry->pose, path, rh->getLaneletMapPtr(),
rh->getOverallGraphPtr());
for (const auto & crosswalk : crosswalk_leg_elem_map) {
launch(crosswalk.first->id(), true);
}

for (const auto & crosswalk : crosswalk_lanelets) {
launch(crosswalk.id());
}
const auto crosswalk_lanelets = getCrosswalksOnPath(
planner_data_->current_odometry->pose, path, rh->getLaneletMapPtr(), rh->getOverallGraphPtr());

for (const auto & crosswalk : crosswalk_lanelets) {
launch(crosswalk.id(), false);
}
}

Expand All @@ -173,17 +163,14 @@ CrosswalkModuleManager::getModuleExpiredFunction(const PathWithLaneId & path)

std::set<int64_t> crosswalk_id_set;

if (*opt_use_regulatory_element_) {
const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>(
path, rh->getLaneletMapPtr(), planner_data_->current_odometry->pose);
crosswalk_id_set = getCrosswalkIdSetOnPath(
planner_data_->current_odometry->pose, path, rh->getLaneletMapPtr(), rh->getOverallGraphPtr());

for (const auto & crosswalk : crosswalk_leg_elem_map) {
crosswalk_id_set.insert(crosswalk.first->id());
}
} else {
crosswalk_id_set = getCrosswalkIdSetOnPath(
planner_data_->current_odometry->pose, path, rh->getLaneletMapPtr(),
rh->getOverallGraphPtr());
const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>(
path, rh->getLaneletMapPtr(), planner_data_->current_odometry->pose);

for (const auto & crosswalk : crosswalk_leg_elem_map) {
crosswalk_id_set.insert(crosswalk.first->id());
}

return [crosswalk_id_set](const std::shared_ptr<SceneModuleInterface> & scene_module) {
Expand Down
2 changes: 0 additions & 2 deletions planning/behavior_velocity_crosswalk_module/src/manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,6 @@ class CrosswalkModuleManager : public SceneModuleManagerInterfaceWithRTC

std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
const PathWithLaneId & path) override;

std::optional<bool> opt_use_regulatory_element_{std::nullopt};
};

class CrosswalkModulePlugin : public PluginWrapper<CrosswalkModuleManager>
Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_velocity_walkway_module/src/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ void WalkwayModuleManager::launchNewModules(const PathWithLaneId & path)
{
const auto rh = planner_data_->route_handler_;

const auto launch = [this, &path](const auto & lanelet, const auto use_regulatory_element) {
const auto launch = [this, &path](const auto & lanelet, const auto & use_regulatory_element) {
const auto attribute =
lanelet.attributeOr(lanelet::AttributeNamesString::Subtype, std::string(""));
if (attribute != lanelet::AttributeValueString::Walkway) {
Expand Down
2 changes: 0 additions & 2 deletions planning/behavior_velocity_walkway_module/src/manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,8 +50,6 @@ class WalkwayModuleManager : public SceneModuleManagerInterface

std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
const PathWithLaneId & path) override;

std::optional<bool> opt_use_regulatory_element_{std::nullopt};
};

class WalkwayModulePlugin : public PluginWrapper<WalkwayModuleManager>
Expand Down