feat: first draft proposal implementation for handling invalid lanele…

…ts (#235) * feat: first draft proposal implementation for handling invalid lanelets Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * style(pre-commit): autofix * feat: adding invalid lanelet for rviz visualization Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: fixing review comment Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: changing module name from invalid_lanelet to no_drivable_lane Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: fixing merge conflict mistakes Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: fixing merge conflict mistakes Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: fixing merge conflicts Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat: removing rtc handing Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> * feat(no_drivable_lane): reflecting refactoring changes to no_drivable_lane Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> --------- Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · May 30, 2023 · 402b2ff · 402b2ff
1 parent 30b422a
commit 402b2ff
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diff --git a/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/..._driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -12,6 +12,7 @@
     launch_run_out: false
     launch_speed_bump: false
     launch_out_of_lane: true
+    launch_no_drivable_lane: false
     forward_path_length: 1000.0
     backward_path_length: 5.0
     stop_line_extend_length: 5.0

diff --git a/...ning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml b/...ning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    no_drivable_lane:
+      stop_margin: 1.5 # Stop margin before the no drivable lane [m]
+      print_debug_info: false
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -58,6 +58,7 @@
     <arg name="run_out_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
     <arg name="speed_bump_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
     <arg name="out_of_lane_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
+    <arg name="no_drivable_lane_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
 
     <!-- parking -->

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1639,6 +1639,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane
                           Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (NoDrivableLane)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane
+                          Value: true
                       Enabled: true
                       Name: VirtualWall
                     - Class: rviz_common/Group
@@ -1909,6 +1921,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance
                           Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: NoDrivableLane
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
+                          Value: false
                       Enabled: false
                       Name: DebugMarker
                     - Class: rviz_common/Group