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feat(simple_planning_simulator): add initial twist for debug purpose #2268

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merged 2 commits into from
Dec 5, 2022
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feat(simple_planning_simulator): add initial twist for debug purpose #2268

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feat(simple_planning_simulator): add initial twist for debug purpose
TakaHoribe Nov 11, 2022
ef1f8cd
Merge branch 'main' into add-initial-twist-simple-sim
TakaHoribe Dec 5, 2022
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10 changes: 10 additions & 0 deletions ...e_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@
#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "tier4_external_api_msgs/srv/initialize_pose.hpp"

Expand Down Expand Up @@ -79,6 +80,7 @@ using geometry_msgs::msg::PoseStamped;
using geometry_msgs::msg::PoseWithCovarianceStamped;
using geometry_msgs::msg::TransformStamped;
using geometry_msgs::msg::Twist;
using geometry_msgs::msg::TwistStamped;
using nav_msgs::msg::Odometry;
using tier4_external_api_msgs::srv::InitializePose;

Expand Down Expand Up @@ -139,6 +141,7 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
rclcpp::Subscription<AckermannControlCommand>::SharedPtr sub_ackermann_cmd_;
rclcpp::Subscription<AckermannControlCommand>::SharedPtr sub_manual_ackermann_cmd_;
rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr sub_init_pose_;
rclcpp::Subscription<TwistStamped>::SharedPtr sub_init_twist_;
rclcpp::Subscription<Trajectory>::SharedPtr sub_trajectory_;
rclcpp::Subscription<Engage>::SharedPtr sub_engage_;

Expand All @@ -159,6 +162,8 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
tf2_ros::TransformListener tf_listener_;

/* received & published topics */
PoseWithCovarianceStamped::ConstSharedPtr initial_pose_;
TwistStamped initial_twist_;
VelocityReport current_velocity_;
Odometry current_odometry_;
SteeringReport current_steer_;
Expand Down Expand Up @@ -223,6 +228,11 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
*/
void on_initialpose(const PoseWithCovarianceStamped::ConstSharedPtr msg);

/**
* @brief set initial twist for simulation with received message
*/
void on_initialtwist(const TwistStamped::ConstSharedPtr msg);

/**
* @brief set initial pose for simulation with received request
*/
Expand Down
15 changes: 15 additions & 0 deletions ...imple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
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Expand Up @@ -87,6 +87,8 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt

sub_init_pose_ = create_subscription<PoseWithCovarianceStamped>(
"input/initialpose", QoS{1}, std::bind(&SimplePlanningSimulator::on_initialpose, this, _1));
sub_init_twist_ = create_subscription<TwistStamped>(
"input/initialtwist", QoS{1}, std::bind(&SimplePlanningSimulator::on_initialtwist, this, _1));
sub_ackermann_cmd_ = create_subscription<AckermannControlCommand>(
"input/ackermann_control_command", QoS{1},
[this](const AckermannControlCommand::SharedPtr msg) { current_ackermann_cmd_ = *msg; });
Expand Down Expand Up @@ -312,6 +314,19 @@ void SimplePlanningSimulator::on_initialpose(const PoseWithCovarianceStamped::Co
initial_pose.header = msg->header;
initial_pose.pose = msg->pose.pose;
set_initial_state_with_transform(initial_pose, initial_twist);

initial_pose_ = msg;
}

void SimplePlanningSimulator::on_initialtwist(const TwistStamped::ConstSharedPtr msg)
{
if (!initial_pose_) return;

PoseStamped initial_pose;
initial_pose.header = initial_pose_->header;
initial_pose.pose = initial_pose_->pose.pose;
set_initial_state_with_transform(initial_pose, msg->twist);
initial_twist_ = *msg;
}

void SimplePlanningSimulator::on_set_pose(
Expand Down