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fix(autonomous_emergency_braking): fix imu tranform to base_link #3812

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merged 3 commits into from
May 25, 2023
Merged

fix(autonomous_emergency_braking): fix imu tranform to base_link #3812

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1078d2f
fix(autonomous_emergency_braking): fix imu tranform to base_link
h-ohta May 25, 2023
051cab6
Merge branch 'main' into fix/imu_tf_base_link
h-ohta May 25, 2023
76e13ff
ci(pre-commit): autofix
pre-commit-ci[bot] May 25, 2023
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4 changes: 3 additions & 1 deletion control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
#include <autoware_auto_system_msgs/msg/autoware_state.hpp>
#include <autoware_auto_vehicle_msgs/msg/velocity_report.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
Expand Down Expand Up @@ -60,6 +61,7 @@ using vehicle_info_util::VehicleInfo;
using visualization_msgs::msg::Marker;
using visualization_msgs::msg::MarkerArray;
using Path = std::vector<geometry_msgs::msg::Pose>;
using Vector3 = geometry_msgs::msg::Vector3;

struct ObjectData
{
Expand Down Expand Up @@ -155,7 +157,7 @@ class AEB : public rclcpp::Node

PointCloud2::SharedPtr obstacle_ros_pointcloud_ptr_{nullptr};
VelocityReport::ConstSharedPtr current_velocity_ptr_{nullptr};
Imu::ConstSharedPtr imu_ptr_{nullptr};
Vector3::SharedPtr angular_velocity_ptr_{nullptr};
Trajectory::ConstSharedPtr predicted_traj_ptr_{nullptr};
AutowareState::ConstSharedPtr autoware_state_{nullptr};

Expand Down
20 changes: 17 additions & 3 deletions control/autonomous_emergency_braking/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -154,7 +154,21 @@ void AEB::onVelocity(const VelocityReport::ConstSharedPtr input_msg)

void AEB::onImu(const Imu::ConstSharedPtr input_msg)
{
imu_ptr_ = input_msg;
// transform imu
geometry_msgs::msg::TransformStamped transform_stamped{};
try {
transform_stamped = tf_buffer_.lookupTransform(
"base_link", input_msg->header.frame_id, input_msg->header.stamp,
rclcpp::Duration::from_seconds(0.5));
} catch (tf2::TransformException & ex) {
RCLCPP_ERROR_STREAM(
get_logger(),
"[AEB] Failed to look up transform from base_link to" << input_msg->header.frame_id);
return;
}

angular_velocity_ptr_ = std::make_shared<Vector3>();
tf2::doTransform(input_msg->angular_velocity, *angular_velocity_ptr_, transform_stamped);
}

void AEB::onPredictedTrajectory(
Expand Down Expand Up @@ -225,7 +239,7 @@ bool AEB::isDataReady()
return missing("object pointcloud");
}

if (use_imu_path_ && !imu_ptr_) {
if (use_imu_path_ && !angular_velocity_ptr_) {
return missing("imu");
}

Expand Down Expand Up @@ -286,7 +300,7 @@ bool AEB::checkCollision(MarkerArray & debug_markers)
if (use_imu_path_) {
Path ego_path;
std::vector<Polygon2d> ego_polys;
const double current_w = imu_ptr_->angular_velocity.z;
const double current_w = angular_velocity_ptr_->z;
constexpr double color_r = 0.0 / 256.0;
constexpr double color_g = 148.0 / 256.0;
constexpr double color_b = 205.0 / 256.0;
Expand Down