feat(trajectory_follower): integrate latlon controller (tier4#901)

* feat(trajectory_follower): integrate latlon controller

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* Remove unnecessary throw error

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* update from review comment

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Set steer converged params false

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* Update params of design.md

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

control/pure_pursuit/CMakeLists.txt

@@ -19,18 +19,18 @@ ament_auto_add_library(pure_pursuit_core SHARED
 )
 
 # pure_pursuit
-ament_auto_add_library(pure_pursuit_node SHARED
-  src/pure_pursuit/pure_pursuit_node.cpp
+ament_auto_add_library(pure_pursuit_lateral_controller SHARED
+  src/pure_pursuit/pure_pursuit_lateral_controller.cpp
   src/pure_pursuit/pure_pursuit_viz.cpp
 )
 
-target_link_libraries(pure_pursuit_node
+target_link_libraries(pure_pursuit_lateral_controller
   pure_pursuit_core
 )
 
-rclcpp_components_register_node(pure_pursuit_node
-  PLUGIN "pure_pursuit::PurePursuitNode"
-  EXECUTABLE pure_pursuit_node_exe
+rclcpp_components_register_node(pure_pursuit_lateral_controller
+  PLUGIN "pure_pursuit::PurePursuitLateralController"
+  EXECUTABLE pure_pursuit_lateral_controller_exe
 )
 
 ament_auto_package(INSTALL_TO_SHARE

control/pure_pursuit/config/pure_pursuit.param.yaml

@@ -1,9 +1,7 @@
 /**:
   ros__parameters:
-    # -- system --
-    control_period: 0.033
-
     # -- algorithm --
     lookahead_distance_ratio: 2.2
     min_lookahead_distance: 2.5
     reverse_min_lookahead_distance: 7.0
+    converged_steer_rad: 0.1

control/pure_pursuit/include/pure_pursuit/pure_pursuit_lateral_controller.hpp

@@ -0,0 +1,130 @@
+// 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 2015-2019 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.
+ */
+
+#ifndef PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_
+#define PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_
+
+#include "pure_pursuit/pure_pursuit.hpp"
+#include "pure_pursuit/pure_pursuit_viz.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+#include "tier4_autoware_utils/ros/self_pose_listener.hpp"
+#include "trajectory_follower/lateral_controller_base.hpp"
+
+#include "autoware_auto_control_msgs/msg/ackermann_lateral_command.hpp"
+#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "geometry_msgs/msg/twist_stamped.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+
+#include <boost/optional.hpp>  // To be replaced by std::optional in C++17
+
+#include <memory>
+#include <vector>
+
+using autoware::motion::control::trajectory_follower::InputData;
+using autoware::motion::control::trajectory_follower::LateralControllerBase;
+using autoware::motion::control::trajectory_follower::LateralOutput;
+using autoware_auto_control_msgs::msg::AckermannLateralCommand;
+
+namespace pure_pursuit
+{
+struct Param
+{
+  // Global Parameters
+  double wheel_base;
+
+  // Algorithm Parameters
+  double lookahead_distance_ratio;
+  double min_lookahead_distance;
+  double reverse_min_lookahead_distance;  // min_lookahead_distance in reverse gear
+  double converged_steer_rad_;
+};
+
+struct DebugData
+{
+  geometry_msgs::msg::Point next_target;
+};
+
+class PurePursuitLateralController : public LateralControllerBase
+{
+public:
+  explicit PurePursuitLateralController(rclcpp::Node & node);
+
+private:
+  rclcpp::Node::SharedPtr node_;
+  tier4_autoware_utils::SelfPoseListener self_pose_listener_;
+
+  autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr trajectory_;
+  nav_msgs::msg::Odometry::ConstSharedPtr current_odometry_;
+  autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr current_steering_;
+
+  bool isDataReady();
+
+  void onTrajectory(const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg);
+  void onCurrentOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg);
+
+  // TF
+  tf2_ros::Buffer tf_buffer_;
+  tf2_ros::TransformListener tf_listener_;
+  geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_;
+
+  // Debug Publisher
+  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_debug_marker_;
+
+  void publishDebugMarker() const;
+
+  /**
+   * @brief compute control command for path follow with a constant control period
+   */
+  boost::optional<LateralOutput> run() override;
+  AckermannLateralCommand generateCtrlCmdMsg(const double target_curvature);
+
+  /**
+   * @brief set input data
+   */
+  void setInputData(InputData const & input_data) override;
+
+  // Parameter
+  Param param_;
+
+  // Algorithm
+  std::unique_ptr<PurePursuit> pure_pursuit_;
+
+  boost::optional<double> calcTargetCurvature();
+  boost::optional<autoware_auto_planning_msgs::msg::TrajectoryPoint> calcTargetPoint() const;
+
+  // Debug
+  mutable DebugData debug_data_;
+};
+
+}  // namespace pure_pursuit
+
+#endif  // PURE_PURSUIT__PURE_PURSUIT_LATERAL_CONTROLLER_HPP_

control/pure_pursuit/package.xml

@@ -24,6 +24,7 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
+  <depend>trajectory_follower</depend>
   <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
 

control/pure_pursuit/src/pure_pursuit/pure_pursuit_lateral_controller.cpp

@@ -0,0 +1,216 @@
+// 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 2015-2019 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.
+ */
+
+#include "pure_pursuit/pure_pursuit_lateral_controller.hpp"
+
+#include "pure_pursuit/pure_pursuit_viz.hpp"
+#include "pure_pursuit/util/planning_utils.hpp"
+#include "pure_pursuit/util/tf_utils.hpp"
+
+#include <vehicle_info_util/vehicle_info_util.hpp>
+
+#include <algorithm>
+#include <memory>
+#include <utility>
+
+namespace
+{
+double calcLookaheadDistance(
+  const double velocity, const double lookahead_distance_ratio, const double min_lookahead_distance)
+{
+  const double lookahead_distance = lookahead_distance_ratio * std::abs(velocity);
+  return std::max(lookahead_distance, min_lookahead_distance);
+}
+
+}  // namespace
+
+namespace pure_pursuit
+{
+PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node)
+: node_{&node}, self_pose_listener_(&node), tf_buffer_(node_->get_clock()), tf_listener_(tf_buffer_)
+{
+  pure_pursuit_ = std::make_unique<PurePursuit>();
+
+  // Vehicle Parameters
+  const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*node_).getVehicleInfo();
+  param_.wheel_base = vehicle_info.wheel_base_m;
+
+  // Algorithm Parameters
+  param_.lookahead_distance_ratio =
+    node_->declare_parameter<double>("lookahead_distance_ratio", 2.2);
+  param_.min_lookahead_distance = node_->declare_parameter<double>("min_lookahead_distance", 2.5);
+  param_.reverse_min_lookahead_distance =
+    node_->declare_parameter<double>("reverse_min_lookahead_distance", 7.0);
+  param_.converged_steer_rad_ = node_->declare_parameter<double>("converged_steer_rad", 0.1);
+
+  // Debug Publishers
+  pub_debug_marker_ =
+    node_->create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/markers", 0);
+
+  //  Wait for first current pose
+  tf_utils::waitForTransform(tf_buffer_, "map", "base_link");
+}
+
+bool PurePursuitLateralController::isDataReady()
+{
+  if (!current_odometry_) {
+    RCLCPP_WARN_THROTTLE(
+      node_->get_logger(), *node_->get_clock(), 5000, "waiting for current_odometry...");
+    return false;
+  }
+
+  if (!trajectory_) {
+    RCLCPP_WARN_THROTTLE(
+      node_->get_logger(), *node_->get_clock(), 5000, "waiting for trajectory...");
+    return false;
+  }
+
+  if (!current_pose_) {
+    RCLCPP_WARN_THROTTLE(
+      node_->get_logger(), *node_->get_clock(), 5000, "waiting for current_pose...");
+    return false;
+  }
+
+  return true;
+}
+
+void PurePursuitLateralController::setInputData(InputData const & input_data)
+{
+  trajectory_ = input_data.current_trajectory_ptr;
+  current_odometry_ = input_data.current_odometry_ptr;
+  current_steering_ = input_data.current_steering_ptr;
+}
+
+boost::optional<LateralOutput> PurePursuitLateralController::run()
+{
+  current_pose_ = self_pose_listener_.getCurrentPose();
+  if (!isDataReady()) {
+    return boost::none;
+  }
+
+  const auto target_curvature = calcTargetCurvature();
+  AckermannLateralCommand cmd_msg;
+  if (target_curvature) {
+    cmd_msg = generateCtrlCmdMsg(*target_curvature);
+    publishDebugMarker();
+  } else {
+    RCLCPP_WARN_THROTTLE(
+      node_->get_logger(), *node_->get_clock(), 5000, "failed to solve pure_pursuit");
+    cmd_msg = generateCtrlCmdMsg({0.0});
+  }
+
+  LateralOutput output;
+  output.control_cmd = cmd_msg;
+  output.sync_data.is_steer_converged =
+    std::abs(cmd_msg.steering_tire_angle - current_steering_->steering_tire_angle) <
+    static_cast<float>(param_.converged_steer_rad_);
+  return output;
+}
+
+AckermannLateralCommand PurePursuitLateralController::generateCtrlCmdMsg(
+  const double target_curvature)
+{
+  AckermannLateralCommand cmd;
+  cmd.stamp = node_->get_clock()->now();
+  cmd.steering_tire_angle =
+    planning_utils::convertCurvatureToSteeringAngle(param_.wheel_base, target_curvature);
+  // pub_ctrl_cmd_->publish(cmd);
+  return cmd;
+}
+
+void PurePursuitLateralController::publishDebugMarker() const
+{
+  visualization_msgs::msg::MarkerArray marker_array;
+
+  marker_array.markers.push_back(createNextTargetMarker(debug_data_.next_target));
+  marker_array.markers.push_back(
+    createTrajectoryCircleMarker(debug_data_.next_target, current_pose_->pose));
+
+  pub_debug_marker_->publish(marker_array);
+}
+
+boost::optional<double> PurePursuitLateralController::calcTargetCurvature()
+{
+  // Ignore invalid trajectory
+  if (trajectory_->points.size() < 3) {
+    RCLCPP_WARN_THROTTLE(
+      node_->get_logger(), *node_->get_clock(), 5000, "received path size is < 3, ignored");
+    return {};
+  }
+
+  // Calculate target point for velocity/acceleration
+  const auto target_point = calcTargetPoint();
+  if (!target_point) {
+    return {};
+  }
+
+  const double target_vel = target_point->longitudinal_velocity_mps;
+
+  // Calculate lookahead distance
+  const bool is_reverse = (target_vel < 0);
+  const double min_lookahead_distance =
+    is_reverse ? param_.reverse_min_lookahead_distance : param_.min_lookahead_distance;
+  const double lookahead_distance = calcLookaheadDistance(
+    current_odometry_->twist.twist.linear.x, param_.lookahead_distance_ratio,
+    min_lookahead_distance);
+
+  // Set PurePursuit data
+  pure_pursuit_->setCurrentPose(current_pose_->pose);
+  pure_pursuit_->setWaypoints(planning_utils::extractPoses(*trajectory_));
+  pure_pursuit_->setLookaheadDistance(lookahead_distance);
+
+  // Run PurePursuit
+  const auto pure_pursuit_result = pure_pursuit_->run();
+  if (!pure_pursuit_result.first) {
+    return {};
+  }
+
+  const auto kappa = pure_pursuit_result.second;
+
+  // Set debug data
+  debug_data_.next_target = pure_pursuit_->getLocationOfNextTarget();
+
+  return kappa;
+}
+
+boost::optional<autoware_auto_planning_msgs::msg::TrajectoryPoint>
+PurePursuitLateralController::calcTargetPoint() const
+{
+  const auto closest_idx_result = planning_utils::findClosestIdxWithDistAngThr(
+    planning_utils::extractPoses(*trajectory_), current_pose_->pose, 3.0, M_PI_4);
+
+  if (!closest_idx_result.first) {
+    RCLCPP_ERROR(node_->get_logger(), "cannot find closest waypoint");
+    return {};
+  }
+
+  return trajectory_->points.at(closest_idx_result.second);
+}
+}  // namespace pure_pursuit