From 9f5837ffcd8246fa8f9a377c23d2d0e7b1251346 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Mon, 9 May 2022 11:10:17 +0900 Subject: [PATCH 01/30] fix(behavior_velocity): avoid insert same point on trajectory utils (#834) Signed-off-by: tanaka3 --- .../include/utilization/trajectory_utils.hpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp b/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp index 93b3d9c3d9617..729af3099f814 100644 --- a/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp +++ b/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp @@ -91,7 +91,7 @@ inline Quaternion lerpOrientation( * @param [in] point Interpolated point is nearest to this point. */ template -TrajectoryPointWithIdx getLerpTrajectoryPointWithIdx( +boost::optional getLerpTrajectoryPointWithIdx( const T & points, const geometry_msgs::msg::Point & point) { TrajectoryPoint interpolated_point; @@ -100,7 +100,9 @@ TrajectoryPointWithIdx getLerpTrajectoryPointWithIdx( tier4_autoware_utils::calcLongitudinalOffsetToSegment(points, nearest_seg_idx, point); const double len_segment = tier4_autoware_utils::calcSignedArcLength(points, nearest_seg_idx, nearest_seg_idx + 1); - const double interpolate_ratio = std::clamp(len_to_interpolated / len_segment, 0.0, 1.0); + const double ratio = len_to_interpolated / len_segment; + if (ratio <= 0.0 || 1.0 <= ratio) return boost::none; + const double interpolate_ratio = std::clamp(ratio, 0.0, 1.0); { const size_t i = nearest_seg_idx; const auto & pos0 = points.at(i).pose.position; @@ -154,14 +156,15 @@ inline bool smoothPath( // calc ego internal division point on path const auto traj_with_ego_point_with_idx = getLerpTrajectoryPointWithIdx(*traj_lateral_acc_filtered, current_pose.position); - TrajectoryPoint ego_point_on_path = traj_with_ego_point_with_idx.first; - const size_t nearest_seg_idx = traj_with_ego_point_with_idx.second; + if (traj_with_ego_point_with_idx == boost::none) return false; + TrajectoryPoint ego_point_on_path = traj_with_ego_point_with_idx->first; + const size_t nearest_seg_idx = traj_with_ego_point_with_idx->second; //! insert ego projected pose on path so new nearest segment will be nearest_seg_idx + 1 traj_with_ego_point_on_path.insert( traj_with_ego_point_on_path.begin() + nearest_seg_idx, ego_point_on_path); // ego point inserted is new nearest point - nearest_idx = traj_with_ego_point_with_idx.second + 1; + nearest_idx = nearest_seg_idx + 1; } // Resample trajectory with ego-velocity based interval distances auto traj_resampled = smoother->resampleTrajectory(traj_with_ego_point_on_path, v0, nearest_idx); @@ -182,6 +185,7 @@ inline bool smoothPath( traj_smoothed.insert( traj_smoothed.begin(), traj_resampled->begin(), traj_resampled->begin() + *traj_resampled_closest); + out_path = convertTrajectoryPointsToPath(traj_smoothed); return true; } From 69fc674ae3d0f668183b1661fd3dbc0843253a73 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 9 May 2022 11:59:02 +0900 Subject: [PATCH 02/30] refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855) Signed-off-by: Kenji Miyake --- .../behavior_velocity_planner/CMakeLists.txt | 296 ++---------------- 1 file changed, 27 insertions(+), 269 deletions(-) diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt index 6acaa54b6481b..47f6f999ecb08 100644 --- a/planning/behavior_velocity_planner/CMakeLists.txt +++ b/planning/behavior_velocity_planner/CMakeLists.txt @@ -11,292 +11,50 @@ find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED COMPONENTS common) find_package(OpenCV REQUIRED) -set(BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES - tier4_api_msgs - autoware_auto_perception_msgs - autoware_auto_planning_msgs - tier4_planning_msgs - tier4_autoware_utils - Boost - Eigen3 - diagnostic_msgs - geometry_msgs - lanelet2_extension - PCL - pcl_conversions - rclcpp - sensor_msgs - interpolation - tf2 - tf2_eigen - tf2_geometry_msgs - tf2_ros - vehicle_info_util - visualization_msgs - nav_msgs - grid_map_ros -) +set(scene_modules + detection_area + blind_spot + stop_line + crosswalk + traffic_light + intersection + no_stopping_area + virtual_traffic_light + occlusion_spot +) + +foreach(scene_module IN LISTS scene_modules) + file(GLOB_RECURSE scene_module_src "src/scene_module/${scene_module}/*") + list(APPEND scene_modules_src ${scene_module_src}) +endforeach() - -# Common -ament_auto_add_library(scene_module_lib SHARED +ament_auto_add_library(behavior_velocity_planner SHARED + src/node.cpp + src/planner_manager.cpp src/utilization/path_utilization.cpp src/utilization/util.cpp + ${scene_modules_src} ) -target_include_directories(scene_module_lib +target_include_directories(behavior_velocity_planner SYSTEM PUBLIC ${BOOST_INCLUDE_DIRS} - ${tf2_geometry_msgs_INCLUDE_DIRS} -) - -target_include_directories(scene_module_lib - PUBLIC - $ - $ -) - -target_include_directories(scene_module_lib - SYSTEM PUBLIC ${PCL_INCLUDE_DIRS} -) - -ament_target_dependencies(scene_module_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -# Scene Module: Stop Line -ament_auto_add_library(scene_module_stop_line SHARED - src/scene_module/stop_line/manager.cpp - src/scene_module/stop_line/scene.cpp - src/scene_module/stop_line/debug.cpp -) - -target_include_directories(scene_module_stop_line - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_stop_line ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_stop_line scene_module_lib) - -# Scene Module: Crosswalk -ament_auto_add_library(scene_module_crosswalk SHARED - src/scene_module/crosswalk/manager.cpp - src/scene_module/crosswalk/scene_crosswalk.cpp - src/scene_module/crosswalk/scene_walkway.cpp - src/scene_module/crosswalk/debug.cpp - src/scene_module/crosswalk/util.cpp -) - -target_include_directories(scene_module_crosswalk - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_crosswalk ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_crosswalk scene_module_lib) - -# Scene Module: Intersection -ament_auto_add_library(scene_module_intersection SHARED - src/scene_module/intersection/manager.cpp - src/scene_module/intersection/scene_intersection.cpp - src/scene_module/intersection/scene_merge_from_private_road.cpp - src/scene_module/intersection/debug.cpp - src/scene_module/intersection/util.cpp -) - -target_include_directories(scene_module_intersection - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_intersection ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_intersection scene_module_lib) - -# Scene Module: Traffic Light -ament_auto_add_library(scene_module_traffic_light SHARED - src/scene_module/traffic_light/manager.cpp - src/scene_module/traffic_light/scene.cpp - src/scene_module/traffic_light/debug.cpp -) - -target_include_directories(scene_module_traffic_light - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_traffic_light scene_module_lib) - -# Scene Module: Blind Spot -ament_auto_add_library(scene_module_blind_spot SHARED - src/scene_module/blind_spot/manager.cpp - src/scene_module/blind_spot/scene.cpp - src/scene_module/blind_spot/debug.cpp -) - -target_include_directories(scene_module_blind_spot - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_blind_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_blind_spot scene_module_lib) - -# Scene Module: Detection Area -ament_auto_add_library(scene_module_detection_area SHARED - src/scene_module/detection_area/manager.cpp - src/scene_module/detection_area/scene.cpp - src/scene_module/detection_area/debug.cpp -) - -target_include_directories(scene_module_detection_area - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_detection_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_detection_area scene_module_lib) - -# Scene Module: No Stopping Area -ament_auto_add_library(scene_module_no_stopping_area SHARED - src/scene_module/no_stopping_area/manager.cpp - src/scene_module/no_stopping_area/scene_no_stopping_area.cpp - src/scene_module/no_stopping_area/debug.cpp -) - -target_include_directories(scene_module_no_stopping_area - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_no_stopping_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_no_stopping_area scene_module_lib) - -# Scene Module: Virtual Traffic Light -ament_auto_add_library(scene_module_virtual_traffic_light SHARED - src/scene_module/virtual_traffic_light/manager.cpp - src/scene_module/virtual_traffic_light/scene.cpp - src/scene_module/virtual_traffic_light/debug.cpp -) - -target_include_directories(scene_module_virtual_traffic_light - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_virtual_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_virtual_traffic_light scene_module_lib) - -# SceneModule OcclusionSpot -# Util -ament_auto_add_library(occlusion_spot_lib SHARED - src/scene_module/occlusion_spot/grid_utils.cpp - src/scene_module/occlusion_spot/occlusion_spot_utils.cpp - src/scene_module/occlusion_spot/risk_predictive_braking.cpp -) - -target_include_directories(occlusion_spot_lib - SYSTEM PUBLIC - ${BOOST_INCLUDE_DIRS} ${tf2_geometry_msgs_INCLUDE_DIRS} ) -target_include_directories(occlusion_spot_lib - PUBLIC - $ - $ -) - -ament_target_dependencies(occlusion_spot_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -ament_auto_add_library(scene_module_occlusion_spot SHARED - src/scene_module/occlusion_spot/manager.cpp - src/scene_module/occlusion_spot/debug.cpp - src/scene_module/occlusion_spot/scene_occlusion_spot.cpp -) - -target_include_directories(scene_module_occlusion_spot - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_occlusion_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_occlusion_spot scene_module_lib occlusion_spot_lib) - -# Scene Module Manager -ament_auto_add_library(scene_module_manager SHARED - src/planner_manager.cpp -) - -target_include_directories(scene_module_manager - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_manager ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_manager scene_module_lib) - -# Node -ament_auto_add_library(behavior_velocity_planner SHARED - src/node.cpp -) - -target_include_directories(behavior_velocity_planner - PUBLIC - $ - $ -) - -ament_target_dependencies(behavior_velocity_planner ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(behavior_velocity_planner - scene_module_lib - scene_module_stop_line - scene_module_crosswalk - scene_module_intersection - scene_module_traffic_light - scene_module_blind_spot - scene_module_occlusion_spot - scene_module_detection_area - scene_module_no_stopping_area - scene_module_virtual_traffic_light - scene_module_manager +ament_target_dependencies(behavior_velocity_planner + Boost + Eigen3 + PCL ) -ament_export_dependencies(${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - rclcpp_components_register_node(behavior_velocity_planner PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode" EXECUTABLE behavior_velocity_planner_node ) - if(BUILD_TESTING) - # utils for test - ament_auto_add_library(utilization SHARED - src/utilization/util.cpp - ) - # Gtest for utilization ament_add_gtest(utilization-test test/src/test_state_machine.cpp @@ -305,7 +63,7 @@ if(BUILD_TESTING) ) target_link_libraries(utilization-test gtest_main - utilization + behavior_velocity_planner ) # Gtest for occlusion spot @@ -316,7 +74,7 @@ if(BUILD_TESTING) ) target_link_libraries(occlusion_spot-test gtest_main - scene_module_occlusion_spot + behavior_velocity_planner ) endif() From 063a95d3f9c88e3e4fe69c4adf8be2c0d3be2a81 Mon Sep 17 00:00:00 2001 From: Shark <71419791+Sharrrrk@users.noreply.github.com> Date: Mon, 9 May 2022 11:31:50 +0800 Subject: [PATCH 03/30] fix(system_monitor): fix build error on tegra platform (#869) * fix(system_monitor): fix build error on tegra platform Signed-off-by: Shark Liu * ci(pre-commit): autofix * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp Co-authored-by: Shark Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> --- system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp b/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp index a9ae72321efd1..8da0d071de582 100644 --- a/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp +++ b/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp @@ -127,8 +127,10 @@ void GPUMonitor::checkUsage(diagnostic_updater::DiagnosticStatusWrapper & stat) } } -void GPUMonitor::checkThrottling(diagnostic_updater::DiagnosticStatusWrapper & stat) +void GPUMonitor::checkThrottling( + [[maybe_unused]] diagnostic_updater::DiagnosticStatusWrapper & stat) { + // Please remove the [[maybe_unused]] tag after implementation, it's a temp build fix // TODO(Fumihito Ito): implement me } From 35a1f0a28b141491997e342b25153998bbc4f56e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 9 May 2022 14:07:00 +0900 Subject: [PATCH 04/30] feat(ad_service_state_monitor): limit odometry buffer size (#514) * feat(ad_service_state_monitor): limit odometry buffer size 40 Signed-off-by: Takayuki Murooka * Update system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update ad_service_state_monitor_node.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .../ad_service_state_monitor_node.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp index e5a59692983ca..076f8d3a9f399 100644 --- a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp +++ b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp @@ -120,6 +120,11 @@ void AutowareStateMonitorNode::onOdometry(const nav_msgs::msg::Odometry::ConstSh state_input_.odometry_buffer.pop_front(); } + + constexpr size_t odometry_buffer_size = 200; // 40Hz * 5sec + if (state_input_.odometry_buffer.size() > odometry_buffer_size) { + state_input_.odometry_buffer.pop_front(); + } } bool AutowareStateMonitorNode::onShutdownService( From 82c6ad85bc0193021f94a28c4ce16c99525d5090 Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Mon, 9 May 2022 17:53:57 +0900 Subject: [PATCH 05/30] docs: fix 404 error caused by typo in url (#871) * docs: fix 404 error caused by typo in url Signed-off-by: Shin-kyoto * docs: fix typo in url for yolov4 Signed-off-by: Shin-kyoto --- perception/tensorrt_yolo/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/perception/tensorrt_yolo/README.md b/perception/tensorrt_yolo/README.md index 5dfae272f143a..5811fa88a6b7a 100644 --- a/perception/tensorrt_yolo/README.md +++ b/perception/tensorrt_yolo/README.md @@ -72,15 +72,15 @@ This package includes multiple licenses. ### YOLOv4 -[YOLOv4](https://drive.google.com//uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX "YOLOv4"): Converted from darknet [weight file](https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights "weight file") and [conf file](https://github.com/AlexeyAB/darknet/blob/master/cfg/yolov4.cfg "conf file"). +[YOLOv4](https://drive.google.com/uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX "YOLOv4"): Converted from darknet [weight file](https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights "weight file") and [conf file](https://github.com/AlexeyAB/darknet/blob/master/cfg/yolov4.cfg "conf file"). ### YOLOv5 Refer to [this guide](https://github.com/ultralytics/yolov5/issues/251 "guide") -- [YOLOv5s](https://drive.google.com//uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad "YOLOv5s") +- [YOLOv5s](https://drive.google.com/uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad "YOLOv5s") -- [YOLOv5m](https://drive.google.com//uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG "YOLOv5m") +- [YOLOv5m](https://drive.google.com/uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG "YOLOv5m") - [YOLOv5l](https://drive.google.com/uc?id=1xO8S92Cq7qrmx93UHHyA7Cd7-dJsBDP8 "YOLOv5l") From a7118b62a065c02a70266a2dda3e4b296ccad886 Mon Sep 17 00:00:00 2001 From: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> Date: Mon, 9 May 2022 17:15:57 +0800 Subject: [PATCH 06/30] fix(image_projection_based_fusion): set imagebuffersize (#820) * fix: set imagebuffersize configured Signed-off-by: suchang * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/image_projection_based_fusion/debugger.hpp | 5 +++-- .../launch/roi_cluster_fusion.launch.xml | 2 ++ .../launch/roi_detected_object_fusion.launch.xml | 2 ++ perception/image_projection_based_fusion/src/debugger.cpp | 7 +++++-- .../image_projection_based_fusion/src/fusion_node.cpp | 4 +++- 5 files changed, 15 insertions(+), 5 deletions(-) diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp index ff790894658ec..9ecd336818b59 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp @@ -38,7 +38,8 @@ using sensor_msgs::msg::RegionOfInterest; class Debugger { public: - explicit Debugger(rclcpp::Node * node_ptr, const std::size_t image_num); + explicit Debugger( + rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size); void publishImage(const std::size_t image_id, const rclcpp::Time & stamp); @@ -57,7 +58,7 @@ class Debugger std::vector image_subs_; std::vector image_pubs_; std::vector> image_buffers_; - std::size_t image_buffer_size{5}; + std::size_t image_buffer_size_; }; } // namespace image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml index 8fe94963ff8ca..e5824dfcff97f 100644 --- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml @@ -24,6 +24,7 @@ + @@ -70,6 +71,7 @@ + diff --git a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml index f6466e6512a09..be981478e78a2 100644 --- a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml @@ -24,6 +24,7 @@ + @@ -70,6 +71,7 @@ + diff --git a/perception/image_projection_based_fusion/src/debugger.cpp b/perception/image_projection_based_fusion/src/debugger.cpp index e1254fc136304..0bcfb019d93df 100644 --- a/perception/image_projection_based_fusion/src/debugger.cpp +++ b/perception/image_projection_based_fusion/src/debugger.cpp @@ -34,9 +34,12 @@ void drawRoiOnImage( namespace image_projection_based_fusion { -Debugger::Debugger(rclcpp::Node * node_ptr, const std::size_t image_num) : node_ptr_(node_ptr) +Debugger::Debugger( + rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size) +: node_ptr_(node_ptr) { image_buffers_.resize(image_num); + image_buffer_size_ = image_buffer_size; for (std::size_t img_i = 0; img_i < image_num; ++img_i) { auto sub = image_transport::create_subscription( node_ptr, "input/image_raw" + std::to_string(img_i), @@ -54,7 +57,7 @@ Debugger::Debugger(rclcpp::Node * node_ptr, const std::size_t image_num) : node_ auto pub = image_transport::create_publisher(node_ptr, "output/image_raw" + std::to_string(img_i)); image_pubs_.push_back(pub); - image_buffers_.at(img_i).set_capacity(image_buffer_size); + image_buffers_.at(img_i).set_capacity(image_buffer_size_); } } diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp index 57ed245f67bd7..5d33303ca1bf9 100644 --- a/perception/image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/image_projection_based_fusion/src/fusion_node.cpp @@ -127,7 +127,9 @@ FusionNode::FusionNode(const std::string & node_name, const rclcpp::NodeOpt // debugger if (declare_parameter("debug_mode", false)) { - debugger_ = std::make_shared(this, rois_number_); + std::size_t image_buffer_size = + static_cast(declare_parameter("image_buffer_size", 15)); + debugger_ = std::make_shared(this, rois_number_, image_buffer_size); } } From 880967342402c09f33615805ffe8a1e12360c930 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 9 May 2022 19:18:23 +0900 Subject: [PATCH 07/30] chore(avoidance_module): fix spell check (#732) Signed-off-by: Muhammad Zulfaqar Azmi --- .../scene_module/avoidance/debug.hpp | 2 +- .../src/scene_module/avoidance/avoidance_module.cpp | 8 ++++---- .../src/scene_module/avoidance/debug.cpp | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp index edfb7d7f84d71..d3f8f80606784 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp @@ -93,7 +93,7 @@ MarkerArray createPoseMarkerArray( MarkerArray makeOverhangToRoadShoulderMarkerArray( const behavior_path_planner::ObjectDataArray & objects); -MarkerArray createOvehangFurthestLineStringMarkerArray( +MarkerArray createOverhangFurthestLineStringMarkerArray( const lanelet::ConstLineStrings3d & linestrings, const std::string & ns, const double r, const double g, const double b); diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index b03282c735ece..876e5fc3112c3 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -1939,8 +1939,8 @@ void AvoidanceModule::modifyPathVelocityToPreventAccelerationOnAvoidance(Shifted std::sqrt(v0 * v0 + 2.0 * s * parameters_.max_avoidance_acceleration)); // apply velocity limit - constexpr size_t VLIM_APPLY_IDX_MARGIN = 0; - for (size_t i = ego_idx + VLIM_APPLY_IDX_MARGIN; i < N; ++i) { + constexpr size_t V_LIM_APPLY_IDX_MARGIN = 0; + for (size_t i = ego_idx + V_LIM_APPLY_IDX_MARGIN; i < N; ++i) { path.path.points.at(i).point.longitudinal_velocity_mps = std::min(path.path.points.at(i).point.longitudinal_velocity_mps, static_cast(vmax)); } @@ -2619,7 +2619,7 @@ void AvoidanceModule::setDebugData(const PathShifter & shifter, const DebugData using marker_utils::createAvoidPointMarkerArray; using marker_utils::createLaneletsAreaMarkerArray; using marker_utils::createObjectsMarkerArray; - using marker_utils::createOvehangFurthestLineStringMarkerArray; + using marker_utils::createOverhangFurthestLineStringMarkerArray; using marker_utils::createPathMarkerArray; using marker_utils::createPoseMarkerArray; using marker_utils::createShiftLengthMarkerArray; @@ -2652,7 +2652,7 @@ void AvoidanceModule::setDebugData(const PathShifter & shifter, const DebugData add(createLaneletsAreaMarkerArray(*debug.expanded_lanelets, "expanded_lanelet", 0.8, 0.8, 0.0)); add(createAvoidanceObjectsMarkerArray(avoidance_data_.objects, "avoidance_object")); add(makeOverhangToRoadShoulderMarkerArray(avoidance_data_.objects)); - add(createOvehangFurthestLineStringMarkerArray( + add(createOverhangFurthestLineStringMarkerArray( *debug.farthest_linestring_from_overhang, "farthest_linestring_from_overhang", 1.0, 0.0, 1.0)); // parent object info diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp index d7c3b1325f7dc..88c8d102bd00c 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp @@ -512,7 +512,7 @@ MarkerArray makeOverhangToRoadShoulderMarkerArray( return msg; } -MarkerArray createOvehangFurthestLineStringMarkerArray( +MarkerArray createOverhangFurthestLineStringMarkerArray( const lanelet::ConstLineStrings3d & linestrings, const std::string & ns, const double r, const double g, const double b) { From cc43203bc87745624b6185ef73b783f42170e8c9 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 9 May 2022 21:08:53 +0900 Subject: [PATCH 08/30] feat: isolate gtests in all packages (#693) Signed-off-by: Maxime CLEMENT --- common/autoware_auto_common/CMakeLists.txt | 2 +- common/autoware_auto_common/package.xml | 2 +- common/autoware_auto_geometry/CMakeLists.txt | 2 +- common/autoware_auto_geometry/package.xml | 2 +- common/autoware_auto_tf2/CMakeLists.txt | 2 +- common/autoware_auto_tf2/package.xml | 2 +- common/autoware_point_types/CMakeLists.txt | 2 +- common/autoware_point_types/package.xml | 2 +- common/fake_test_node/CMakeLists.txt | 2 +- common/fake_test_node/package.xml | 2 +- common/had_map_utils/package.xml | 2 +- common/interpolation/CMakeLists.txt | 2 +- common/interpolation/package.xml | 2 +- common/motion_testing/CMakeLists.txt | 2 +- common/motion_testing/package.xml | 2 +- common/osqp_interface/CMakeLists.txt | 2 +- common/osqp_interface/package.xml | 2 +- common/signal_processing/CMakeLists.txt | 2 +- common/signal_processing/package.xml | 2 +- common/tier4_api_utils/CMakeLists.txt | 2 +- common/tier4_api_utils/package.xml | 2 +- common/tier4_autoware_utils/CMakeLists.txt | 4 ++-- common/tier4_autoware_utils/package.xml | 2 +- common/time_utils/package.xml | 2 +- common/vehicle_constants_manager/CMakeLists.txt | 2 +- common/vehicle_constants_manager/package.xml | 2 +- control/trajectory_follower/CMakeLists.txt | 4 ++-- control/trajectory_follower/package.xml | 2 +- control/vehicle_cmd_gate/CMakeLists.txt | 2 +- control/vehicle_cmd_gate/package.xml | 2 +- localization/ekf_localizer/CMakeLists.txt | 4 ++-- localization/ekf_localizer/package.xml | 2 +- localization/stop_filter/package.xml | 2 +- map/lanelet2_extension/CMakeLists.txt | 10 +++++----- map/lanelet2_extension/package.xml | 2 +- .../detected_object_feature_remover/package.xml | 2 +- planning/behavior_velocity_planner/CMakeLists.txt | 4 ++-- planning/behavior_velocity_planner/package.xml | 2 +- planning/costmap_generator/CMakeLists.txt | 2 +- planning/costmap_generator/package.xml | 2 +- .../freespace_planning_algorithms/CMakeLists.txt | 4 ++-- planning/freespace_planning_algorithms/package.xml | 2 +- planning/planning_error_monitor/CMakeLists.txt | 2 +- planning/planning_error_monitor/package.xml | 2 +- planning/planning_evaluator/CMakeLists.txt | 2 +- planning/planning_evaluator/package.xml | 2 +- .../dummy_perception_publisher/CMakeLists.txt | 2 +- simulator/dummy_perception_publisher/package.xml | 1 + simulator/fault_injection/CMakeLists.txt | 2 +- simulator/fault_injection/package.xml | 2 +- simulator/simple_planning_simulator/CMakeLists.txt | 2 +- simulator/simple_planning_simulator/package.xml | 2 +- system/system_monitor/CMakeLists.txt | 14 +++++++------- system/system_monitor/package.xml | 2 +- vehicle/raw_vehicle_cmd_converter/CMakeLists.txt | 2 +- vehicle/raw_vehicle_cmd_converter/package.xml | 2 +- 56 files changed, 71 insertions(+), 70 deletions(-) diff --git a/common/autoware_auto_common/CMakeLists.txt b/common/autoware_auto_common/CMakeLists.txt index 4f7846c89eb72..b0957ad726856 100644 --- a/common/autoware_auto_common/CMakeLists.txt +++ b/common/autoware_auto_common/CMakeLists.txt @@ -9,7 +9,7 @@ include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR}) if(BUILD_TESTING) set(TEST_COMMON test_common_gtest) - ament_add_gtest(${TEST_COMMON} + ament_add_ros_isolated_gtest(${TEST_COMMON} test/gtest_main.cpp test/test_bool_comparisons.cpp test/test_byte_reader.cpp diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index dca22e9b29ea3..17d666e2273e6 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -14,7 +14,7 @@ builtin_interfaces eigen - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common geometry_msgs diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt index 0e964e3b064a2..454e0e7ef044f 100644 --- a/common/autoware_auto_geometry/CMakeLists.txt +++ b/common/autoware_auto_geometry/CMakeLists.txt @@ -23,7 +23,7 @@ if(BUILD_TESTING) test/src/test_common_2d.cpp test/src/test_intersection.cpp ) - ament_add_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC}) + ament_add_ros_isolated_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC}) target_compile_options(${GEOMETRY_GTEST} PRIVATE -Wno-conversion -Wno-sign-conversion) target_include_directories(${GEOMETRY_GTEST} PRIVATE "test/include" "include") ament_target_dependencies(${GEOMETRY_GTEST} diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml index 976cf59013370..e19ac4897aab0 100644 --- a/common/autoware_auto_geometry/package.xml +++ b/common/autoware_auto_geometry/package.xml @@ -18,7 +18,7 @@ autoware_auto_vehicle_msgs geometry_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common osrf_testing_tools_cpp diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt index f4b3223391a7b..a8ae9ec2d962e 100755 --- a/common/autoware_auto_tf2/CMakeLists.txt +++ b/common/autoware_auto_tf2/CMakeLists.txt @@ -5,7 +5,7 @@ find_package(autoware_cmake REQUIRED) autoware_package() if(BUILD_TESTING) - ament_add_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp) + ament_add_ros_isolated_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp) target_include_directories(test_tf2_autoware_auto_msgs PRIVATE "include") ament_target_dependencies(test_tf2_autoware_auto_msgs "autoware_auto_common" diff --git a/common/autoware_auto_tf2/package.xml b/common/autoware_auto_tf2/package.xml index d6fbd4f4ce3d8..c80ce45a217ac 100644 --- a/common/autoware_auto_tf2/package.xml +++ b/common/autoware_auto_tf2/package.xml @@ -20,7 +20,7 @@ tf2_geometry_msgs tf2_ros - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/autoware_point_types/CMakeLists.txt b/common/autoware_point_types/CMakeLists.txt index e46081c5ea96f..c149f79dab71f 100644 --- a/common/autoware_point_types/CMakeLists.txt +++ b/common/autoware_point_types/CMakeLists.txt @@ -11,7 +11,7 @@ include_directories( ) if(BUILD_TESTING) - ament_add_gtest(test_autoware_point_types + ament_add_ros_isolated_gtest(test_autoware_point_types test/test_point_types.cpp ) target_include_directories(test_autoware_point_types diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index b7449dbbd13d5..8829bd7538d9b 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -23,7 +23,7 @@ pcl_ros point_cloud_msg_wrapper - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common point_cloud_msg_wrapper diff --git a/common/fake_test_node/CMakeLists.txt b/common/fake_test_node/CMakeLists.txt index cc80077163ab1..8ad71df2777f3 100644 --- a/common/fake_test_node/CMakeLists.txt +++ b/common/fake_test_node/CMakeLists.txt @@ -7,7 +7,7 @@ autoware_package() ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp) if(BUILD_TESTING) - ament_add_gtest(test_fake_test_node + ament_add_ros_isolated_gtest(test_fake_test_node test/test_fake_test_node.cpp ) add_dependencies(test_fake_test_node fake_test_node) diff --git a/common/fake_test_node/package.xml b/common/fake_test_node/package.xml index 6d337906ff3b7..8e919d719fc6c 100644 --- a/common/fake_test_node/package.xml +++ b/common/fake_test_node/package.xml @@ -11,7 +11,7 @@ autoware_cmake - ament_cmake_gtest + ament_cmake_ros autoware_auto_common rclcpp rclcpp_components diff --git a/common/had_map_utils/package.xml b/common/had_map_utils/package.xml index 2baa56aa12c73..aa7f7a9e78840 100644 --- a/common/had_map_utils/package.xml +++ b/common/had_map_utils/package.xml @@ -23,7 +23,7 @@ lanelet2_io visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/interpolation/CMakeLists.txt b/common/interpolation/CMakeLists.txt index bca79e0f23d98..7afed6fe57c41 100644 --- a/common/interpolation/CMakeLists.txt +++ b/common/interpolation/CMakeLists.txt @@ -13,7 +13,7 @@ ament_auto_add_library(interpolation SHARED if(BUILD_TESTING) file(GLOB_RECURSE test_files test/**/*.cpp) - ament_add_gtest(test_interpolation ${test_files}) + ament_add_ros_isolated_gtest(test_interpolation ${test_files}) target_link_libraries(test_interpolation interpolation diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml index 213616b007a19..665e26bab9a0a 100644 --- a/common/interpolation/package.xml +++ b/common/interpolation/package.xml @@ -14,7 +14,7 @@ tier4_autoware_utils - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/motion_testing/CMakeLists.txt b/common/motion_testing/CMakeLists.txt index 4e7006978ab22..f8428c0df709c 100644 --- a/common/motion_testing/CMakeLists.txt +++ b/common/motion_testing/CMakeLists.txt @@ -7,7 +7,7 @@ autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_testing/motion_testing.cpp) if(BUILD_TESTING) - ament_add_gtest(motion_testing_unit_tests + ament_add_ros_isolated_gtest(motion_testing_unit_tests test/gtest_main.cpp test/constant_trajectory.cpp test/trajectory_checks.cpp) diff --git a/common/motion_testing/package.xml b/common/motion_testing/package.xml index 33e7b4798d0e7..f292a7e5bb54b 100644 --- a/common/motion_testing/package.xml +++ b/common/motion_testing/package.xml @@ -19,7 +19,7 @@ autoware_auto_planning_msgs autoware_auto_vehicle_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/osqp_interface/CMakeLists.txt b/common/osqp_interface/CMakeLists.txt index 4180461cc261c..996f8b6153cf0 100644 --- a/common/osqp_interface/CMakeLists.txt +++ b/common/osqp_interface/CMakeLists.txt @@ -49,7 +49,7 @@ if(BUILD_TESTING) test/test_csc_matrix_conv.cpp ) set(TEST_OSQP_INTERFACE_EXE test_osqp_interface) - ament_add_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES}) target_link_libraries(${TEST_OSQP_INTERFACE_EXE} ${PROJECT_NAME}) endif() diff --git a/common/osqp_interface/package.xml b/common/osqp_interface/package.xml index f89810ddda953..5260a3f2b07c0 100644 --- a/common/osqp_interface/package.xml +++ b/common/osqp_interface/package.xml @@ -17,7 +17,7 @@ rclcpp rclcpp_components - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common eigen diff --git a/common/signal_processing/CMakeLists.txt b/common/signal_processing/CMakeLists.txt index e93023e703eb7..93cb7aa225a08 100644 --- a/common/signal_processing/CMakeLists.txt +++ b/common/signal_processing/CMakeLists.txt @@ -9,7 +9,7 @@ ament_auto_add_library(lowpass_filter_1d SHARED ) if(BUILD_TESTING) - ament_add_gtest(test_signal_processing + ament_add_ros_isolated_gtest(test_signal_processing test/src/lowpass_filter_1d_test.cpp ) target_link_libraries(test_signal_processing diff --git a/common/signal_processing/package.xml b/common/signal_processing/package.xml index 563715af77248..867f2d05da60e 100644 --- a/common/signal_processing/package.xml +++ b/common/signal_processing/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/tier4_api_utils/CMakeLists.txt b/common/tier4_api_utils/CMakeLists.txt index e65e538fe1df4..4eda0296e520e 100644 --- a/common/tier4_api_utils/CMakeLists.txt +++ b/common/tier4_api_utils/CMakeLists.txt @@ -6,7 +6,7 @@ autoware_package() if(BUILD_TESTING) include_directories(include) - ament_add_gtest(${PROJECT_NAME}_test test/test.cpp) + ament_add_ros_isolated_gtest(${PROJECT_NAME}_test test/test.cpp) ament_target_dependencies(${PROJECT_NAME}_test rclcpp tier4_external_api_msgs) endif() diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index 99a03ab92b0ec..a8378b92352ec 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -14,7 +14,7 @@ rclcpp tier4_external_api_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common rclcpp diff --git a/common/tier4_autoware_utils/CMakeLists.txt b/common/tier4_autoware_utils/CMakeLists.txt index eeca0a2d83630..7ba9c2020a36f 100644 --- a/common/tier4_autoware_utils/CMakeLists.txt +++ b/common/tier4_autoware_utils/CMakeLists.txt @@ -12,11 +12,11 @@ ament_auto_add_library(tier4_autoware_utils SHARED ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_ros REQUIRED) file(GLOB_RECURSE test_files test/**/*.cpp) - ament_add_gtest(test_tier4_autoware_utils ${test_files}) + ament_add_ros_isolated_gtest(test_tier4_autoware_utils ${test_files}) target_link_libraries(test_tier4_autoware_utils tier4_autoware_utils diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml index f1bd523a8eda1..63fd56ae09f86 100644 --- a/common/tier4_autoware_utils/package.xml +++ b/common/tier4_autoware_utils/package.xml @@ -23,7 +23,7 @@ tier4_debug_msgs visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/time_utils/package.xml b/common/time_utils/package.xml index 9b553289e09be..a248e72f125f3 100644 --- a/common/time_utils/package.xml +++ b/common/time_utils/package.xml @@ -12,7 +12,7 @@ autoware_cmake builtin_interfaces - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/vehicle_constants_manager/CMakeLists.txt b/common/vehicle_constants_manager/CMakeLists.txt index eb5f7b27663e3..1e84c5f781d39 100644 --- a/common/vehicle_constants_manager/CMakeLists.txt +++ b/common/vehicle_constants_manager/CMakeLists.txt @@ -18,7 +18,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED # if(BUILD_TESTING) # set(TEST_SOURCES test/test_vehicle_constants_manager.cpp) # set(TEST_VEHICLE_CONSTANTS_MANAGER_EXE test_vehicle_constants_manager) -# ament_add_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES}) +# ament_add_ros_isolated_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES}) # target_link_libraries(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${PROJECT_NAME}) # endif() diff --git a/common/vehicle_constants_manager/package.xml b/common/vehicle_constants_manager/package.xml index eecb3e8f2108f..8041ae90a2cb7 100644 --- a/common/vehicle_constants_manager/package.xml +++ b/common/vehicle_constants_manager/package.xml @@ -15,7 +15,7 @@ rclcpp rclcpp_components - ament_cmake_gtest + ament_cmake_ros ament_cmake diff --git a/control/trajectory_follower/CMakeLists.txt b/control/trajectory_follower/CMakeLists.txt index 5c29617296780..67d157df835de 100644 --- a/control/trajectory_follower/CMakeLists.txt +++ b/control/trajectory_follower/CMakeLists.txt @@ -72,7 +72,7 @@ if(BUILD_TESTING) test/test_lowpass_filter.cpp ) set(TEST_LATERAL_CONTROLLER_EXE test_lateral_controller) - ament_add_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES}) target_link_libraries(${TEST_LATERAL_CONTROLLER_EXE} ${LATERAL_CONTROLLER_LIB}) set(TEST_LON_SOURCES @@ -82,7 +82,7 @@ if(BUILD_TESTING) test/test_longitudinal_controller_utils.cpp ) set(TEST_LONGITUDINAL_CONTROLLER_EXE test_longitudinal_controller) - ament_add_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES}) target_link_libraries(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${LONGITUDINAL_CONTROLLER_LIB}) endif() diff --git a/control/trajectory_follower/package.xml b/control/trajectory_follower/package.xml index 4bc005335f4a9..840cad74aeb55 100644 --- a/control/trajectory_follower/package.xml +++ b/control/trajectory_follower/package.xml @@ -28,7 +28,7 @@ tf2 tf2_ros - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common eigen diff --git a/control/vehicle_cmd_gate/CMakeLists.txt b/control/vehicle_cmd_gate/CMakeLists.txt index 886842aa7f634..309a296acc9db 100644 --- a/control/vehicle_cmd_gate/CMakeLists.txt +++ b/control/vehicle_cmd_gate/CMakeLists.txt @@ -15,7 +15,7 @@ rclcpp_components_register_node(vehicle_cmd_gate_node ) if(BUILD_TESTING) - ament_add_gtest(test_vehicle_cmd_gate + ament_add_ros_isolated_gtest(test_vehicle_cmd_gate test/src/test_main.cpp test/src/test_vehicle_cmd_filter.cpp ) diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml index cb30c913ad766..7cb8b18244d18 100644 --- a/control/vehicle_cmd_gate/package.xml +++ b/control/vehicle_cmd_gate/package.xml @@ -26,7 +26,7 @@ tier4_vehicle_msgs vehicle_info_util - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index fa894c8a7b1a5..3a3edd5338a58 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -13,8 +13,8 @@ ament_auto_add_executable(ekf_localizer ament_target_dependencies(ekf_localizer kalman_filter) # if(BUILD_TESTING) -# find_package(ament_cmake_gtest REQUIRED) -# ament_add_gtest(ekf_localizer-test test/test_ekf_localizer.test +# find_package(ament_cmake_ros REQUIRED) +# ament_add_ros_isolated_gtest(ekf_localizer-test test/test_ekf_localizer.test # test/src/test_ekf_localizer.cpp # src/ekf_localizer.cpp # src/kalman_filter/kalman_filter.cpp diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index c67cfaa400a0d..3e9d9735ae3bd 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -24,7 +24,7 @@ tier4_autoware_utils tier4_debug_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/localization/stop_filter/package.xml b/localization/stop_filter/package.xml index b4b948c236af4..47fcf3282efea 100644 --- a/localization/stop_filter/package.xml +++ b/localization/stop_filter/package.xml @@ -17,7 +17,7 @@ tf2 tier4_debug_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/map/lanelet2_extension/CMakeLists.txt b/map/lanelet2_extension/CMakeLists.txt index d256029e4041a..709c7bdaa6858 100644 --- a/map/lanelet2_extension/CMakeLists.txt +++ b/map/lanelet2_extension/CMakeLists.txt @@ -62,15 +62,15 @@ target_link_libraries(autoware_lanelet2_validation ) if(BUILD_TESTING) - ament_add_gtest(message_conversion-test test/src/test_message_conversion.cpp) + ament_add_ros_isolated_gtest(message_conversion-test test/src/test_message_conversion.cpp) target_link_libraries(message_conversion-test lanelet2_extension_lib) - ament_add_gtest(projector-test test/src/test_projector.cpp) + ament_add_ros_isolated_gtest(projector-test test/src/test_projector.cpp) target_link_libraries(projector-test lanelet2_extension_lib) - ament_add_gtest(query-test test/src/test_query.cpp) + ament_add_ros_isolated_gtest(query-test test/src/test_query.cpp) target_link_libraries(query-test lanelet2_extension_lib) - ament_add_gtest(regulatory_elements-test test/src/test_regulatory_elements.cpp) + ament_add_ros_isolated_gtest(regulatory_elements-test test/src/test_regulatory_elements.cpp) target_link_libraries(regulatory_elements-test lanelet2_extension_lib) - ament_add_gtest(utilities-test test/src/test_utilities.cpp) + ament_add_ros_isolated_gtest(utilities-test test/src/test_utilities.cpp) target_link_libraries(utilities-test lanelet2_extension_lib) endif() diff --git a/map/lanelet2_extension/package.xml b/map/lanelet2_extension/package.xml index e817b06f1be86..d46d05a7f3064 100644 --- a/map/lanelet2_extension/package.xml +++ b/map/lanelet2_extension/package.xml @@ -27,7 +27,7 @@ tier4_autoware_utils visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/perception/detected_object_feature_remover/package.xml b/perception/detected_object_feature_remover/package.xml index 686c01621c546..b609ff0257f1e 100644 --- a/perception/detected_object_feature_remover/package.xml +++ b/perception/detected_object_feature_remover/package.xml @@ -16,7 +16,7 @@ rclcpp_components tier4_perception_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt index 47f6f999ecb08..6e9671c166518 100644 --- a/planning/behavior_velocity_planner/CMakeLists.txt +++ b/planning/behavior_velocity_planner/CMakeLists.txt @@ -56,7 +56,7 @@ rclcpp_components_register_node(behavior_velocity_planner if(BUILD_TESTING) # Gtest for utilization - ament_add_gtest(utilization-test + ament_add_ros_isolated_gtest(utilization-test test/src/test_state_machine.cpp test/src/test_arc_lane_util.cpp test/src/test_utilization.cpp @@ -67,7 +67,7 @@ if(BUILD_TESTING) ) # Gtest for occlusion spot - ament_add_gtest(occlusion_spot-test + ament_add_ros_isolated_gtest(occlusion_spot-test test/src/test_occlusion_spot_utils.cpp test/src/test_risk_predictive_braking.cpp test/src/test_grid_utils.cpp diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml index a1f86fdf19419..16998b4f27f19 100644 --- a/planning/behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/package.xml @@ -42,7 +42,7 @@ vehicle_info_util visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/costmap_generator/CMakeLists.txt b/planning/costmap_generator/CMakeLists.txt index a2c3f70b2f722..648d01ee4c4e4 100644 --- a/planning/costmap_generator/CMakeLists.txt +++ b/planning/costmap_generator/CMakeLists.txt @@ -46,7 +46,7 @@ rclcpp_components_register_node(costmap_generator_node ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_ros REQUIRED) endif() ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/planning/costmap_generator/package.xml b/planning/costmap_generator/package.xml index 289e2be0197cb..070c160d3aa05 100644 --- a/planning/costmap_generator/package.xml +++ b/planning/costmap_generator/package.xml @@ -29,7 +29,7 @@ tf2_ros tier4_planning_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/freespace_planning_algorithms/CMakeLists.txt b/planning/freespace_planning_algorithms/CMakeLists.txt index 093eaffa23bae..a08e89143ef3c 100644 --- a/planning/freespace_planning_algorithms/CMakeLists.txt +++ b/planning/freespace_planning_algorithms/CMakeLists.txt @@ -18,8 +18,8 @@ target_link_libraries(freespace_planning_algorithms ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(freespace_planning_algorithms-test + find_package(ament_cmake_ros REQUIRED) + ament_add_ros_isolated_gtest(freespace_planning_algorithms-test test/src/test_freespace_planning_algorithms.cpp ) target_link_libraries(freespace_planning_algorithms-test diff --git a/planning/freespace_planning_algorithms/package.xml b/planning/freespace_planning_algorithms/package.xml index 72fc9d5a0dc45..db0ea35e9bb03 100644 --- a/planning/freespace_planning_algorithms/package.xml +++ b/planning/freespace_planning_algorithms/package.xml @@ -21,7 +21,7 @@ tf2_geometry_msgs tier4_autoware_utils - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/planning_error_monitor/CMakeLists.txt b/planning/planning_error_monitor/CMakeLists.txt index 8bd30ea1fd005..66932c63e8990 100644 --- a/planning/planning_error_monitor/CMakeLists.txt +++ b/planning/planning_error_monitor/CMakeLists.txt @@ -23,7 +23,7 @@ rclcpp_components_register_node(invalid_trajectory_publisher_node ) if(BUILD_TESTING) - ament_add_gtest(test_planning_error_monitor + ament_add_ros_isolated_gtest(test_planning_error_monitor test/src/test_main.cpp test/src/test_planning_error_monitor_functions.cpp test/src/test_planning_error_monitor_helper.hpp diff --git a/planning/planning_error_monitor/package.xml b/planning/planning_error_monitor/package.xml index b70e2f319cd01..e667c81790875 100644 --- a/planning/planning_error_monitor/package.xml +++ b/planning/planning_error_monitor/package.xml @@ -21,7 +21,7 @@ tier4_autoware_utils visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/planning_evaluator/CMakeLists.txt b/planning/planning_evaluator/CMakeLists.txt index 6641d08cc52a5..6865f8eef7005 100644 --- a/planning/planning_evaluator/CMakeLists.txt +++ b/planning/planning_evaluator/CMakeLists.txt @@ -26,7 +26,7 @@ rclcpp_components_register_node(${PROJECT_NAME}_node ) if(BUILD_TESTING) - ament_add_gtest(test_${PROJECT_NAME} + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} test/test_planning_evaluator_node.cpp ) target_link_libraries(test_${PROJECT_NAME} diff --git a/planning/planning_evaluator/package.xml b/planning/planning_evaluator/package.xml index f7e1d5c3480dd..8681543485c21 100644 --- a/planning/planning_evaluator/package.xml +++ b/planning/planning_evaluator/package.xml @@ -23,7 +23,7 @@ tf2_ros tier4_autoware_utils - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/dummy_perception_publisher/CMakeLists.txt index 85347b04b3be6..63d07faf0634c 100644 --- a/simulator/dummy_perception_publisher/CMakeLists.txt +++ b/simulator/dummy_perception_publisher/CMakeLists.txt @@ -74,7 +74,7 @@ ament_auto_add_executable(empty_objects_publisher ) if(BUILD_TESTING) - ament_add_gtest(signed_distance_function-test + ament_add_ros_isolated_gtest(signed_distance_function-test test/src/test_signed_distance_function.cpp ) target_link_libraries(signed_distance_function-test diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml index e7ce4dc99c433..1635deda40a4b 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/dummy_perception_publisher/package.xml @@ -14,6 +14,7 @@ rosidl_default_runtime + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/simulator/fault_injection/CMakeLists.txt b/simulator/fault_injection/CMakeLists.txt index 7cd78e35aadd2..0bc1663412960 100644 --- a/simulator/fault_injection/CMakeLists.txt +++ b/simulator/fault_injection/CMakeLists.txt @@ -15,7 +15,7 @@ rclcpp_components_register_node(fault_injection_node_component if(BUILD_TESTING) # gtest - ament_add_gtest(test_fault_injection_node_component + ament_add_ros_isolated_gtest(test_fault_injection_node_component test/src/main.cpp test/src/test_diagnostic_storage.cpp ) diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml index 961a0af1e5854..95e50e6448807 100644 --- a/simulator/fault_injection/package.xml +++ b/simulator/fault_injection/package.xml @@ -19,7 +19,7 @@ tier4_autoware_utils tier4_simulation_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common launch diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/simple_planning_simulator/CMakeLists.txt index d62a84e7d7b6f..6034697304059 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/simple_planning_simulator/CMakeLists.txt @@ -28,7 +28,7 @@ rclcpp_components_register_node(${PROJECT_NAME} ) if(BUILD_TESTING) - ament_add_gtest(test_simple_planning_simulator + ament_add_ros_isolated_gtest(test_simple_planning_simulator test/test_simple_planning_simulator.cpp TIMEOUT 120 ) diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index 761aef0e322f2..2c63c861039ed 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -31,7 +31,7 @@ launch_ros - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/system/system_monitor/CMakeLists.txt b/system/system_monitor/CMakeLists.txt index 017e08393baae..65e933d072046 100644 --- a/system/system_monitor/CMakeLists.txt +++ b/system/system_monitor/CMakeLists.txt @@ -180,7 +180,7 @@ rclcpp_components_register_node(gpu_monitor_lib # TODO(yunus.caliskan): Port the tests to ROS2, robustify the tests. if(BUILD_TESTING) - # ament_add_gtest(test_cpu_monitor + # ament_add_ros_isolated_gtest(test_cpu_monitor # test/src/cpu_monitor/test_${CMAKE_CPU_PLATFORM}_cpu_monitor.cpp # ${CPU_MONITOR_SOURCE} # ) @@ -196,7 +196,7 @@ if(BUILD_TESTING) # target_link_libraries(test_cpu_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_hdd_monitor + # ament_add_ros_isolated_gtest(test_hdd_monitor # test/src/hdd_monitor/test_hdd_monitor.cpp # src/hdd_monitor/hdd_monitor.cpp # ) @@ -213,7 +213,7 @@ if(BUILD_TESTING) # target_link_libraries(test_hdd_monitor ${Boost_LIBRARIES} ${LIBRARIES} # ) - # ament_add_gtest(test_mem_monitor + # ament_add_ros_isolated_gtest(test_mem_monitor # test/src/mem_monitor/test_mem_monitor.cpp # src/mem_monitor/mem_monitor.cpp # ) @@ -229,7 +229,7 @@ if(BUILD_TESTING) # target_link_libraries(test_mem_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_net_monitor + # ament_add_ros_isolated_gtest(test_net_monitor # test/src/net_monitor/test_net_monitor.cpp # src/net_monitor/net_monitor.cpp # src/net_monitor/nl80211.cpp @@ -246,7 +246,7 @@ if(BUILD_TESTING) # target_link_libraries(test_net_monitor ${Boost_LIBRARIES} ${NL_LIBS} ${LIBRARIES}) - # ament_add_gtest(test_ntp_monitor + # ament_add_ros_isolated_gtest(test_ntp_monitor # test/src/ntp_monitor/test_ntp_monitor.cpp # src/ntp_monitor/ntp_monitor.cpp # ) @@ -262,7 +262,7 @@ if(BUILD_TESTING) # target_link_libraries(test_ntp_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_process_monitor + # ament_add_ros_isolated_gtest(test_process_monitor # test/src/process_monitor/test_process_monitor.cpp # src/process_monitor/process_monitor.cpp # ) @@ -278,7 +278,7 @@ if(BUILD_TESTING) # target_link_libraries(test_process_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_gpu_monitor + # ament_add_ros_isolated_gtest(test_gpu_monitor # test/src/gpu_monitor/test_${CMAKE_GPU_PLATFORM}_gpu_monitor.cpp # ${GPU_MONITOR_SOURCE} # ) diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml index 8cca9d2c71545..559dc9c072592 100644 --- a/system/system_monitor/package.xml +++ b/system/system_monitor/package.xml @@ -23,7 +23,7 @@ chrony sysstat - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt index d85b418d6fcbe..36b96a2a300c5 100644 --- a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt +++ b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt @@ -28,7 +28,7 @@ if(BUILD_TESTING) test/test_raw_vehicle_cmd_converter.cpp ) set(TEST_RAW_VEHICLE_CMD_CONVERTER_EXE test_raw_vehicle_cmd_converter) - ament_add_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES}) target_link_libraries(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} actuation_map_converter raw_vehicle_cmd_converter_node_component) endif() diff --git a/vehicle/raw_vehicle_cmd_converter/package.xml b/vehicle/raw_vehicle_cmd_converter/package.xml index b14b00c9d3963..4f36c95e5d82d 100644 --- a/vehicle/raw_vehicle_cmd_converter/package.xml +++ b/vehicle/raw_vehicle_cmd_converter/package.xml @@ -26,7 +26,7 @@ rclpy - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common From 0786fa1a9bc3d0f1abfe242059f301d64893efd3 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Tue, 10 May 2022 00:06:41 +0900 Subject: [PATCH 09/30] docs(virtual traffic light): add documentation (#245) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc Signed-off-by: tanaka3 * doc(behavior_velocity): minor fix Signed-off-by: tanaka3 * doc : mediate to coordinate Signed-off-by: tanaka3 * doc: minor update Signed-off-by: tanaka3 * doc: fix pre-commit * doc: update docs Signed-off-by: tanaka3 * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- planning/behavior_velocity_planner/README.md | 3 + ...iorVelocityPlanner-Architecture.drawio.svg | 1663 +++++++++++++++++ .../V2X_support_traffic_light.png | Bin 0 -> 91648 bytes .../intersection-coordination.png | Bin 0 -> 161821 bytes .../virtual-traffic-light-design.md | 267 +++ 5 files changed, 1933 insertions(+) create mode 100644 planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg create mode 100644 planning/behavior_velocity_planner/docs/virtual_traffic_light/V2X_support_traffic_light.png create mode 100644 planning/behavior_velocity_planner/docs/virtual_traffic_light/intersection-coordination.png create mode 100644 planning/behavior_velocity_planner/virtual-traffic-light-design.md diff --git a/planning/behavior_velocity_planner/README.md b/planning/behavior_velocity_planner/README.md index a7feea30a3017..20ad38140d330 100644 --- a/planning/behavior_velocity_planner/README.md +++ b/planning/behavior_velocity_planner/README.md @@ -5,12 +5,15 @@ `behavior_velocity_planner` is a planner that adjust velocity based on the traffic rules. It consists of several modules. Please refer to the links listed below for detail on each module. +![Architecture](./docs/BehaviorVelocityPlanner-Architecture.drawio.svg) + - [Blind Spot](blind-spot-design.md) - [Crosswalk](crosswalk-design.md) - [Detection Area](detection-area-design.md) - [Intersection](intersection-design.md) - [MergeFromPrivate](merge-from-private-design.md) - [Stop Line](stop-line-design.md) +- [Virtual Traffic Light](virtual-traffic-light-design.md) - [Traffic Light](traffic-light-design.md) - [Occlusion Spot](occlusion-spot-design.md) - [No Stopping Area](no-stopping-area-design.md) diff --git a/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg b/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg new file mode 100644 index 0000000000000..4d2808a5be41a --- /dev/null +++ b/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg @@ -0,0 +1,1663 @@ + + + + + + + + +
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z($!P~yY|r=pg?H7W(KO~-pp}ZCwLUlu6 Autoware API +behavior_planner -up-> autoware_api : infrastructure\n command +autoware_api -down-> behavior_planner : infrastructure\n state + +'' Vector Map +vector_map -left-> behavior_planner : vector map + +'' Autoware API <-> Infrastructure +autoware_api -up-> fms : lock\n request +fms -down-> autoware_api : right-of-way\n state + +autoware_api -up-> automatic_shutter : approach\n notification +automatic_shutter -down-> autoware_api : shutter\n state + +autoware_api -up-> manual_shutter : open/close\n command +manual_shutter -down-> autoware_api : shutter\n state + +autoware_api -up-> remote_controllable_traffic_light : light change\n command +remote_controllable_traffic_light -down-> autoware_api : light\n state + +autoware_api -up-> warning_light : activation\n command +warning_light -down-> autoware_api : warning light\n state + +' Layout +'' Infrastructure +fms -[hidden]right-> automatic_shutter +automatic_shutter -[hidden]right-> manual_shutter +manual_shutter -[hidden]right-> remote_controllable_traffic_light +remote_controllable_traffic_light -[hidden]right-> warning_light + +@enduml +``` + +Planner and each infrastructure communicate with each other using common abstracted messages. + +- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API. +- The requirements for each infrastructure are slightly different, but will be handled flexibly. + +FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied + +- Automatic shutter: Open the shutter when approaching/close it when leaving +- Manual shutter: Have the driver open and close the shutter. +- Remote control signal: Have the driver change the signal status to match the direction of travel. +- Warning light: Activate the warning light + +Support different communication methods for different infrastructures + +- HTTP +- Bluetooth +- ZigBee + +Have different meta-information for each geographic location + +- Associated lane ID +- Hardware ID +- Communication method + +FMS: Fleet Management System + +```plantuml +@startuml +!theme cerulean-outline + +' Component +node "Autoware ECU" as autoware_ecu { +component "Behavior Planner" as behavior_planner +component "Autoware API" as autoware_api +component "Web.Auto Agent" as web_auto_agent +note right of web_auto_agent : (fms_bridge) +database "Vector Map" as vector_map + +package "Infrastructure Bridges" as infrastructure_bridges { + component "Automatic Shutter Bridge" as automatic_shutter_bridge + component "Manual Shutter Bridge" as manual_shutter_bridge + component "Remove Controllable Traffic Light Bridge" as remote_controllable_traffic_light_bridge + component "Warning Light Bridge" as warning_light_bridge +} +} + +cloud "FMS" as fms { + component "FMS Gateway" as fms_gateway + + component "Intersection Arbitrator" as intersection_arbitrator + database "Intersection Lock Table" as intersection_lock_table + + component "Vector Map Builder" as vector_map_builder + database "Vector Map Database" as vector_map_database +} + +package "Infrastructures" as infrastructures { + node "Automatic Shutter" as automatic_shutter + node "Manual Shutter" as manual_shutter + node "Remote Controllable Traffic Light" as remote_controllable_traffic_light + node "Warning Light" as warning_light +} + +' Relationship +'' Behavior Planner <-> Autoware API +behavior_planner -up-> autoware_api : infrastructure\n command +autoware_api -down-> behavior_planner : infrastructure state\n as virtual traffic light + +'' Autoware API <-> Web.Auto +autoware_api -up-> web_auto_agent : infrastructure\n command +web_auto_agent -down-> autoware_api : infrastructure state\n as virtual traffic light + +'' Autoware API <-> Infrastructure Bridge +autoware_api -right-> infrastructure_bridges : infrastructure\n command +infrastructure_bridges -left-> autoware_api : infrastructure state\n as virtual traffic light + +'' Infrastructure Bridge <-> Infrastructure +automatic_shutter_bridge -right-> automatic_shutter : approach notification +automatic_shutter -left-> automatic_shutter_bridge : shutter state + +manual_shutter_bridge -right-> manual_shutter : open/close command +manual_shutter -left-> manual_shutter_bridge : shutter state + +remote_controllable_traffic_light_bridge -right-> remote_controllable_traffic_light : light change command +remote_controllable_traffic_light -left-> remote_controllable_traffic_light_bridge : light state + +warning_light_bridge -right-> warning_light : activation command +warning_light -left-> warning_light_bridge : warning light state + +'' Web.Auto +web_auto_agent -up-> fms_gateway : infrastructure\n command +fms_gateway -down-> web_auto_agent : infrastructure state\n as virtual traffic light + +fms_gateway -up-> intersection_arbitrator : lock request +intersection_arbitrator -down-> fms_gateway : right-of-way state + +intersection_arbitrator -up-> intersection_lock_table : lock request +intersection_lock_table -down-> intersection_arbitrator : lock result + +vector_map_builder -down-> vector_map_database : create vector map +vector_map_database -left-> intersection_arbitrator : vector map + +'' Vector Map +vector_map_database .down.> web_auto_agent : vector map +web_auto_agent -left-> vector_map : vector map +vector_map -down-> behavior_planner : vector map + +' Layout +'' Infrastructure Bridge +automatic_shutter_bridge -[hidden]down-> manual_shutter_bridge +manual_shutter_bridge -[hidden]down-> remote_controllable_traffic_light_bridge +remote_controllable_traffic_light_bridge -[hidden]down-> warning_light_bridge + +'' Infrastructure +automatic_shutter -[hidden]down-> manual_shutter +manual_shutter -[hidden]down-> remote_controllable_traffic_light +remote_controllable_traffic_light -[hidden]down-> warning_light + +@enduml +``` + +#### Module Parameters + +| Parameter | Type | Description | +| ------------------------------- | ------ | --------------------------------------------------------------------- | +| `max_delay_sec` | double | [s] maximum allowed delay for command | +| `near_line_distance` | double | [m] threshold distance to stop line to check ego stop. | +| `dead_line_margin` | double | [m] threshold distance that this module continue to insert stop line. | +| `check_timeout_after_stop_line` | bool | [-] check timeout to stop when linkage is disconnected | + +#### Flowchart + +```plantuml +@startuml +!theme cerulean-outline +start + +if (before start line?) then (yes) + stop +else (no) +endif + +if (after end line?) then (yes) + stop +else (no) +endif + +:send command to infrastructure; + +if (no stop line?) then (yes) + stop +else (no) +endif + +:check infrastructure state; + +if (timeout or not received?) then (yes) + :stop at stop line; + stop +else (no) +endif + +if (no right of way?) then (yes) + :stop at stop line; +else (no) +endif + +if (finalization is requested?) then (yes) + if (not finalized?) then (yes) + :stop at end line; + else (no) + endif +else (no) +endif + +stop +@enduml +``` + +##### Known Limits + +- tbd. From 4f4644f1ff02e6a22fef45a6555a6e3d5b9d5761 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 10 May 2022 08:29:37 +0900 Subject: [PATCH 10/30] feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (#830) * fix(surroud_obstacle_checker): use alias Signed-off-by: satoshi-ota * feat(surround_obstacle_checker): use velocity limit Signed-off-by: satoshi-ota * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use parameter struct Signed-off-by: satoshi-ota * fix(surround_obstacle_checker): use alias Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup member functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup polygon handling Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use marker helper Signed-off-by: satoshi-ota * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow Signed-off-by: satoshi-ota --- .../motion_planning/motion_planning.launch.py | 35 +- .../motion_planning.launch.xml | 13 +- .../surround_obstacle_checker/CMakeLists.txt | 2 +- .../surround_obstacle_checker.param.yaml | 1 + .../debug_marker.hpp | 20 +- .../surround_obstacle_checker/node.hpp | 136 ++-- .../surround_obstacle_checker.launch.xml | 12 +- .../surround_obstacle_checker/package.xml | 1 + .../src/debug_marker.cpp | 105 +-- .../surround_obstacle_checker/src/node.cpp | 632 +++++++++--------- 10 files changed, 433 insertions(+), 524 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index e8661322215fe..89d04bc5b3a00 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -92,20 +92,23 @@ def launch_setup(context, *args, **kwargs): surround_obstacle_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] surround_obstacle_checker_component = ComposableNode( package="surround_obstacle_checker", - plugin="SurroundObstacleCheckerNode", + plugin="surround_obstacle_checker::SurroundObstacleCheckerNode", name="surround_obstacle_checker", namespace="", remappings=[ ("~/output/no_start_reason", "/planning/scenario_planning/status/no_start_reason"), ("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"), - ("~/output/trajectory", "surround_obstacle_checker/trajectory"), + ("~/output/max_velocity", "/planning/scenario_planning/max_velocity_candidates"), + ( + "~/output/velocity_limit_clear_command", + "/planning/scenario_planning/clear_velocity_limit", + ), ( "~/input/pointcloud", "/perception/obstacle_segmentation/pointcloud", ), ("~/input/objects", "/perception/object_recognition/objects"), ("~/input/odometry", "/localization/kinematic_state"), - ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"), ], parameters=[ surround_obstacle_checker_param, @@ -114,22 +117,6 @@ def launch_setup(context, *args, **kwargs): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) - # relay - relay_component = ComposableNode( - package="topic_tools", - plugin="topic_tools::RelayNode", - name="skip_surround_obstacle_check_relay", - namespace="", - parameters=[ - { - "input_topic": "obstacle_avoidance_planner/trajectory", - "output_topic": "surround_obstacle_checker/trajectory", - "type": "autoware_auto_planning_msgs/msg/Trajectory", - } - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - # obstacle stop planner obstacle_stop_planner_param_path = os.path.join( get_package_share_directory("tier4_planning_launch"), @@ -173,7 +160,7 @@ def launch_setup(context, *args, **kwargs): ), ("~/input/objects", "/perception/object_recognition/objects"), ("~/input/odometry", "/localization/kinematic_state"), - ("~/input/trajectory", "surround_obstacle_checker/trajectory"), + ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"), ], parameters=[ common_param, @@ -202,13 +189,7 @@ def launch_setup(context, *args, **kwargs): condition=IfCondition(LaunchConfiguration("use_surround_obstacle_check")), ) - relay_loader = LoadComposableNodes( - composable_node_descriptions=[relay_component], - target_container=container, - condition=UnlessCondition(LaunchConfiguration("use_surround_obstacle_check")), - ) - - group = GroupAction([container, surround_obstacle_checker_loader, relay_loader]) + group = GroupAction([container, surround_obstacle_checker_loader]) return [group] diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 0fa8707e4fda9..3d195185d9bd6 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -19,22 +19,11 @@ - - - - - - - - - - - @@ -45,7 +34,7 @@ - + diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt index b40b7c22c98ca..ab61405c9f335 100644 --- a/planning/surround_obstacle_checker/CMakeLists.txt +++ b/planning/surround_obstacle_checker/CMakeLists.txt @@ -18,7 +18,7 @@ target_link_libraries(${PROJECT_NAME} ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "SurroundObstacleCheckerNode" + PLUGIN "surround_obstacle_checker::SurroundObstacleCheckerNode" EXECUTABLE ${PROJECT_NAME}_node ) diff --git a/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml b/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml index b57d7506b0574..afcc532b7c604 100644 --- a/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml +++ b/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml @@ -9,3 +9,4 @@ # ego stop state stop_state_ego_speed: 0.1 #[m/s] + stop_state_entry_duration_time: 0.1 #[s] diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp index d076e26afc009..2891ac63c5df4 100644 --- a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp +++ b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp @@ -25,8 +25,18 @@ #include #include +namespace surround_obstacle_checker +{ + +using tier4_planning_msgs::msg::StopFactor; +using tier4_planning_msgs::msg::StopReason; +using tier4_planning_msgs::msg::StopReasonArray; +using visualization_msgs::msg::Marker; +using visualization_msgs::msg::MarkerArray; + enum class PoseType : int8_t { NoStart = 0 }; enum class PointType : int8_t { NoStart = 0 }; + class SurroundObstacleCheckerDebugNode { public: @@ -38,16 +48,16 @@ class SurroundObstacleCheckerDebugNode void publish(); private: - rclcpp::Publisher::SharedPtr debug_viz_pub_; - rclcpp::Publisher::SharedPtr stop_reason_pub_; + rclcpp::Publisher::SharedPtr debug_viz_pub_; + rclcpp::Publisher::SharedPtr stop_reason_pub_; double base_link2front_; - visualization_msgs::msg::MarkerArray makeVisualizationMarker(); - tier4_planning_msgs::msg::StopReasonArray makeStopReasonArray(); + MarkerArray makeVisualizationMarker(); + StopReasonArray makeStopReasonArray(); std::shared_ptr stop_obstacle_point_ptr_; std::shared_ptr stop_pose_ptr_; rclcpp::Clock::SharedPtr clock_; }; - +} // namespace surround_obstacle_checker #endif // SURROUND_OBSTACLE_CHECKER__DEBUG_MARKER_HPP_ diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp index 7e4bbb9ffd15a..e437787c234ac 100644 --- a/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp +++ b/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp @@ -16,9 +16,9 @@ #define SURROUND_OBSTACLE_CHECKER__NODE_HPP_ #include "surround_obstacle_checker/debug_marker.hpp" -#include "tier4_autoware_utils/trajectory/tmp_conversion.hpp" #include +#include #include #include @@ -27,30 +27,31 @@ #include #include #include +#include +#include #include -#include -#include -#include -#include -#include -#include - -#include #include #include #include #include #include +#include #include -using Point2d = boost::geometry::model::d2::point_xy; -using Polygon2d = - boost::geometry::model::polygon; // counter-clockwise, open +namespace surround_obstacle_checker +{ + +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_perception_msgs::msg::Shape; using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; -using TrajectoryPoints = std::vector; +using tier4_planning_msgs::msg::VelocityLimit; +using tier4_planning_msgs::msg::VelocityLimitClearCommand; +using vehicle_info_util::VehicleInfo; + +using Obstacle = std::pair; enum class State { PASS, STOP }; @@ -59,70 +60,73 @@ class SurroundObstacleCheckerNode : public rclcpp::Node public: explicit SurroundObstacleCheckerNode(const rclcpp::NodeOptions & node_options); + struct NodeParam + { + bool use_pointcloud; + bool use_dynamic_object; + bool is_surround_obstacle; + // For preventing chattering, + // surround_check_recover_distance_ must be bigger than surround_check_distance_ + double surround_check_recover_distance; + double surround_check_distance; + double state_clear_time; + double stop_state_ego_speed; + double stop_state_entry_duration_time; + }; + private: - void pathCallback(const Trajectory::ConstSharedPtr input_msg); - void pointCloudCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr input_msg); - void dynamicObjectCallback( - const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr input_msg); - void currentVelocityCallback(const nav_msgs::msg::Odometry::ConstSharedPtr input_msg); - void insertStopVelocity(const size_t closest_idx, TrajectoryPoints * traj); - bool convertPose( - const geometry_msgs::msg::Pose & pose, const std::string & source, const std::string & target, - const rclcpp::Time & time, geometry_msgs::msg::Pose & conv_pose); - bool getPose( - const std::string & source, const std::string & target, geometry_msgs::msg::Pose & pose); - void getNearestObstacle(double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point); - void getNearestObstacleByPointCloud( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point); - void getNearestObstacleByDynamicObject( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point); - bool isObstacleFound(const double min_dist_to_obj); + void onTimer(); + + void onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg); + + void onDynamicObjects(const PredictedObjects::ConstSharedPtr msg); + + void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg); + + boost::optional getNearestObstacle() const; + + boost::optional getNearestObstacleByPointCloud() const; + + boost::optional getNearestObstacleByDynamicObject() const; + + boost::optional getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const; + bool isStopRequired(const bool is_obstacle_found, const bool is_stopped); - size_t getClosestIdx(const TrajectoryPoints & traj, const geometry_msgs::msg::Pose current_pose); - bool checkStop(const TrajectoryPoint & closest_point); - Polygon2d createSelfPolygon(); - Polygon2d createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size); - Polygon2d createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint); - diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( - const std::string no_start_reason, const geometry_msgs::msg::Pose & stop_pose); - std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose); - - /* - * ROS - */ + + bool isVehicleStopped(); + + // ros + mutable tf2_ros::Buffer tf_buffer_{get_clock()}; + mutable tf2_ros::TransformListener tf_listener_{tf_buffer_}; + rclcpp::TimerBase::SharedPtr timer_; + // publisher and subscriber - rclcpp::Subscription::SharedPtr path_sub_; - rclcpp::Subscription::SharedPtr pointcloud_sub_; - rclcpp::Subscription::SharedPtr - dynamic_object_sub_; - rclcpp::Subscription::SharedPtr current_velocity_sub_; - rclcpp::Publisher::SharedPtr path_pub_; - rclcpp::Publisher::SharedPtr stop_reason_diag_pub_; + rclcpp::Subscription::SharedPtr sub_pointcloud_; + rclcpp::Subscription::SharedPtr sub_dynamic_objects_; + rclcpp::Subscription::SharedPtr sub_odometry_; + rclcpp::Publisher::SharedPtr pub_stop_reason_; + rclcpp::Publisher::SharedPtr pub_clear_velocity_limit_; + rclcpp::Publisher::SharedPtr pub_velocity_limit_; + + // debug std::shared_ptr debug_ptr_; - tf2_ros::Buffer tf_buffer_; - tf2_ros::TransformListener tf_listener_; // parameter - nav_msgs::msg::Odometry::ConstSharedPtr current_velocity_ptr_; - sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; - autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr object_ptr_; + NodeParam node_param_; vehicle_info_util::VehicleInfo vehicle_info_; - Polygon2d self_poly_; - bool use_pointcloud_; - bool use_dynamic_object_; - double surround_check_distance_; - // For preventing chattering, - // surround_check_recover_distance_ must be bigger than surround_check_distance_ - double surround_check_recover_distance_; - double state_clear_time_; - double stop_state_ego_speed_; - bool is_surround_obstacle_; + + // data + nav_msgs::msg::Odometry::ConstSharedPtr odometry_ptr_; + sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; + PredictedObjects::ConstSharedPtr object_ptr_; // State Machine State state_ = State::PASS; std::shared_ptr last_obstacle_found_time_; + std::shared_ptr last_running_time_; }; +} // namespace surround_obstacle_checker #endif // SURROUND_OBSTACLE_CHECKER__NODE_HPP_ diff --git a/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml b/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml index a0dd4b307f495..53f26a05c87c3 100644 --- a/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml +++ b/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml @@ -1,24 +1,20 @@ - - - - - + + - - + + - diff --git a/planning/surround_obstacle_checker/package.xml b/planning/surround_obstacle_checker/package.xml index 5dfed9ddb19a7..b74ad2ccec25b 100644 --- a/planning/surround_obstacle_checker/package.xml +++ b/planning/surround_obstacle_checker/package.xml @@ -14,6 +14,7 @@ autoware_auto_perception_msgs autoware_auto_planning_msgs + autoware_auto_tf2 diagnostic_msgs eigen libpcl-all-dev diff --git a/planning/surround_obstacle_checker/src/debug_marker.cpp b/planning/surround_obstacle_checker/src/debug_marker.cpp index 64dbc2f349f14..8abdb67e8b2c6 100644 --- a/planning/surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/surround_obstacle_checker/src/debug_marker.cpp @@ -14,6 +14,7 @@ #include "surround_obstacle_checker/debug_marker.hpp" +#include #ifdef ROS_DISTRO_GALACTIC #include #else @@ -22,13 +23,23 @@ #include +namespace surround_obstacle_checker +{ + +using tier4_autoware_utils::appendMarkerArray; +using tier4_autoware_utils::calcOffsetPose; +using tier4_autoware_utils::createDefaultMarker; +using tier4_autoware_utils::createMarkerColor; +using tier4_autoware_utils::createMarkerScale; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::createStopVirtualWallMarker; + SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode( const double base_link2front, const rclcpp::Clock::SharedPtr clock, rclcpp::Node & node) : base_link2front_(base_link2front), clock_(clock) { debug_viz_pub_ = node.create_publisher("~/debug/marker", 1); - stop_reason_pub_ = - node.create_publisher("~/output/stop_reasons", 1); + stop_reason_pub_ = node.create_publisher("~/output/stop_reasons", 1); } bool SurroundObstacleCheckerDebugNode::pushPose( @@ -70,87 +81,25 @@ void SurroundObstacleCheckerDebugNode::publish() stop_obstacle_point_ptr_ = nullptr; } -visualization_msgs::msg::MarkerArray SurroundObstacleCheckerDebugNode::makeVisualizationMarker() +MarkerArray SurroundObstacleCheckerDebugNode::makeVisualizationMarker() { - visualization_msgs::msg::MarkerArray msg; + MarkerArray msg; rclcpp::Time current_time = this->clock_->now(); - tf2::Transform tf_base_link2front( - tf2::Quaternion(0.0, 0.0, 0.0, 1.0), tf2::Vector3(base_link2front_, 0.0, 0.0)); // visualize stop line if (stop_pose_ptr_ != nullptr) { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.header.stamp = current_time; - marker.ns = "virtual_wall/no_start"; - marker.id = 0; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::CUBE; - marker.action = visualization_msgs::msg::Marker::ADD; - tf2::Transform tf_map2base_link; - tf2::fromMsg(*stop_pose_ptr_, tf_map2base_link); - tf2::Transform tf_map2front = tf_map2base_link * tf_base_link2front; - tf2::toMsg(tf_map2front, marker.pose); - marker.pose.position.z += 1.0; - marker.scale.x = 0.1; - marker.scale.y = 5.0; - marker.scale.z = 2.0; - marker.color.a = 0.5; // Don't forget to set the alpha! - marker.color.r = 1.0; - marker.color.g = 0.0; - marker.color.b = 0.0; - msg.markers.push_back(marker); - } - - // visualize stop reason - if (stop_pose_ptr_ != nullptr) { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.header.stamp = current_time; - marker.ns = "factor_text/no_start"; - marker.id = 0; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; - marker.action = visualization_msgs::msg::Marker::ADD; - tf2::Transform tf_map2base_link; - tf2::fromMsg(*stop_pose_ptr_, tf_map2base_link); - tf2::Transform tf_map2front = tf_map2base_link * tf_base_link2front; - tf2::toMsg(tf_map2front, marker.pose); - marker.pose.position.z += 2.0; - marker.scale.x = 0.0; - marker.scale.y = 0.0; - marker.scale.z = 1.0; - marker.color.a = 0.999; // Don't forget to set the alpha! - marker.color.r = 1.0; - marker.color.g = 1.0; - marker.color.b = 1.0; - marker.text = "surround obstacle"; - msg.markers.push_back(marker); + const auto p = calcOffsetPose(*stop_pose_ptr_, base_link2front_, 0.0, 0.0); + const auto markers = createStopVirtualWallMarker(p, "surround obstacle", current_time, 0); + appendMarkerArray(markers, &msg); } // visualize surround object if (stop_obstacle_point_ptr_ != nullptr) { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.header.stamp = current_time; - marker.ns = "no_start_obstacle_text"; - marker.id = 0; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; - marker.action = visualization_msgs::msg::Marker::ADD; + auto marker = createDefaultMarker( + "map", current_time, "no_start_obstacle_text", 0, Marker::TEXT_VIEW_FACING, + createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); marker.pose.position = *stop_obstacle_point_ptr_; marker.pose.position.z += 2.0; // add half of the heights of obj roughly - marker.pose.orientation.x = 0.0; - marker.pose.orientation.y = 0.0; - marker.pose.orientation.z = 0.0; - marker.pose.orientation.w = 1.0; - marker.scale.x = 0.0; - marker.scale.y = 0.0; - marker.scale.z = 1.0; - marker.color.a = 0.999; // Don't forget to set the alpha! - marker.color.r = 1.0; - marker.color.g = 1.0; - marker.color.b = 1.0; marker.text = "!"; msg.markers.push_back(marker); } @@ -158,7 +107,7 @@ visualization_msgs::msg::MarkerArray SurroundObstacleCheckerDebugNode::makeVisua return msg; } -tier4_planning_msgs::msg::StopReasonArray SurroundObstacleCheckerDebugNode::makeStopReasonArray() +StopReasonArray SurroundObstacleCheckerDebugNode::makeStopReasonArray() { // create header std_msgs::msg::Header header; @@ -166,9 +115,9 @@ tier4_planning_msgs::msg::StopReasonArray SurroundObstacleCheckerDebugNode::make header.stamp = this->clock_->now(); // create stop reason stamped - tier4_planning_msgs::msg::StopReason stop_reason_msg; - stop_reason_msg.reason = tier4_planning_msgs::msg::StopReason::SURROUND_OBSTACLE_CHECK; - tier4_planning_msgs::msg::StopFactor stop_factor; + StopReason stop_reason_msg; + stop_reason_msg.reason = StopReason::SURROUND_OBSTACLE_CHECK; + StopFactor stop_factor; if (stop_pose_ptr_ != nullptr) { stop_factor.stop_pose = *stop_pose_ptr_; @@ -179,8 +128,10 @@ tier4_planning_msgs::msg::StopReasonArray SurroundObstacleCheckerDebugNode::make } // create stop reason array - tier4_planning_msgs::msg::StopReasonArray stop_reason_array; + StopReasonArray stop_reason_array; stop_reason_array.header = header; stop_reason_array.stop_reasons.emplace_back(stop_reason_msg); return stop_reason_array; } + +} // namespace surround_obstacle_checker diff --git a/planning/surround_obstacle_checker/src/node.cpp b/planning/surround_obstacle_checker/src/node.cpp index 09fe48f35b571..9e1fc6711bd3f 100644 --- a/planning/surround_obstacle_checker/src/node.cpp +++ b/planning/surround_obstacle_checker/src/node.cpp @@ -14,9 +14,17 @@ #include "surround_obstacle_checker/node.hpp" +#include + +#include +#include +#include +#include +#include +#include + #include #include -#include #include #ifdef ROS_DISTRO_GALACTIC #include @@ -34,313 +42,381 @@ #include #include +namespace surround_obstacle_checker +{ + +namespace bg = boost::geometry; +using Point2d = bg::model::d2::point_xy; +using Polygon2d = bg::model::polygon; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::pose2transform; + +namespace +{ +std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose) +{ + const std::string json_dumps_pose = + (boost::format( + R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") % + pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x % + pose.orientation.y % pose.orientation.z) + .str(); + return json_dumps_pose; +} + +diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( + const std::string no_start_reason, const geometry_msgs::msg::Pose & stop_pose) +{ + diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; + diagnostic_msgs::msg::KeyValue no_start_reason_diag_kv; + no_start_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + no_start_reason_diag.name = "no_start_reason"; + no_start_reason_diag.message = no_start_reason; + no_start_reason_diag_kv.key = "no_start_pose"; + no_start_reason_diag_kv.value = jsonDumpsPose(stop_pose); + no_start_reason_diag.values.push_back(no_start_reason_diag_kv); + return no_start_reason_diag; +} + +geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const double z) +{ + geometry_msgs::msg::Point32 p; + p.x = x; + p.y = y; + p.z = z; + return p; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint) +{ + geometry_msgs::msg::Polygon transformed_polygon{}; + geometry_msgs::msg::TransformStamped geometry_tf{}; + geometry_tf.transform = pose2transform(pose); + tf2::doTransform(footprint, transformed_polygon, geometry_tf); + + Polygon2d object_polygon; + for (const auto & p : transformed_polygon.points) { + object_polygon.outer().push_back(Point2d(p.x, p.y)); + } + + bg::correct(object_polygon); + + return object_polygon; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size) +{ + const double & length_m = size.x / 2.0; + const double & width_m = size.y / 2.0; + + geometry_msgs::msg::Polygon polygon{}; + + polygon.points.push_back(createPoint32(length_m, -width_m, 0.0)); + polygon.points.push_back(createPoint32(length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, -width_m, 0.0)); + + return createObjPolygon(pose, polygon); +} + +Polygon2d createSelfPolygon(const VehicleInfo & vehicle_info) +{ + const double & front_m = vehicle_info.max_longitudinal_offset_m; + const double & width_m = vehicle_info.min_lateral_offset_m; + const double & rear_m = vehicle_info.min_longitudinal_offset_m; + + Polygon2d ego_polygon; + + ego_polygon.outer().push_back(Point2d(front_m, -width_m)); + ego_polygon.outer().push_back(Point2d(front_m, width_m)); + ego_polygon.outer().push_back(Point2d(-rear_m, width_m)); + ego_polygon.outer().push_back(Point2d(-rear_m, -width_m)); + + bg::correct(ego_polygon); + + return ego_polygon; +} +} // namespace + SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptions & node_options) -: Node("surround_obstacle_checker_node", node_options), - tf_buffer_(this->get_clock()), - tf_listener_(tf_buffer_), - vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo()) +: Node("surround_obstacle_checker_node", node_options) { // Parameters - use_pointcloud_ = this->declare_parameter("use_pointcloud", true); - use_dynamic_object_ = this->declare_parameter("use_dynamic_object", true); - surround_check_distance_ = this->declare_parameter("surround_check_distance", 2.0); - surround_check_recover_distance_ = - this->declare_parameter("surround_check_recover_distance", 2.5); - state_clear_time_ = this->declare_parameter("state_clear_time", 2.0); - stop_state_ego_speed_ = this->declare_parameter("stop_state_ego_speed", 0.1); - debug_ptr_ = std::make_shared( - vehicle_info_.max_longitudinal_offset_m, this->get_clock(), *this); - self_poly_ = createSelfPolygon(); + { + auto & p = node_param_; + p.use_pointcloud = this->declare_parameter("use_pointcloud", true); + p.use_dynamic_object = this->declare_parameter("use_dynamic_object", true); + p.surround_check_distance = this->declare_parameter("surround_check_distance", 2.0); + p.surround_check_recover_distance = + this->declare_parameter("surround_check_recover_distance", 2.5); + p.state_clear_time = this->declare_parameter("state_clear_time", 2.0); + p.stop_state_ego_speed = this->declare_parameter("stop_state_ego_speed", 0.1); + p.stop_state_entry_duration_time = + this->declare_parameter("stop_state_entry_duration_time", 0.1); + } + + vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); // Publishers - path_pub_ = - this->create_publisher("~/output/trajectory", 1); - stop_reason_diag_pub_ = + pub_stop_reason_ = this->create_publisher("~/output/no_start_reason", 1); + pub_clear_velocity_limit_ = + this->create_publisher("~/output/velocity_limit_clear_command", 1); + pub_velocity_limit_ = this->create_publisher("~/output/max_velocity", 1); - // Subscriber - path_sub_ = this->create_subscription( - "~/input/trajectory", 1, - std::bind(&SurroundObstacleCheckerNode::pathCallback, this, std::placeholders::_1)); - pointcloud_sub_ = this->create_subscription( + // Subscribers + sub_pointcloud_ = this->create_subscription( "~/input/pointcloud", rclcpp::SensorDataQoS(), - std::bind(&SurroundObstacleCheckerNode::pointCloudCallback, this, std::placeholders::_1)); - dynamic_object_sub_ = - this->create_subscription( - "~/input/objects", 1, - std::bind(&SurroundObstacleCheckerNode::dynamicObjectCallback, this, std::placeholders::_1)); - current_velocity_sub_ = this->create_subscription( + std::bind(&SurroundObstacleCheckerNode::onPointCloud, this, std::placeholders::_1)); + sub_dynamic_objects_ = this->create_subscription( + "~/input/objects", 1, + std::bind(&SurroundObstacleCheckerNode::onDynamicObjects, this, std::placeholders::_1)); + sub_odometry_ = this->create_subscription( "~/input/odometry", 1, - std::bind(&SurroundObstacleCheckerNode::currentVelocityCallback, this, std::placeholders::_1)); + std::bind(&SurroundObstacleCheckerNode::onOdometry, this, std::placeholders::_1)); + + using std::chrono_literals::operator""ms; + timer_ = rclcpp::create_timer( + this, get_clock(), 100ms, std::bind(&SurroundObstacleCheckerNode::onTimer, this)); + + last_running_time_ = std::make_shared(this->now()); + + // Debug + debug_ptr_ = std::make_shared( + vehicle_info_.max_longitudinal_offset_m, this->get_clock(), *this); } -void SurroundObstacleCheckerNode::pathCallback( - const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onTimer() { - if (use_pointcloud_ && !pointcloud_ptr_) { + if (node_param_.use_pointcloud && !pointcloud_ptr_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000 /* ms */, "waiting for pointcloud info..."); return; } - if (use_dynamic_object_ && !object_ptr_) { + if (node_param_.use_dynamic_object && !object_ptr_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000 /* ms */, "waiting for dynamic object info..."); return; } - if (!current_velocity_ptr_) { + if (!odometry_ptr_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000 /* ms */, "waiting for current velocity..."); return; } - // parameter description - TrajectoryPoints output_trajectory_points = - tier4_autoware_utils::convertToTrajectoryPointArray(*input_msg); + const auto nearest_obstacle = getNearestObstacle(); + const auto is_vehicle_stopped = isVehicleStopped(); - diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; + switch (state_) { + case State::PASS: { + const auto is_obstacle_found = + !nearest_obstacle ? false + : nearest_obstacle.get().first < node_param_.surround_check_distance; - // get current pose in traj frame - geometry_msgs::msg::Pose current_pose; - if (!getPose(input_msg->header.frame_id, "base_link", current_pose)) { - return; - } + if (!isStopRequired(is_obstacle_found, is_vehicle_stopped)) { + break; + } + + state_ = State::STOP; - // get closest idx - const size_t closest_idx = getClosestIdx(output_trajectory_points, current_pose); + auto velocity_limit = std::make_shared(); + velocity_limit->stamp = this->now(); + velocity_limit->max_velocity = 0.0; + velocity_limit->use_constraints = false; + velocity_limit->sender = "surround_obstacle_checker"; - // get nearest object - double min_dist_to_obj = std::numeric_limits::max(); - geometry_msgs::msg::Point nearest_obj_point; - getNearestObstacle(&min_dist_to_obj, &nearest_obj_point); + pub_velocity_limit_->publish(*velocity_limit); - // check current obstacle status (exist or not) - const auto is_obstacle_found = isObstacleFound(min_dist_to_obj); + // do not start when there is a obstacle near the ego vehicle. + RCLCPP_WARN(get_logger(), "do not start because there is obstacle near the ego vehicle."); - // check current stop status (stop or not) - const auto is_stopped = checkStop(input_msg->points.at(closest_idx)); + break; + } - const auto is_stop_required = isStopRequired(is_obstacle_found, is_stopped); + case State::STOP: { + const auto is_obstacle_found = + !nearest_obstacle + ? false + : nearest_obstacle.get().first < node_param_.surround_check_recover_distance; - // insert stop velocity - if (is_stop_required) { - state_ = State::STOP; + if (isStopRequired(is_obstacle_found, is_vehicle_stopped)) { + break; + } - // do not start when there is a obstacle near the ego vehicle. - RCLCPP_WARN_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "do not start because there is obstacle near the ego vehicle."); - insertStopVelocity(closest_idx, &output_trajectory_points); + state_ = State::PASS; + + auto velocity_limit_clear_command = std::make_shared(); + velocity_limit_clear_command->stamp = this->now(); + velocity_limit_clear_command->command = true; + velocity_limit_clear_command->sender = "surround_obstacle_checker"; - // visualization for debug - if (is_obstacle_found) { - debug_ptr_->pushObstaclePoint(nearest_obj_point, PointType::NoStart); + pub_clear_velocity_limit_->publish(*velocity_limit_clear_command); + + break; } - debug_ptr_->pushPose(input_msg->points.at(closest_idx).pose, PoseType::NoStart); - no_start_reason_diag = makeStopReasonDiag("obstacle", input_msg->points.at(closest_idx).pose); - } else { - state_ = State::PASS; + + default: + break; } - // publish trajectory and debug info - auto output_msg = tier4_autoware_utils::convertToTrajectory(output_trajectory_points); - output_msg.header = input_msg->header; - path_pub_->publish(output_msg); - stop_reason_diag_pub_->publish(no_start_reason_diag); + if (nearest_obstacle) { + debug_ptr_->pushObstaclePoint(nearest_obstacle.get().second, PointType::NoStart); + } + + diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; + if (state_ == State::STOP) { + debug_ptr_->pushPose(odometry_ptr_->pose.pose, PoseType::NoStart); + no_start_reason_diag = makeStopReasonDiag("obstacle", odometry_ptr_->pose.pose); + } + + pub_stop_reason_->publish(no_start_reason_diag); debug_ptr_->publish(); } -void SurroundObstacleCheckerNode::pointCloudCallback( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onPointCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) { - pointcloud_ptr_ = input_msg; + pointcloud_ptr_ = msg; } -void SurroundObstacleCheckerNode::dynamicObjectCallback( - const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onDynamicObjects(const PredictedObjects::ConstSharedPtr msg) { - object_ptr_ = input_msg; + object_ptr_ = msg; } -void SurroundObstacleCheckerNode::currentVelocityCallback( - const nav_msgs::msg::Odometry::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg) { - current_velocity_ptr_ = input_msg; + odometry_ptr_ = msg; } -void SurroundObstacleCheckerNode::insertStopVelocity( - const size_t closest_idx, TrajectoryPoints * traj) +boost::optional SurroundObstacleCheckerNode::getNearestObstacle() const { - // set zero velocity from closest idx to last idx - for (size_t i = closest_idx; i < traj->size(); i++) { - traj->at(i).longitudinal_velocity_mps = 0.0; - } -} + boost::optional nearest_pointcloud{boost::none}; + boost::optional nearest_object{boost::none}; -bool SurroundObstacleCheckerNode::getPose( - const std::string & source, const std::string & target, geometry_msgs::msg::Pose & pose) -{ - try { - // get transform from source to target - geometry_msgs::msg::TransformStamped ros_src2tgt = - tf_buffer_.lookupTransform(source, target, tf2::TimePointZero); - // convert geometry_msgs::msg::Transform to geometry_msgs::msg::Pose - tf2::Transform transform; - tf2::fromMsg(ros_src2tgt.transform, transform); - tf2::toMsg(transform, pose); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "cannot get tf from " << source << " to " << target); - return false; + if (node_param_.use_pointcloud) { + nearest_pointcloud = getNearestObstacleByPointCloud(); } - return true; -} -bool SurroundObstacleCheckerNode::convertPose( - const geometry_msgs::msg::Pose & pose, const std::string & source, const std::string & target, - const rclcpp::Time & time, geometry_msgs::msg::Pose & conv_pose) -{ - tf2::Transform src2tgt; - try { - // get transform from source to target - geometry_msgs::msg::TransformStamped ros_src2tgt = - tf_buffer_.lookupTransform(source, target, time, tf2::durationFromSec(0.1)); - tf2::fromMsg(ros_src2tgt.transform, src2tgt); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "cannot get tf from " << source << " to " << target); - return false; + if (node_param_.use_dynamic_object) { + nearest_object = getNearestObstacleByDynamicObject(); } - tf2::Transform src2obj; - tf2::fromMsg(pose, src2obj); - tf2::Transform tgt2obj = src2tgt.inverse() * src2obj; - tf2::toMsg(tgt2obj, conv_pose); - return true; -} - -size_t SurroundObstacleCheckerNode::getClosestIdx( - const TrajectoryPoints & traj, const geometry_msgs::msg::Pose current_pose) -{ - double min_dist = std::numeric_limits::max(); - size_t min_dist_idx = 0; - for (size_t i = 0; i < traj.size(); ++i) { - const double x = traj.at(i).pose.position.x - current_pose.position.x; - const double y = traj.at(i).pose.position.y - current_pose.position.y; - const double dist = std::hypot(x, y); - if (dist < min_dist) { - min_dist_idx = i; - min_dist = dist; - } + if (!nearest_pointcloud && !nearest_object) { + return {}; } - return min_dist_idx; -} -void SurroundObstacleCheckerNode::getNearestObstacle( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point) -{ - if (use_pointcloud_) { - getNearestObstacleByPointCloud(min_dist_to_obj, nearest_obj_point); + if (!nearest_pointcloud) { + return nearest_object; } - if (use_dynamic_object_) { - getNearestObstacleByDynamicObject(min_dist_to_obj, nearest_obj_point); + if (!nearest_object) { + return nearest_pointcloud; } + + return nearest_pointcloud.get().first < nearest_object.get().first ? nearest_pointcloud + : nearest_object; } -void SurroundObstacleCheckerNode::getNearestObstacleByPointCloud( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point) +boost::optional SurroundObstacleCheckerNode::getNearestObstacleByPointCloud() const { - // wait to transform pointcloud - geometry_msgs::msg::TransformStamped transform_stamped; - try { - transform_stamped = tf_buffer_.lookupTransform( - "base_link", pointcloud_ptr_->header.frame_id, pointcloud_ptr_->header.stamp, - tf2::durationFromSec(0.5)); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "failed to get base_link to " << pointcloud_ptr_->header.frame_id << " transform."); - return; + const auto transform_stamped = + getTransform("base_link", pointcloud_ptr_->header.frame_id, pointcloud_ptr_->header.stamp, 0.5); + + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; } - Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.transform).cast(); - pcl::PointCloud pcl; - pcl::fromROSMsg(*pointcloud_ptr_, pcl); - pcl::transformPointCloud(pcl, pcl, isometry); - for (const auto & p : pcl) { - // create boost point - Point2d boost_p(p.x, p.y); - - // calc distance - const double dist_to_obj = boost::geometry::distance(self_poly_, boost_p); - - // get minimum distance to obj - if (dist_to_obj < *min_dist_to_obj) { - *min_dist_to_obj = dist_to_obj; - nearest_obj_point->x = p.x; - nearest_obj_point->y = p.y; - nearest_obj_point->z = p.z; + Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.get().transform).cast(); + pcl::PointCloud transformed_pointcloud; + pcl::fromROSMsg(*pointcloud_ptr_, transformed_pointcloud); + pcl::transformPointCloud(transformed_pointcloud, transformed_pointcloud, isometry); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); + + for (const auto & p : transformed_pointcloud) { + Point2d boost_point(p.x, p.y); + + const auto distance_to_object = bg::distance(ego_polygon, boost_point); + + if (distance_to_object < minimum_distance) { + nearest_point = createPoint(p.x, p.y, p.z); + minimum_distance = distance_to_object; } } + + return std::make_pair(minimum_distance, nearest_point); } -void SurroundObstacleCheckerNode::getNearestObstacleByDynamicObject( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point) +boost::optional SurroundObstacleCheckerNode::getNearestObstacleByDynamicObject() const { - const auto obj_frame = object_ptr_->header.frame_id; - const auto obj_time = object_ptr_->header.stamp; - for (const auto & obj : object_ptr_->objects) { - // change frame of obj_pose to base_link - geometry_msgs::msg::Pose pose_baselink; - if (!convertPose( - obj.kinematics.initial_pose_with_covariance.pose, obj_frame, "base_link", obj_time, - pose_baselink)) { - return; - } + const auto transform_stamped = + getTransform(object_ptr_->header.frame_id, "base_link", object_ptr_->header.stamp, 0.5); - // create obj polygon - Polygon2d obj_poly; - if (obj.shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON) { - obj_poly = createObjPolygon(pose_baselink, obj.shape.footprint); - } else { - obj_poly = createObjPolygon(pose_baselink, obj.shape.dimensions); - } + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; + } + + tf2::Transform tf_src2target; + tf2::fromMsg(transform_stamped.get().transform, tf_src2target); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); - // calc distance - const double dist_to_obj = boost::geometry::distance(self_poly_, obj_poly); + for (const auto & object : object_ptr_->objects) { + const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; - // get minimum distance to obj - if (dist_to_obj < *min_dist_to_obj) { - *min_dist_to_obj = dist_to_obj; - *nearest_obj_point = obj.kinematics.initial_pose_with_covariance.pose.position; + tf2::Transform tf_src2object; + tf2::fromMsg(object_pose, tf_src2object); + + geometry_msgs::msg::Pose transformed_object_pose; + tf2::toMsg(tf_src2target.inverse() * tf_src2object, transformed_object_pose); + + const auto object_polygon = + object.shape.type == Shape::POLYGON + ? createObjPolygon(transformed_object_pose, object.shape.footprint) + : createObjPolygon(transformed_object_pose, object.shape.dimensions); + + const auto distance_to_object = bg::distance(ego_polygon, object_polygon); + + if (distance_to_object < minimum_distance) { + nearest_point = object_pose.position; + minimum_distance = distance_to_object; } } + + return std::make_pair(minimum_distance, nearest_point); } -bool SurroundObstacleCheckerNode::isObstacleFound(const double min_dist_to_obj) +boost::optional SurroundObstacleCheckerNode::getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const { - const auto is_obstacle_inside_range = min_dist_to_obj < surround_check_distance_; - const auto is_obstacle_outside_range = min_dist_to_obj > surround_check_recover_distance_; - - if (state_ == State::PASS) { - return is_obstacle_inside_range; - } + geometry_msgs::msg::TransformStamped transform_stamped; - if (state_ == State::STOP) { - return !is_obstacle_outside_range; + try { + transform_stamped = + tf_buffer_.lookupTransform(source, target, stamp, tf2::durationFromSec(duration_sec)); + } catch (tf2::TransformException & ex) { + return {}; } - throw std::runtime_error("invalid state"); + return transform_stamped; } bool SurroundObstacleCheckerNode::isStopRequired( - const bool is_obstacle_found, const bool is_stopped) + const bool is_obstacle_found, const bool is_vehicle_stopped) { - if (!is_stopped) { + if (!is_vehicle_stopped) { return false; } @@ -356,7 +432,7 @@ bool SurroundObstacleCheckerNode::isStopRequired( // Keep stop state if (last_obstacle_found_time_) { const auto elapsed_time = this->now() - *last_obstacle_found_time_; - if (elapsed_time.seconds() <= state_clear_time_) { + if (elapsed_time.seconds() <= node_param_.state_clear_time) { return true; } } @@ -365,118 +441,18 @@ bool SurroundObstacleCheckerNode::isStopRequired( return false; } -bool SurroundObstacleCheckerNode::checkStop( - const autoware_auto_planning_msgs::msg::TrajectoryPoint & closest_point) -{ - if (std::fabs(current_velocity_ptr_->twist.twist.linear.x) > stop_state_ego_speed_) { - // ego vehicle has high velocity now. not stop. - return false; - } - - const double closest_vel = closest_point.longitudinal_velocity_mps; - const double closest_acc = closest_point.acceleration_mps2; - - if (closest_vel * closest_acc < 0) { - // ego vehicle is about to stop (during deceleration). not stop. - return false; - } - - return true; -} - -Polygon2d SurroundObstacleCheckerNode::createSelfPolygon() -{ - const double front = vehicle_info_.max_longitudinal_offset_m; - const double rear = vehicle_info_.min_longitudinal_offset_m; - const double left = vehicle_info_.max_lateral_offset_m; - const double right = vehicle_info_.min_lateral_offset_m; - - Polygon2d poly; - boost::geometry::exterior_ring(poly) = boost::assign::list_of(front, left)(front, right)( - rear, right)(rear, left)(front, left); - return poly; -} - -Polygon2d SurroundObstacleCheckerNode::createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size) +bool SurroundObstacleCheckerNode::isVehicleStopped() { - // rename - const double x = pose.position.x; - const double y = pose.position.y; - const double h = size.x; - const double w = size.y; - const double yaw = tf2::getYaw(pose.orientation); - - // create base polygon - Polygon2d obj_poly; - boost::geometry::exterior_ring(obj_poly) = boost::assign::list_of(h / 2.0, w / 2.0)( - -h / 2.0, w / 2.0)(-h / 2.0, -w / 2.0)(h / 2.0, -w / 2.0)(h / 2.0, w / 2.0); - - // rotate polygon(yaw) - boost::geometry::strategy::transform::rotate_transformer - rotate(-yaw); // anti-clockwise -> :clockwise rotation - Polygon2d rotate_obj_poly; - boost::geometry::transform(obj_poly, rotate_obj_poly, rotate); - - // translate polygon(x, y) - boost::geometry::strategy::transform::translate_transformer translate(x, y); - Polygon2d translate_obj_poly; - boost::geometry::transform(rotate_obj_poly, translate_obj_poly, translate); - return translate_obj_poly; -} + const auto current_velocity = std::abs(odometry_ptr_->twist.twist.linear.x); -Polygon2d SurroundObstacleCheckerNode::createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint) -{ - // rename - const double x = pose.position.x; - const double y = pose.position.y; - const double yaw = tf2::getYaw(pose.orientation); - - // create base polygon - Polygon2d obj_poly; - for (const auto point : footprint.points) { - const Point2d point2d(point.x, point.y); - obj_poly.outer().push_back(point2d); + if (node_param_.stop_state_ego_speed < current_velocity) { + last_running_time_ = std::make_shared(this->now()); } - // rotate polygon(yaw) - boost::geometry::strategy::transform::rotate_transformer - rotate(-yaw); // anti-clockwise -> :clockwise rotation - Polygon2d rotate_obj_poly; - boost::geometry::transform(obj_poly, rotate_obj_poly, rotate); - - // translate polygon(x, y) - boost::geometry::strategy::transform::translate_transformer translate(x, y); - Polygon2d translate_obj_poly; - boost::geometry::transform(rotate_obj_poly, translate_obj_poly, translate); - return translate_obj_poly; -} - -diagnostic_msgs::msg::DiagnosticStatus SurroundObstacleCheckerNode::makeStopReasonDiag( - const std::string no_start_reason, const geometry_msgs::msg::Pose & stop_pose) -{ - diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; - diagnostic_msgs::msg::KeyValue no_start_reason_diag_kv; - no_start_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - no_start_reason_diag.name = "no_start_reason"; - no_start_reason_diag.message = no_start_reason; - no_start_reason_diag_kv.key = "no_start_pose"; - no_start_reason_diag_kv.value = jsonDumpsPose(stop_pose); - no_start_reason_diag.values.push_back(no_start_reason_diag_kv); - return no_start_reason_diag; + return node_param_.stop_state_entry_duration_time < (this->now() - *last_running_time_).seconds(); } -std::string SurroundObstacleCheckerNode::jsonDumpsPose(const geometry_msgs::msg::Pose & pose) -{ - const std::string json_dumps_pose = - (boost::format( - R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") % - pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x % - pose.orientation.y % pose.orientation.z) - .str(); - return json_dumps_pose; -} +} // namespace surround_obstacle_checker #include -RCLCPP_COMPONENTS_REGISTER_NODE(SurroundObstacleCheckerNode) +RCLCPP_COMPONENTS_REGISTER_NODE(surround_obstacle_checker::SurroundObstacleCheckerNode) From 1f5ade6a6a5c2f26cc94a5c10d0ffde82b165205 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Tue, 10 May 2022 10:15:23 +0900 Subject: [PATCH 11/30] feat: remove deprecated package in prediction launch (#875) Signed-off-by: Yukihiro Saito --- .../launch/object_recognition/prediction/prediction.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml index 4749bd45d3e3e..fd9d1ba6f3cda 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml @@ -9,6 +9,6 @@ - + From 399c13366100a710090486ae6cb7370a0f77a59e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 10 May 2022 12:43:47 +0900 Subject: [PATCH 12/30] fix(surround_obstacle_checker): fix ego footprint polygon (#877) Signed-off-by: satoshi-ota --- planning/surround_obstacle_checker/src/node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/surround_obstacle_checker/src/node.cpp b/planning/surround_obstacle_checker/src/node.cpp index 9e1fc6711bd3f..cd7117f360143 100644 --- a/planning/surround_obstacle_checker/src/node.cpp +++ b/planning/surround_obstacle_checker/src/node.cpp @@ -131,8 +131,8 @@ Polygon2d createSelfPolygon(const VehicleInfo & vehicle_info) ego_polygon.outer().push_back(Point2d(front_m, -width_m)); ego_polygon.outer().push_back(Point2d(front_m, width_m)); - ego_polygon.outer().push_back(Point2d(-rear_m, width_m)); - ego_polygon.outer().push_back(Point2d(-rear_m, -width_m)); + ego_polygon.outer().push_back(Point2d(rear_m, width_m)); + ego_polygon.outer().push_back(Point2d(rear_m, -width_m)); bg::correct(ego_polygon); From eca2944b058d137c6a1c7dab582f28f109be4d6e Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 10 May 2022 15:21:49 +0900 Subject: [PATCH 13/30] fix: update nvinfer api (#863) * fix(lidar_centerpoint): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(tensorrt_yolo): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(lidar_apollo_instance_segmentation): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_classifier): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_ssd_fine_detector): update nvinfer api Signed-off-by: Daisuke Nishimatsu * pre-commit run Signed-off-by: Daisuke Nishimatsu --- .../CMakeLists.txt | 3 --- .../lib/include/TrtNet.hpp | 6 ++--- .../lib/src/TrtNet.cpp | 2 +- .../src/detector.cpp | 26 +++++++++++++------ perception/lidar_centerpoint/CMakeLists.txt | 10 ++++--- .../lib/include/tensorrt_wrapper.hpp | 3 ++- .../lib/src/tensorrt_wrapper.cpp | 14 ++++++---- perception/tensorrt_yolo/CMakeLists.txt | 3 --- .../tensorrt_yolo/lib/include/trt_yolo.hpp | 3 ++- perception/tensorrt_yolo/lib/src/trt_yolo.cpp | 16 +++++++----- .../traffic_light_classifier/CMakeLists.txt | 3 --- .../utils/trt_common.cpp | 14 ++++++---- .../CMakeLists.txt | 3 --- .../lib/include/trt_ssd.hpp | 3 ++- .../lib/src/trt_ssd.cpp | 14 ++++++---- 15 files changed, 72 insertions(+), 51 deletions(-) diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt index 4fee2ecdd2f3b..433999051097d 100644 --- a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt +++ b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt @@ -4,9 +4,6 @@ project(lidar_apollo_instance_segmentation) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability diff --git a/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp b/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp index 30d560135cb4f..14c1ff6d44c63 100644 --- a/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp +++ b/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp @@ -56,13 +56,13 @@ class trtNet } if (!mTrtRunTime) { - mTrtRunTime->destroy(); + delete mTrtRunTime; } if (!mTrtContext) { - mTrtContext->destroy(); + delete mTrtContext; } if (!mTrtEngine) { - mTrtEngine->destroy(); + delete mTrtEngine; } } diff --git a/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp b/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp index c51adc83e07c1..0f1da4bdac8a6 100644 --- a/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp +++ b/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp @@ -100,7 +100,7 @@ trtNet::trtNet(const std::string & engineFile) mTrtRunTime = createInferRuntime(gLogger); assert(mTrtRunTime != nullptr); - mTrtEngine = mTrtRunTime->deserializeCudaEngine(data.get(), length, nullptr); + mTrtEngine = mTrtRunTime->deserializeCudaEngine(data.get(), length); assert(mTrtEngine != nullptr); InitEngine(); diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp index 7d628173b2e4c..af8b29f55f340 100644 --- a/perception/lidar_apollo_instance_segmentation/src/detector.cpp +++ b/perception/lidar_apollo_instance_segmentation/src/detector.cpp @@ -63,17 +63,27 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node * const int batch_size = 1; builder->setMaxBatchSize(batch_size); config->setMaxWorkspaceSize(1 << 30); - nvinfer1::ICudaEngine * engine = builder->buildEngineWithConfig(*network, *config); - nvinfer1::IHostMemory * trt_model_stream = engine->serialize(); - assert(trt_model_stream != nullptr); + nvinfer1::IHostMemory * plan = builder->buildSerializedNetwork(*network, *config); + assert(plan != nullptr); std::ofstream outfile(engine_file, std::ofstream::binary); assert(!outfile.fail()); - outfile.write(reinterpret_cast(trt_model_stream->data()), trt_model_stream->size()); + outfile.write(reinterpret_cast(plan->data()), plan->size()); outfile.close(); - network->destroy(); - parser->destroy(); - builder->destroy(); - config->destroy(); + if (network) { + delete network; + } + if (parser) { + delete parser; + } + if (builder) { + delete builder; + } + if (config) { + delete config; + } + if (plan) { + delete plan; + } } net_ptr_.reset(new Tn::trtNet(engine_file)); diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 1f5c869136eb0..0cf1f51654bb1 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -4,9 +4,6 @@ project(lidar_centerpoint) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations -Wno-unknown-pragmas) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability @@ -144,6 +141,13 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) centerpoint_cuda_libraries ) + # To suppress unknown-pragmas error. The root-cause is CUB library in CUDA 11.6. + # This issue was fixed by https://github.com/NVIDIA/cub/commit/7d608bf1dc14553e2fb219eabeed80b76621b6fe + target_include_directories(centerpoint + SYSTEM PUBLIC + ${CUDA_INCLUDE_DIRS} + ) + ## node ## ament_auto_add_library(lidar_centerpoint_component SHARED src/node.cpp diff --git a/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp b/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp index dd49723a5265c..b334be9e2230b 100644 --- a/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp +++ b/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp @@ -29,7 +29,7 @@ struct Deleter void operator()(T * obj) const { if (obj) { - obj->destroy(); + delete obj; } } }; @@ -82,6 +82,7 @@ class TensorRTWrapper bool createContext(); unique_ptr runtime_ = nullptr; + unique_ptr plan_ = nullptr; unique_ptr engine_ = nullptr; }; diff --git a/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp b/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp index 3691128137c39..f9882afac8f92 100644 --- a/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp +++ b/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp @@ -104,7 +104,13 @@ bool TensorRTWrapper::parseONNX( std::cout << "Applying optimizations and building TRT CUDA engine (" << onnx_path << ") ..." << std::endl; - engine_ = unique_ptr(builder->buildEngineWithConfig(*network, *config)); + plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + if (!plan_) { + std::cout << "Fail to create serialized network" << std::endl; + return false; + } + engine_ = unique_ptr( + runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine_) { std::cout << "Fail to create engine" << std::endl; return false; @@ -116,9 +122,8 @@ bool TensorRTWrapper::parseONNX( bool TensorRTWrapper::saveEngine(const std::string & engine_path) { std::cout << "Writing to " << engine_path << std::endl; - auto serialized = unique_ptr(engine_->serialize()); std::ofstream file(engine_path, std::ios::out | std::ios::binary); - file.write(reinterpret_cast(serialized->data()), serialized->size()); + file.write(reinterpret_cast(plan_->data()), plan_->size()); return true; } @@ -139,8 +144,7 @@ bool TensorRTWrapper::loadEngine(const std::string & engine_path) } std::cout << "Loading from " << engine_path << std::endl; - engine_ = - unique_ptr(runtime_->deserializeCudaEngine(buffer.get(), size, nullptr)); + engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer.get(), size)); return true; } diff --git a/perception/tensorrt_yolo/CMakeLists.txt b/perception/tensorrt_yolo/CMakeLists.txt index c05fefc38d15c..a50af6bfa9abb 100755 --- a/perception/tensorrt_yolo/CMakeLists.txt +++ b/perception/tensorrt_yolo/CMakeLists.txt @@ -4,9 +4,6 @@ project(tensorrt_yolo) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) find_package(OpenCV REQUIRED) diff --git a/perception/tensorrt_yolo/lib/include/trt_yolo.hpp b/perception/tensorrt_yolo/lib/include/trt_yolo.hpp index 813811226a0a6..c951154820f1a 100644 --- a/perception/tensorrt_yolo/lib/include/trt_yolo.hpp +++ b/perception/tensorrt_yolo/lib/include/trt_yolo.hpp @@ -59,7 +59,7 @@ struct Deleter void operator()(T * obj) const { if (obj) { - obj->destroy(); + delete obj; } } }; @@ -130,6 +130,7 @@ class Net private: unique_ptr runtime_ = nullptr; + unique_ptr plan_ = nullptr; unique_ptr engine_ = nullptr; unique_ptr context_ = nullptr; cudaStream_t stream_ = nullptr; diff --git a/perception/tensorrt_yolo/lib/src/trt_yolo.cpp b/perception/tensorrt_yolo/lib/src/trt_yolo.cpp index 1be5f279714ba..748680266ca9c 100644 --- a/perception/tensorrt_yolo/lib/src/trt_yolo.cpp +++ b/perception/tensorrt_yolo/lib/src/trt_yolo.cpp @@ -65,8 +65,7 @@ void Net::load(const std::string & path) file.read(buffer, size); file.close(); if (runtime_) { - engine_ = - unique_ptr(runtime_->deserializeCudaEngine(buffer, size, nullptr)); + engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer, size)); } delete[] buffer; } @@ -253,9 +252,15 @@ Net::Net( // Build engine std::cout << "Applying optimizations and building TRT CUDA engine..." << std::endl; - engine_ = unique_ptr(builder->buildEngineWithConfig(*network, *config)); + plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + if (!plan_) { + std::cout << "Fail to create serialized network" << std::endl; + return; + } + engine_ = unique_ptr( + runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!prepare()) { - std::cout << "Fail to prepare engine" << std::endl; + std::cout << "Fail to create engine" << std::endl; return; } } @@ -263,9 +268,8 @@ Net::Net( void Net::save(const std::string & path) const { std::cout << "Writing to " << path << "..." << std::endl; - auto serialized = unique_ptr(engine_->serialize()); std::ofstream file(path, std::ios::out | std::ios::binary); - file.write(reinterpret_cast(serialized->data()), serialized->size()); + file.write(reinterpret_cast(plan_->data()), plan_->size()); } void Net::infer(std::vector & buffers, const int batch_size) diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt index 08897bfa3cf5a..8ebd5f32db99e 100644 --- a/perception/traffic_light_classifier/CMakeLists.txt +++ b/perception/traffic_light_classifier/CMakeLists.txt @@ -4,9 +4,6 @@ project(traffic_light_classifier) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability option(CUDA_AVAIL "CUDA available" OFF) diff --git a/perception/traffic_light_classifier/utils/trt_common.cpp b/perception/traffic_light_classifier/utils/trt_common.cpp index a920d47fa295a..cae9f0cd1682a 100644 --- a/perception/traffic_light_classifier/utils/trt_common.cpp +++ b/perception/traffic_light_classifier/utils/trt_common.cpp @@ -45,6 +45,7 @@ TrtCommon::TrtCommon(std::string model_path, std::string precision) is_initialized_(false), max_batch_size_(1) { + runtime_ = UniquePtr(nvinfer1::createInferRuntime(logger_)); } void TrtCommon::setup() @@ -86,9 +87,8 @@ bool TrtCommon::loadEngine(std::string engine_file_path) std::stringstream engine_buffer; engine_buffer << engine_file.rdbuf(); std::string engine_str = engine_buffer.str(); - runtime_ = UniquePtr(nvinfer1::createInferRuntime(logger_)); engine_ = UniquePtr(runtime_->deserializeCudaEngine( - reinterpret_cast(engine_str.data()), engine_str.size(), nullptr)); + reinterpret_cast(engine_str.data()), engine_str.size())); return true; } @@ -117,19 +117,23 @@ bool TrtCommon::buildEngineFromOnnx(std::string onnx_file_path, std::string outp return false; } - engine_ = UniquePtr(builder->buildEngineWithConfig(*network, *config)); + auto plan = UniquePtr(builder->buildSerializedNetwork(*network, *config)); + if (!plan) { + return false; + } + engine_ = + UniquePtr(runtime_->deserializeCudaEngine(plan->data(), plan->size())); if (!engine_) { return false; } // save engine - nvinfer1::IHostMemory * data = engine_->serialize(); std::ofstream file; file.open(output_engine_file_path, std::ios::binary | std::ios::out); if (!file.is_open()) { return false; } - file.write((const char *)data->data(), data->size()); + file.write((const char *)plan->data(), plan->size()); file.close(); return true; diff --git a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt index e82c790f4fd1e..eb172b7faf981 100644 --- a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt +++ b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt @@ -4,9 +4,6 @@ project(traffic_light_ssd_fine_detector) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) find_package(OpenCV REQUIRED) diff --git a/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp b/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp index bbe5ae8da513c..cfb6c8a6d5754 100644 --- a/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp +++ b/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp @@ -31,7 +31,7 @@ struct Deleter void operator()(T * obj) const { if (obj) { - obj->destroy(); + delete obj; } } }; @@ -87,6 +87,7 @@ class Net private: unique_ptr runtime_ = nullptr; + unique_ptr plan_ = nullptr; unique_ptr engine_ = nullptr; unique_ptr context_ = nullptr; cudaStream_t stream_ = nullptr; diff --git a/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp b/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp index 766de7eb4cde1..ba9f94b014513 100644 --- a/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp +++ b/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp @@ -36,8 +36,7 @@ void Net::load(const std::string & path) file.read(buffer, size); file.close(); if (runtime_) { - engine_ = - unique_ptr(runtime_->deserializeCudaEngine(buffer, size, nullptr)); + engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer, size)); } delete[] buffer; } @@ -136,7 +135,13 @@ Net::Net( // Build engine std::cout << "Applying optimizations and building TRT CUDA engine..." << std::endl; - engine_ = unique_ptr(builder->buildEngineWithConfig(*network, *config)); + plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + if (!plan_) { + std::cout << "Fail to create serialized network" << std::endl; + return; + } + engine_ = unique_ptr( + runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine_) { std::cout << "Fail to create engine" << std::endl; return; @@ -151,9 +156,8 @@ Net::Net( void Net::save(const std::string & path) { std::cout << "Writing to " << path << "..." << std::endl; - auto serialized = unique_ptr(engine_->serialize()); std::ofstream file(path, std::ios::out | std::ios::binary); - file.write(reinterpret_cast(serialized->data()), serialized->size()); + file.write(reinterpret_cast(plan_->data()), plan_->size()); } void Net::infer(std::vector & buffers, const int batch_size) From 3e5e6db3a707510f92f3f2fe634dc3491ec81f5d Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 10 May 2022 17:39:28 +0900 Subject: [PATCH 14/30] fix(avoidance_module): ignore object instead of creating zero shift (#731) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. Signed-off-by: Muhammad Zulfaqar Azmi * refactor: sync continue with upstream Signed-off-by: Muhammad Zulfaqar Azmi * fix: fix debug message for insufficient lateral margin Signed-off-by: Muhammad Zulfaqar Azmi --- .../avoidance/avoidance_module.cpp | 19 +++++++------------ 1 file changed, 7 insertions(+), 12 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 876e5fc3112c3..2923996ca8697 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -490,24 +490,19 @@ AvoidPointArray AvoidanceModule::calcRawShiftPointsFromObjects( avoidance_debug_msg.max_shift_length = max_allowable_lateral_distance; if (!(o.to_road_shoulder_distance > max_allowable_lateral_distance)) { - avoidance_debug_msg.allow_avoidance = false; - avoidance_debug_msg.failed_reason = AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN; + avoidance_debug_array_false_and_push_back(AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN); + continue; } const auto max_shift_length = o.to_road_shoulder_distance - road_shoulder_safety_margin - 0.5 * vehicle_width; - const auto max_left_shift_limit = [&o, &max_allowable_lateral_distance, &max_shift_length, - this]() noexcept { - const auto left_shift_constraint = std::min(getLeftShiftBound(), max_shift_length); - return (o.to_road_shoulder_distance > max_allowable_lateral_distance) ? left_shift_constraint - : 0.0; + + const auto max_left_shift_limit = [&max_shift_length, this]() noexcept { + return std::min(getLeftShiftBound(), max_shift_length); }; - const auto max_right_shift_limit = [&o, &max_allowable_lateral_distance, &max_shift_length, - this]() noexcept { - const auto right_shift_constraint = std::max(getRightShiftBound(), -max_shift_length); - return (o.to_road_shoulder_distance > max_allowable_lateral_distance) ? right_shift_constraint - : 0.0; + const auto max_right_shift_limit = [&max_shift_length, this]() noexcept { + return std::max(getRightShiftBound(), -max_shift_length); }; const auto shift_length = isOnRight(o) From 7b81507c8074c6b4a547d3165856993f77ea72bd Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 10 May 2022 18:33:56 +0900 Subject: [PATCH 15/30] fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (#738) Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother/src/smoother/smoother_base.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp b/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp index 2ecf683fd3028..31c6420a67870 100644 --- a/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp +++ b/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp @@ -105,7 +105,7 @@ boost::optional SmootherBase::applyLateralAccelerationFilter( for (size_t i = 0; i < output->size(); ++i) { double curvature = 0.0; const size_t start = i > after_decel_index ? i - after_decel_index : 0; - const size_t end = std::min(output->size(), i + before_decel_index); + const size_t end = std::min(output->size(), i + before_decel_index + 1); for (size_t j = start; j < end; ++j) { curvature = std::max(curvature, std::fabs(curvature_v->at(j))); } From 66688730c654a76629ace36961351667e5694c69 Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Tue, 10 May 2022 21:29:41 +0900 Subject: [PATCH 16/30] test(autoware_testing): fix smoke_test (#479) * fix(autoware_testing): fix smoke_test Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * restore smoke_test for trajectory_follower_nodes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * add support multiple parameter files Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * ci(pre-commit): autofix * minor fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../autoware_testing/smoke_test.py | 39 +++++++++++++------ .../cmake/add_smoke_test.cmake | 10 ++--- .../trajectory_follower_nodes/CMakeLists.txt | 14 +++++-- 3 files changed, 42 insertions(+), 21 deletions(-) diff --git a/common/autoware_testing/autoware_testing/smoke_test.py b/common/autoware_testing/autoware_testing/smoke_test.py index 2753861269124..8c361474034ad 100644 --- a/common/autoware_testing/autoware_testing/smoke_test.py +++ b/common/autoware_testing/autoware_testing/smoke_test.py @@ -16,6 +16,7 @@ import os import shlex +import time import unittest from ament_index_python import get_package_share_directory @@ -26,21 +27,24 @@ from launch_ros.actions import Node import launch_testing import pytest +import rclpy def resolve_node(context, *args, **kwargs): + parameters = [ + os.path.join( + get_package_share_directory(LaunchConfiguration("arg_package").perform(context)), + "param", + file_name, + ) + for file_name in shlex.split(LaunchConfiguration("arg_param_filenames").perform(context)) + ] smoke_test_node = Node( package=LaunchConfiguration("arg_package"), executable=LaunchConfiguration("arg_package_exe"), namespace="test", - parameters=[ - os.path.join( - get_package_share_directory(LaunchConfiguration("arg_package").perform(context)), - "param", - LaunchConfiguration("arg_param_filename").perform(context), - ) - ], + parameters=parameters, arguments=shlex.split(LaunchConfiguration("arg_executable_arguments").perform(context)), ) return [smoke_test_node] @@ -55,8 +59,8 @@ def generate_test_description(): arg_package_exe = DeclareLaunchArgument( "arg_package_exe", default_value=["default"], description="Tested executable" ) - arg_param_filename = DeclareLaunchArgument( - "arg_param_filename", default_value=["test.param.yaml"], description="Test param file" + arg_param_filenames = DeclareLaunchArgument( + "arg_param_filenames", default_value=["test.param.yaml"], description="Test param file" ) arg_executable_arguments = DeclareLaunchArgument( "arg_executable_arguments", default_value=[""], description="Tested executable arguments" @@ -66,7 +70,7 @@ def generate_test_description(): [ arg_package, arg_package_exe, - arg_param_filename, + arg_param_filenames, arg_executable_arguments, OpaqueFunction(function=resolve_node), launch_testing.actions.ReadyToTest(), @@ -74,8 +78,19 @@ def generate_test_description(): ) +class DummyTest(unittest.TestCase): + def test_wait_for_node_ready(self): + """Waiting for the node is ready.""" + rclpy.init() + test_node = rclpy.create_node("test_node") + while len(test_node.get_node_names()) == 0: + time.sleep(0.1) + print("waiting for Node to be ready") + rclpy.shutdown() + + @launch_testing.post_shutdown_test() class TestProcessOutput(unittest.TestCase): def test_exit_code(self, proc_output, proc_info): - # Check that process exits with code -15 code: termination request, sent to the program - launch_testing.asserts.assertExitCodes(proc_info, [-15]) + # Check that process exits with code 0 + launch_testing.asserts.assertExitCodes(proc_info) diff --git a/common/autoware_testing/cmake/add_smoke_test.cmake b/common/autoware_testing/cmake/add_smoke_test.cmake index 2998db4960de4..ee2cb0f06e789 100644 --- a/common/autoware_testing/cmake/add_smoke_test.cmake +++ b/common/autoware_testing/cmake/add_smoke_test.cmake @@ -19,18 +19,18 @@ # :type package_name: string # :param package_exec: package executable to run during smoke test # :type executable_name: string -# :param PARAM_FILENAME: yaml filename containing test parameters -# :type PARAM_FILENAME: string +# :param PARAM_FILENAMES: yaml filenames containing test parameters +# :type PARAM_FILENAMES: string # :param EXECUTABLE_ARGUMENTS: arguments passed to tested executable # :type EXECUTABLE_ARGUMENTS: string function(add_smoke_test package_name executable_name) - cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAME;EXECUTABLE_ARGUMENTS" "") + cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAMES;EXECUTABLE_ARGUMENTS" "") set(ARGUMENTS "arg_package:=${package_name}" "arg_package_exe:=${executable_name}") - if(smoke_test_PARAM_FILENAME) - list(APPEND ARGUMENTS "arg_param_filename:=${smoke_test_PARAM_FILENAME}") + if(smoke_test_PARAM_FILENAMES) + list(APPEND ARGUMENTS "arg_param_filenames:=${smoke_test_PARAM_FILENAMES}") endif() if(smoke_test_EXECUTABLE_ARGUMENTS) diff --git a/control/trajectory_follower_nodes/CMakeLists.txt b/control/trajectory_follower_nodes/CMakeLists.txt index 7996ac0713107..fa005c1c0bfda 100644 --- a/control/trajectory_follower_nodes/CMakeLists.txt +++ b/control/trajectory_follower_nodes/CMakeLists.txt @@ -57,10 +57,16 @@ if(BUILD_TESTING) ament_target_dependencies(${TRAJECTORY_FOLLOWER_NODES_TEST} fake_test_node) target_link_libraries(${TRAJECTORY_FOLLOWER_NODES_TEST} ${LATLON_MUXER_NODE} ${LATERAL_CONTROLLER_NODE} ${LONGITUDINAL_CONTROLLER_NODE}) - #find_package(autoware_testing REQUIRED) - #add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe PARAM_FILENAME latlon_muxer_defaults.param.yaml) - #add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe PARAM_FILENAME lateral_controller_defaults.param.yaml) - #add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe PARAM_FILENAME longitudinal_controller_defaults.param.yaml) + find_package(autoware_testing REQUIRED) + add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe + PARAM_FILENAMES "latlon_muxer_defaults.param.yaml" + ) + add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe + PARAM_FILENAMES "lateral_controller_defaults.param.yaml test_vehicle_info.param.yaml" + ) + add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe + PARAM_FILENAMES "longitudinal_controller_defaults.param.yaml test_vehicle_info.param.yaml" + ) endif() ament_auto_package( From 31147a2cea1221677fae2a6bcc1a4aa8a41a18fb Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Wed, 11 May 2022 10:22:56 +0900 Subject: [PATCH 17/30] feat(rviz_plugins): add velocity limit to autoware state panel (#879) * feat(rviz_plugins): add velocity limit to autoware state panel Signed-off-by: tanaka3 * chore(rviz_plugin): change ms to kmh Signed-off-by: tanaka3 --- common/tier4_state_rviz_plugin/package.xml | 1 + .../src/autoware_state_panel.cpp | 23 +++++++++++++++++++ .../src/autoware_state_panel.hpp | 7 ++++++ 3 files changed, 31 insertions(+) diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index 2afbe9c315f75..74f7a7418815e 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -21,6 +21,7 @@ rviz_common tier4_control_msgs tier4_external_api_msgs + tier4_planning_msgs ament_lint_auto autoware_lint_common diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index 78681106b3d61..825e06dac1cd9 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -80,13 +80,26 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa engage_button_ptr_ = new QPushButton("Engage"); connect(engage_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareEngage())); + velocity_limit_button_ptr_ = new QPushButton("Send Velocity Limit"); + pub_velocity_limit_input_ = new QSpinBox(); + pub_velocity_limit_input_->setRange(-100.0, 100.0); + pub_velocity_limit_input_->setValue(0.0); + pub_velocity_limit_input_->setSingleStep(5.0); + connect(velocity_limit_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVelocityLimit())); + auto * v_layout = new QVBoxLayout; + auto * velocity_limit_layout = new QHBoxLayout(); v_layout->addLayout(gate_layout); v_layout->addLayout(selector_layout); v_layout->addLayout(state_layout); v_layout->addLayout(gear_layout); v_layout->addLayout(engage_status_layout); v_layout->addWidget(engage_button_ptr_); + v_layout->addLayout(engage_status_layout); + velocity_limit_layout->addWidget(velocity_limit_button_ptr_); + velocity_limit_layout->addWidget(pub_velocity_limit_input_); + velocity_limit_layout->addWidget(new QLabel(" [km/h]")); + v_layout->addLayout(velocity_limit_layout); setLayout(v_layout); } @@ -114,6 +127,9 @@ void AutowareStatePanel::onInitialize() client_engage_ = raw_node_->create_client( "/api/autoware/set/engage", rmw_qos_profile_services_default); + + pub_velocity_limit_ = raw_node_->create_publisher( + "/planning/scenario_planning/max_velocity_default", rclcpp::QoS(1)); } void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg) @@ -215,6 +231,13 @@ void AutowareStatePanel::onEngageStatus( engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_))); } +void AutowareStatePanel::onClickVelocityLimit() +{ + auto velocity_limit = std::make_shared(); + velocity_limit->max_velocity = pub_velocity_limit_input_->value() / 3.6; + pub_velocity_limit_->publish(*velocity_limit); +} + void AutowareStatePanel::onClickAutowareEngage() { auto req = std::make_shared(); diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp index 45cd290e5f4a3..97c559bdfb3de 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp @@ -19,6 +19,7 @@ #include #include +#include #include #include @@ -28,6 +29,7 @@ #include #include #include +#include namespace rviz_plugins { @@ -41,6 +43,7 @@ class AutowareStatePanel : public rviz_common::Panel public Q_SLOTS: void onClickAutowareEngage(); + void onClickVelocityLimit(); protected: void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg); @@ -61,12 +64,16 @@ public Q_SLOTS: rclcpp::Client::SharedPtr client_engage_; + rclcpp::Publisher::SharedPtr pub_velocity_limit_; + QLabel * gate_mode_label_ptr_; QLabel * selector_mode_label_ptr_; QLabel * autoware_state_label_ptr_; QLabel * gear_label_ptr_; QLabel * engage_status_label_ptr_; QPushButton * engage_button_ptr_; + QPushButton * velocity_limit_button_ptr_; + QSpinBox * pub_velocity_limit_input_; bool current_engage_; }; From da41a37d19434b62ccce549a83777b0d469e48d7 Mon Sep 17 00:00:00 2001 From: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Wed, 11 May 2022 11:00:51 +0900 Subject: [PATCH 18/30] fix(dummy_perception_publisher): publish multiple layers of pointcloud (#882) * fix: single -> multiple layers pointcloud Signed-off-by: Hirokazu Ishida * refactor: share common among different pcloud creators Signed-off-by: Hirokazu Ishida --- .../src/pointcloud_creator.cpp | 56 ++++++++++++++----- 1 file changed, 41 insertions(+), 15 deletions(-) diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp index 6c964625a3e69..d55c42a0c28bd 100644 --- a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp +++ b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp @@ -25,6 +25,18 @@ #include #include +namespace +{ + +static constexpr double epsilon = 0.001; +static constexpr double step = 0.05; +static constexpr double vertical_theta_step = (1.0 / 180.0) * M_PI; +static constexpr double vertical_min_theta = (-15.0 / 180.0) * M_PI; +static constexpr double vertical_max_theta = (15.0 / 180.0) * M_PI; +static constexpr double horizontal_theta_step = (0.1 / 180.0) * M_PI; +static constexpr double horizontal_min_theta = (-180.0 / 180.0) * M_PI; +static constexpr double horizontal_max_theta = (180.0 / 180.0) * M_PI; + pcl::PointXYZ getPointWrtBaseLink( const tf2::Transform & tf_base_link2moved_object, double x, double y, double z) { @@ -32,6 +44,8 @@ pcl::PointXYZ getPointWrtBaseLink( return pcl::PointXYZ(p_wrt_base.x(), p_wrt_base.y(), p_wrt_base.z()); } +} // namespace + void ObjectCentricPointCloudCreator::create_object_pointcloud( const ObjectInfo & obj_info, const tf2::Transform & tf_base_link2map, std::mt19937 & random_generator, pcl::PointCloud::Ptr pointcloud) const @@ -39,14 +53,6 @@ void ObjectCentricPointCloudCreator::create_object_pointcloud( std::normal_distribution<> x_random(0.0, obj_info.std_dev_x); std::normal_distribution<> y_random(0.0, obj_info.std_dev_y); std::normal_distribution<> z_random(0.0, obj_info.std_dev_z); - const double epsilon = 0.001; - const double step = 0.05; - const double vertical_theta_step = (1.0 / 180.0) * M_PI; - const double vertical_min_theta = (-15.0 / 180.0) * M_PI; - const double vertical_max_theta = (15.0 / 180.0) * M_PI; - const double horizontal_theta_step = (0.1 / 180.0) * M_PI; - const double horizontal_min_theta = (-180.0 / 180.0) * M_PI; - const double horizontal_max_theta = (180.0 / 180.0) * M_PI; const auto tf_base_link2moved_object = tf_base_link2map * obj_info.tf_map2moved_object; @@ -206,7 +212,18 @@ std::vector::Ptr> EgoCentricPointCloudCreator::cr pointclouds.at(i) = (pcl::PointCloud::Ptr(new pcl::PointCloud)); } - const double horizontal_theta_step = 0.25 * M_PI / 180.0; + std::vector min_zs(obj_infos.size()); + std::vector max_zs(obj_infos.size()); + + for (size_t idx = 0; idx < obj_infos.size(); ++idx) { + const auto & obj_info = obj_infos.at(idx); + const auto tf_base_link2moved_object = tf_base_link2map * obj_info.tf_map2moved_object; + const double min_z = -1.0 * (obj_info.height / 2.0) + tf_base_link2moved_object.getOrigin().z(); + const double max_z = 1.0 * (obj_info.height / 2.0) + tf_base_link2moved_object.getOrigin().z(); + min_zs.at(idx) = min_z; + max_zs.at(idx) = max_z; + } + double angle = 0.0; const auto n_scan = static_cast(std::floor(2 * M_PI / horizontal_theta_step)); for (size_t i = 0; i < n_scan; ++i) { @@ -217,13 +234,22 @@ std::vector::Ptr> EgoCentricPointCloudCreator::cr const auto x_hit = dist * cos(angle); const auto y_hit = dist * sin(angle); const auto idx_hit = composite_sdf.nearest_sdf_index(x_hit, y_hit); + const auto obj_info_here = obj_infos.at(idx_hit); + const auto min_z_here = min_zs.at(idx_hit); + const auto max_z_here = max_zs.at(idx_hit); + std::normal_distribution<> x_random(0.0, obj_info_here.std_dev_x); + std::normal_distribution<> y_random(0.0, obj_info_here.std_dev_y); + std::normal_distribution<> z_random(0.0, obj_info_here.std_dev_z); - std::normal_distribution<> x_random(0.0, obj_infos.at(idx_hit).std_dev_x); - std::normal_distribution<> y_random(0.0, obj_infos.at(idx_hit).std_dev_y); - std::normal_distribution<> z_random(0.0, obj_infos.at(idx_hit).std_dev_z); - pointclouds.at(idx_hit)->push_back(pcl::PointXYZ( - x_hit + x_random(random_generator), y_hit + y_random(random_generator), - z_random(random_generator))); + for (double vertical_theta = vertical_min_theta; + vertical_theta <= vertical_max_theta + epsilon; vertical_theta += vertical_theta_step) { + const double z = dist * std::tan(vertical_theta); + if (min_z_here <= z && z <= max_z_here + epsilon) { + pointclouds.at(idx_hit)->push_back(pcl::PointXYZ( + x_hit + x_random(random_generator), y_hit + y_random(random_generator), + z + z_random(random_generator))); + } + } } } From e2e557d63e4c342da067a32ff6d8ddefe4ea8d47 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 11 May 2022 12:56:26 +0900 Subject: [PATCH 19/30] feat(vehicle_info_util): add max_steer_angle (#740) * feat(vehicle_info_util): add max_steer_angle Signed-off-by: Takayuki Murooka * applied pre-commit Signed-off-by: Takayuki Murooka * Added max_steer_angle in test config Signed-off-by: Takayuki Murooka Co-authored-by: Tomoya Kimura --- .../param/test_vehicle_info.param.yaml | 1 + .../param/vehicle_characteristics.param.yaml | 1 + .../test/test_simple_planning_simulator.cpp | 1 + vehicle/vehicle_info_util/config/vehicle_info.param.yaml | 1 + .../include/vehicle_info_util/vehicle_info.hpp | 5 ++++- vehicle/vehicle_info_util/src/vehicle_info_util.cpp | 4 +++- 6 files changed, 11 insertions(+), 2 deletions(-) diff --git a/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml b/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml index b1279b50ef04a..8941b92b4e78e 100644 --- a/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml +++ b/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml @@ -9,3 +9,4 @@ left_overhang: 0.1 # between left wheel center and vehicle left right_overhang: 0.1 # between right wheel center and vehicle right vehicle_height: 2.5 + max_steer_angle: 0.70 # [rad] diff --git a/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml b/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml index 12b6efa79d1cd..ef594927dac4d 100644 --- a/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml +++ b/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml @@ -10,3 +10,4 @@ width_m: 2.0 front_overhang_m: 0.5 rear_overhang_m: 0.5 + max_steer_angle: 0.70 # [rad] diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index d983aeed4d8c4..fea6cd16db9d0 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -190,6 +190,7 @@ void declareVehicleInfoParams(rclcpp::NodeOptions & node_options) node_options.append_parameter_override("left_overhang", 0.5); node_options.append_parameter_override("right_overhang", 0.5); node_options.append_parameter_override("vehicle_height", 1.5); + node_options.append_parameter_override("max_steer_angle", 0.7); } // Send a control command and run the simulation. diff --git a/vehicle/vehicle_info_util/config/vehicle_info.param.yaml b/vehicle/vehicle_info_util/config/vehicle_info.param.yaml index b1279b50ef04a..8941b92b4e78e 100644 --- a/vehicle/vehicle_info_util/config/vehicle_info.param.yaml +++ b/vehicle/vehicle_info_util/config/vehicle_info.param.yaml @@ -9,3 +9,4 @@ left_overhang: 0.1 # between left wheel center and vehicle left right_overhang: 0.1 # between right wheel center and vehicle right vehicle_height: 2.5 + max_steer_angle: 0.70 # [rad] diff --git a/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp b/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp index e7ba446051889..8df6d4cfe04c1 100644 --- a/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp +++ b/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp @@ -31,6 +31,7 @@ struct VehicleInfo double left_overhang_m; double right_overhang_m; double vehicle_height_m; + double max_steer_angle_m; // Derived parameters, i.e. calculated from base parameters // The offset values are relative to the base frame origin, which is located @@ -49,7 +50,8 @@ struct VehicleInfo inline VehicleInfo createVehicleInfo( const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m, const double wheel_tread_m, const double front_overhang_m, const double rear_overhang_m, - const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m) + const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m, + const double max_steer_angle_m) { // Calculate derived parameters const double vehicle_length_m_ = front_overhang_m + wheel_base_m + rear_overhang_m; @@ -72,6 +74,7 @@ inline VehicleInfo createVehicleInfo( left_overhang_m, right_overhang_m, vehicle_height_m, + max_steer_angle_m, // Derived parameters vehicle_length_m_, vehicle_width_m_, diff --git a/vehicle/vehicle_info_util/src/vehicle_info_util.cpp b/vehicle/vehicle_info_util/src/vehicle_info_util.cpp index 6cc2d2f27e9ce..c295155727e61 100644 --- a/vehicle/vehicle_info_util/src/vehicle_info_util.cpp +++ b/vehicle/vehicle_info_util/src/vehicle_info_util.cpp @@ -49,6 +49,7 @@ VehicleInfoUtil::VehicleInfoUtil(rclcpp::Node & node) vehicle_info_.left_overhang_m = getParameter(node, "left_overhang"); vehicle_info_.right_overhang_m = getParameter(node, "right_overhang"); vehicle_info_.vehicle_height_m = getParameter(node, "vehicle_height"); + vehicle_info_.max_steer_angle_m = getParameter(node, "max_steer_angle"); } VehicleInfo VehicleInfoUtil::getVehicleInfo() @@ -56,7 +57,8 @@ VehicleInfo VehicleInfoUtil::getVehicleInfo() return createVehicleInfo( vehicle_info_.wheel_radius_m, vehicle_info_.wheel_width_m, vehicle_info_.wheel_base_m, vehicle_info_.wheel_tread_m, vehicle_info_.front_overhang_m, vehicle_info_.rear_overhang_m, - vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m); + vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m, + vehicle_info_.max_steer_angle_m); } } // namespace vehicle_info_util From 952510b3427c7af5dc09cc25365c56f248e33780 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed, 11 May 2022 14:52:58 +0900 Subject: [PATCH 20/30] ci(deploy-docs): remove mdx_unimoji (#883) Signed-off-by: Shumpei Wakabayashi --- mkdocs.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/mkdocs.yaml b/mkdocs.yaml index 2bd16349b24bb..02c3bb42383e8 100644 --- a/mkdocs.yaml +++ b/mkdocs.yaml @@ -66,7 +66,6 @@ markdown_extensions: - mdx_math - mdx_truly_sane_lists: nested_indent: 2 - - mdx_unimoji - plantuml_markdown: server: http://www.plantuml.com/plantuml format: svg From b2727f066bcf842777734f5c8c649d669a91105d Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Wed, 11 May 2022 06:17:37 +0000 Subject: [PATCH 21/30] chore: sync files (#884) Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/github-release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 23508e63bc43d..93533b54e1dd0 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -54,7 +54,7 @@ jobs: - name: Select verb id: select-verb run: | - has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") + has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") || true verb=create if [ "$has_previous_draft" = "true" ]; then From ae80db9ad2878ff44c80a7aa9657be45da2ea829 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 12 May 2022 15:45:49 +0900 Subject: [PATCH 22/30] fix(lidar_centerpoint): fix google drive url to avoid 404 (#889) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- perception/lidar_centerpoint/CMakeLists.txt | 4 ++-- perception/tensorrt_yolo/CMakeLists.txt | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 0cf1f51654bb1..4f15575181348 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -86,13 +86,13 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) message(STATUS "File already exists.") else() message(STATUS "File hash changes. Downloading now ...") - execute_process(COMMAND gdown --quiet https://drive.google.com//uc?id=${GFILE_ID} -O ${FILE_PATH}) + execute_process(COMMAND gdown --quiet https://drive.google.com/uc?id=${GFILE_ID} -O ${FILE_PATH}) # file(MD5 ${FILE_PATH} DOWNLOADED_FILE_HASH) # disable to pass ci message(STATUS "Downloaded file hash: ${DOWNLOADED_FILE_HASH}") endif() else() message(STATUS "File doesn't exists. Downloading now ...") - execute_process(COMMAND gdown --quiet https://drive.google.com//uc?id=${GFILE_ID} -O ${FILE_PATH}) + execute_process(COMMAND gdown --quiet https://drive.google.com/uc?id=${GFILE_ID} -O ${FILE_PATH}) # file(MD5 ${FILE_PATH} DOWNLOADED_FILE_HASH) # disable to pass ci message(STATUS "Downloaded file hash: ${DOWNLOADED_FILE_HASH}") endif() diff --git a/perception/tensorrt_yolo/CMakeLists.txt b/perception/tensorrt_yolo/CMakeLists.txt index a50af6bfa9abb..e8ac60c30ed37 100755 --- a/perception/tensorrt_yolo/CMakeLists.txt +++ b/perception/tensorrt_yolo/CMakeLists.txt @@ -93,7 +93,7 @@ message(STATUS "Checking and downloading yolov4.onnx") if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process( - COMMAND gdown "https://drive.google.com//uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX" -O ${PATH}/yolov4.onnx + COMMAND gdown "https://drive.google.com/uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX" -O ${PATH}/yolov4.onnx ERROR_QUIET ) endif() @@ -115,7 +115,7 @@ message(STATUS "Checking and downloading yolov5s.onnx") if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process( - COMMAND gdown "https://drive.google.com//uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad" -O ${PATH}/yolov5s.onnx + COMMAND gdown "https://drive.google.com/uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad" -O ${PATH}/yolov5s.onnx ERROR_QUIET ) endif() @@ -126,7 +126,7 @@ message(STATUS "Checking and downloading yolov5m.onnx") if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process( - COMMAND gdown "https://drive.google.com//uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG" -O ${PATH}/yolov5m.onnx + COMMAND gdown "https://drive.google.com/uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG" -O ${PATH}/yolov5m.onnx ERROR_QUIET ) endif() From c396b9d75dbb49c1ce0a288b54f7bf8fa907fc1d Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 12 May 2022 21:01:04 +0900 Subject: [PATCH 23/30] chore: fix typos (#886) Signed-off-by: badai-nguyen --- .../src/blockage_diag/blockage_diag_nodelet.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp index 3f3665bf06531..821e2de462bdc 100644 --- a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp @@ -42,7 +42,7 @@ BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options updater_.setHardwareID("blockage_diag"); updater_.add( - std::string(this->get_namespace()) + ": ground_blockage_validation", this, + std::string(this->get_namespace()) + ": blockage_validation", this, &BlockageDiagComponent::onBlockageChecker); updater_.setPeriod(0.1); @@ -93,9 +93,9 @@ void BlockageDiagComponent::onBlockageChecker(DiagnosticStatusWrapper & stat) if (level == DiagnosticStatus::OK) { msg = "OK"; } else if (level == DiagnosticStatus::WARN) { - msg = "WARNING: LiDAR ground blockage"; + msg = "WARNING: LiDAR blockage"; } else if (level == DiagnosticStatus::ERROR) { - msg = "ERROR: LiDAR ground blockage"; + msg = "ERROR: LiDAR blockage"; } else if (level == DiagnosticStatus::STALE) { msg = "STALE"; } From ffb0553a1915806df75e17dac2d9a237318f30c9 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Fri, 13 May 2022 11:22:08 +0900 Subject: [PATCH 24/30] feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (#894) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/autoware_state_panel.cpp | 40 +++++++++++++++++++ .../src/autoware_state_panel.hpp | 7 ++++ 2 files changed, 47 insertions(+) diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index 825e06dac1cd9..33177729e8359 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -16,6 +16,7 @@ #include "autoware_state_panel.hpp" +#include #include #include #include @@ -80,6 +81,15 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa engage_button_ptr_ = new QPushButton("Engage"); connect(engage_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareEngage())); + // Gate Mode Button + gate_mode_button_ptr_ = new QPushButton("Gate Mode"); + connect(gate_mode_button_ptr_, SIGNAL(clicked()), SLOT(onClickGateMode())); + + // Path Change Approval Button + path_change_approval_button_ptr_ = new QPushButton("Path Change Approval"); + connect(path_change_approval_button_ptr_, SIGNAL(clicked()), SLOT(onClickPathChangeApproval())); + + // Velocity Limit velocity_limit_button_ptr_ = new QPushButton("Send Velocity Limit"); pub_velocity_limit_input_ = new QSpinBox(); pub_velocity_limit_input_->setRange(-100.0, 100.0); @@ -87,7 +97,9 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa pub_velocity_limit_input_->setSingleStep(5.0); connect(velocity_limit_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVelocityLimit())); + // Layout auto * v_layout = new QVBoxLayout; + auto * gate_mode_path_change_approval_layout = new QHBoxLayout; auto * velocity_limit_layout = new QHBoxLayout(); v_layout->addLayout(gate_layout); v_layout->addLayout(selector_layout); @@ -96,6 +108,9 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa v_layout->addLayout(engage_status_layout); v_layout->addWidget(engage_button_ptr_); v_layout->addLayout(engage_status_layout); + gate_mode_path_change_approval_layout->addWidget(gate_mode_button_ptr_); + gate_mode_path_change_approval_layout->addWidget(path_change_approval_button_ptr_); + v_layout->addLayout(gate_mode_path_change_approval_layout); velocity_limit_layout->addWidget(velocity_limit_button_ptr_); velocity_limit_layout->addWidget(pub_velocity_limit_input_); velocity_limit_layout->addWidget(new QLabel(" [km/h]")); @@ -130,6 +145,14 @@ void AutowareStatePanel::onInitialize() pub_velocity_limit_ = raw_node_->create_publisher( "/planning/scenario_planning/max_velocity_default", rclcpp::QoS(1)); + + pub_gate_mode_ = raw_node_->create_publisher( + "/control/gate_mode_cmd", rclcpp::QoS(1)); + + pub_path_change_approval_ = raw_node_->create_publisher( + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/" + "path_change_approval", + rclcpp::QoS(1)); } void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg) @@ -258,6 +281,23 @@ void AutowareStatePanel::onClickAutowareEngage() }); } +void AutowareStatePanel::onClickGateMode() +{ + const auto data = gate_mode_label_ptr_->text().toStdString() == "AUTO" + ? tier4_control_msgs::msg::GateMode::EXTERNAL + : tier4_control_msgs::msg::GateMode::AUTO; + RCLCPP_INFO(raw_node_->get_logger(), "data : %d", data); + pub_gate_mode_->publish( + tier4_control_msgs::build().data(data)); +} + +void AutowareStatePanel::onClickPathChangeApproval() +{ + pub_path_change_approval_->publish( + tier4_planning_msgs::build() + .stamp(raw_node_->now()) + .approval(true)); +} } // namespace rviz_plugins #include diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp index 97c559bdfb3de..a53bea54452fc 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp @@ -29,6 +29,7 @@ #include #include #include +#include #include namespace rviz_plugins @@ -44,6 +45,8 @@ class AutowareStatePanel : public rviz_common::Panel public Q_SLOTS: void onClickAutowareEngage(); void onClickVelocityLimit(); + void onClickGateMode(); + void onClickPathChangeApproval(); protected: void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg); @@ -65,6 +68,8 @@ public Q_SLOTS: rclcpp::Client::SharedPtr client_engage_; rclcpp::Publisher::SharedPtr pub_velocity_limit_; + rclcpp::Publisher::SharedPtr pub_gate_mode_; + rclcpp::Publisher::SharedPtr pub_path_change_approval_; QLabel * gate_mode_label_ptr_; QLabel * selector_mode_label_ptr_; @@ -73,6 +78,8 @@ public Q_SLOTS: QLabel * engage_status_label_ptr_; QPushButton * engage_button_ptr_; QPushButton * velocity_limit_button_ptr_; + QPushButton * gate_mode_button_ptr_; + QPushButton * path_change_approval_button_ptr_; QSpinBox * pub_velocity_limit_input_; bool current_engage_; From 80f3f1c8455381c040d2f166bf622d4f5cb79a5c Mon Sep 17 00:00:00 2001 From: Takeshi Ishita Date: Fri, 13 May 2022 13:50:09 +0900 Subject: [PATCH 25/30] feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (#890) * add random point sampling function to quickly calculate the 'viewer' coordinate Signed-off-by: IshitaTakeshi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- map/map_tf_generator/CMakeLists.txt | 17 ++++++++ .../map_tf_generator/uniform_random.hpp | 33 ++++++++++++++ map/map_tf_generator/package.xml | 1 + .../src/map_tf_generator_node.cpp | 18 +++++--- .../test/test_uniform_random.cpp | 43 +++++++++++++++++++ 5 files changed, 107 insertions(+), 5 deletions(-) create mode 100644 map/map_tf_generator/include/map_tf_generator/uniform_random.hpp create mode 100644 map/map_tf_generator/test/test_uniform_random.cpp diff --git a/map/map_tf_generator/CMakeLists.txt b/map/map_tf_generator/CMakeLists.txt index 1170dfef00474..506f763c4bb36 100644 --- a/map/map_tf_generator/CMakeLists.txt +++ b/map/map_tf_generator/CMakeLists.txt @@ -16,6 +16,23 @@ rclcpp_components_register_node(map_tf_generator_node EXECUTABLE map_tf_generator ) + +if(BUILD_TESTING) + function(add_testcase filepath) + get_filename_component(filename ${filepath} NAME) + string(REGEX REPLACE ".cpp" "" test_name ${filename}) + + ament_add_gmock(${test_name} ${filepath}) + target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include) + ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) + endfunction() + + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + + add_testcase(test/test_uniform_random.cpp) +endif() + ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp b/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp new file mode 100644 index 0000000000000..345703a19bc06 --- /dev/null +++ b/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp @@ -0,0 +1,33 @@ +// Copyright 2022 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. + +#ifndef MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ +#define MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ + +#include +#include + +std::vector UniformRandom(const size_t max_exclusive, const size_t n) +{ + std::default_random_engine generator; + std::uniform_int_distribution distribution(0, max_exclusive - 1); + + std::vector v(n); + for (size_t i = 0; i < n; i++) { + v[i] = distribution(generator); + } + return v; +} + +#endif // MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ diff --git a/map/map_tf_generator/package.xml b/map/map_tf_generator/package.xml index 9aaf14bc5fda7..3adcf80690668 100644 --- a/map/map_tf_generator/package.xml +++ b/map/map_tf_generator/package.xml @@ -19,6 +19,7 @@ tf2 tf2_ros + ament_cmake_gmock ament_lint_auto autoware_lint_common diff --git a/map/map_tf_generator/src/map_tf_generator_node.cpp b/map/map_tf_generator/src/map_tf_generator_node.cpp index 378d739ffbef3..b99514f18e658 100644 --- a/map/map_tf_generator/src/map_tf_generator_node.cpp +++ b/map/map_tf_generator/src/map_tf_generator_node.cpp @@ -12,6 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "map_tf_generator/uniform_random.hpp" + #include #include @@ -25,6 +27,8 @@ #include #include +constexpr size_t N_SAMPLES = 20; + class MapTFGeneratorNode : public rclcpp::Node { public: @@ -51,19 +55,23 @@ class MapTFGeneratorNode : public rclcpp::Node void onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr clouds_ros) { + // fix random seed to produce the same viewer position every time + // 3939 is just the author's favorite number + srand(3939); + PointCloud clouds; pcl::fromROSMsg(*clouds_ros, clouds); - const unsigned int sum = clouds.points.size(); + const std::vector indices = UniformRandom(clouds.size(), N_SAMPLES); double coordinate[3] = {0, 0, 0}; - for (unsigned int i = 0; i < sum; i++) { + for (const auto i : indices) { coordinate[0] += clouds.points[i].x; coordinate[1] += clouds.points[i].y; coordinate[2] += clouds.points[i].z; } - coordinate[0] = coordinate[0] / sum; - coordinate[1] = coordinate[1] / sum; - coordinate[2] = coordinate[2] / sum; + coordinate[0] = coordinate[0] / indices.size(); + coordinate[1] = coordinate[1] / indices.size(); + coordinate[2] = coordinate[2] / indices.size(); geometry_msgs::msg::TransformStamped static_transformStamped; static_transformStamped.header.stamp = this->now(); diff --git a/map/map_tf_generator/test/test_uniform_random.cpp b/map/map_tf_generator/test/test_uniform_random.cpp new file mode 100644 index 0000000000000..76ee174a34871 --- /dev/null +++ b/map/map_tf_generator/test/test_uniform_random.cpp @@ -0,0 +1,43 @@ +// Copyright 2022 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. + +#include "map_tf_generator/uniform_random.hpp" + +#include + +using testing::AllOf; +using testing::Each; +using testing::Ge; +using testing::Lt; + +TEST(UniformRandom, UniformRandom) +{ + { + const std::vector random = UniformRandom(4, 0); + ASSERT_EQ(random.size(), static_cast(0)); + } + + // checks if the returned values are in range of [min, max) + // note that the minimun range is always zero and the max value is exclusive + { + const size_t min_inclusive = 0; + const size_t max_exclusive = 4; + + for (int i = 0; i < 50; i++) { + const std::vector random = UniformRandom(4, 10); + ASSERT_EQ(random.size(), 10U); + ASSERT_THAT(random, Each(AllOf(Ge(min_inclusive), Lt(max_exclusive)))); // in range [0, 4) + } + } +} From ef379533fdf2fdf5d8599d2c34af7ce38eef7ab0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 13 May 2022 17:45:37 +0900 Subject: [PATCH 26/30] docs(obstacle_stop_planner): update documentation (#880) Signed-off-by: satoshi-ota --- planning/obstacle_stop_planner/README.md | 13 +- .../docs/insert_decel_velocity.drawio.svg | 273 +----------------- .../docs/insert_velocity1.drawio.svg | 4 + .../docs/insert_velocity2.drawio.svg | 4 + 4 files changed, 22 insertions(+), 272 deletions(-) create mode 100644 planning/obstacle_stop_planner/docs/insert_velocity1.drawio.svg create mode 100644 planning/obstacle_stop_planner/docs/insert_velocity2.drawio.svg diff --git a/planning/obstacle_stop_planner/README.md b/planning/obstacle_stop_planner/README.md index 95274b6a4829d..9c8fc714fb9c1 100644 --- a/planning/obstacle_stop_planner/README.md +++ b/planning/obstacle_stop_planner/README.md @@ -11,13 +11,20 @@ - Adaptive Cruise Controller (ACC) - embeds target velocity in trajectory when there is a dynamic point cloud on the trajectory. -When the stop point that has 0 velocity is inserted, the point is inserted in front of the target point cloud by the distance of `baselink to front` + `stop margin`. The `baselink to front` means the distance between `base_link`(center of rear-wheel axis) and front of the car. `stop margin` is determined by the parameters described below. +In order to stop with a `stop margin` from the obstacle exists, the stop point (`v=0`) is inserted at a distance of `baselink to front` + `stop margin` from the obstacle. The `baselink to front` means the distance between `base_link`(center of rear-wheel axis) and front of the car. -![insert_stop_velocity](./docs/insert_velocity.drawio.svg) +If a stop point has already been inserted by other nodes between the obstacle and a position which is `stop margin` meters away from the obstacle, the stop point is inserted at a distance of `baselink to front` + `min behavior stop margin` from the obstacle. + +

+ + +
When the deceleration section is inserted, the start point of the section is inserted in front of the target point cloud by the distance of `baselink to front` + `slow down forward margin`. the end point of the section is inserted behind the target point cloud by the distance of `slow down backward margin` + `baselink to rear`. The `baselink to rear` means the distance between `base_link` and rear of the car. The velocities of points in the deceleration section are modified to the deceleration velocity. `slow down backward margin` and `slow down forward margin` are determined by the parameters described below. -![insert_stop_velocity](./docs/insert_decel_velocity.drawio.svg) +
+ +
## Input topics diff --git a/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg b/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg index 80cb8c2ed5016..a49853974a2f9 100644 --- a/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg +++ b/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg @@ -1,269 +1,4 @@ - - - - - - - -
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zYx~nsbvtBxz`S^WHp%Uz;~I4B>pVOYhHM<1_j!=Pq>3bqz58h}O*NIz#uB?&olY2dQ{U5zO1VG;TB5<@{h0MH8Tr18{GBh$C{p4C}UGd<@WC* zwR*;`m?;#sanQzV(Vu=VOh#1bmgQiU;tR>aD=}9eJXd>d^j;2OJ^I|dF`L#J!KGDc zHC5&#&%fG!irAea*a~}0?Qa6+#&ip-O8Z*W8Ny;-#g^%GxX{W@io`pccE?GWH+RCy zXS;I6atLZY%NrYm{}F=ykG!^u|0gu!e{G`Dsd)aEnH>AbsEUBBNm!bae5eA zRj_>rT_ForMdOtxgWSW`>CQk`>+rea-e%XZhyYt7{oHZ%*oy{dWP5XM^y2`?s zx4vhGvC~$Vge%MZNAnA}|F7f^+y7wxcwUTH{(czC9TF(~mPAem%t`~U13XSe4E%sE zI6vB9``+wC{X=U`HcD-zn+B{{=J@jVk~E From e1e81b3a1a3c4c5e86f472538a40f1b7c57a8de8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 17 May 2022 08:37:29 +0900 Subject: [PATCH 28/30] fix(accel_brake_map_calibrator): rviz panel type (#895) * fixed panel type Signed-off-by: Mamoru Sobue * modified instruction for rosbag replay case Signed-off-by: Mamoru Sobue * modified update_map_dir service name Signed-off-by: Mamoru Sobue --- .../src/accel_brake_map_calibrator_button_panel.cpp | 2 +- .../accel_brake_map_calibrator/README.md | 4 ++-- .../accel_brake_map_calibrator/rviz/occupancy.rviz | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp b/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp index 542ce6f7bdeda..545bdac7b630d 100644 --- a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp +++ b/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp @@ -75,7 +75,7 @@ void AccelBrakeMapCalibratorButtonPanel::onInitialize() &AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1)); client_ = raw_node->create_client( - "/vehicle/calibration/accel_brake_map_calibrator/update_map_dir"); + "/accel_brake_map_calibrator/update_map_dir"); } void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest( diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md index d7de930308412..0d30686bbe5e2 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md @@ -17,7 +17,7 @@ ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rvi Or if you want to use rosbag files, run the following commands. ```sh -ros2 param set /use_sim_time true +ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rviz:=true use_sim_time:=true ros2 bag play --clock ``` @@ -110,7 +110,7 @@ ros2 run accel_brake_map_calibrator view_statistics.py You can save accel and brake map anytime with the following command. ```sh -ros2 service call /accel_brake_map_calibrator/update_map_dir "path: ''" +ros2 service call /accel_brake_map_calibrator/update_map_dir tier4_vehicle_msgs/srv/UpdateAccelBrakeMap "path: ''" ``` You can also save accel and brake map in the default directory where Autoware reads accel_map.csv/brake_map.csv using the RViz plugin (AccelBrakeMapCalibratorButtonPanel) as following. diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz index ca51dc4ee75fc..c430c21562f32 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz @@ -17,9 +17,9 @@ Panels: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel + - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel - - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel + - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel Preferences: PromptSaveOnExit: true From 55d807e4625f65fb857aa5f3b99b158667827870 Mon Sep 17 00:00:00 2001 From: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> Date: Tue, 17 May 2022 14:35:38 +0900 Subject: [PATCH 29/30] fix(behavior velocity planner): skipping emplace back stop reason if it is empty (#898) * skipping emplace back stop reason if it is empty Signed-off-by: TakumiKozaka-T4 * add braces Signed-off-by: TakumiKozaka-T4 * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- .../include/scene_module/scene_module_interface.hpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp index 50261de15f5c9..398994b4cde2b 100644 --- a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp @@ -123,7 +123,10 @@ class SceneModuleManagerInterface tier4_planning_msgs::msg::StopReason stop_reason; scene_module->setPlannerData(planner_data_); scene_module->modifyPathVelocity(path, &stop_reason); - stop_reason_array.stop_reasons.emplace_back(stop_reason); + + if (stop_reason.reason != "") { + stop_reason_array.stop_reasons.emplace_back(stop_reason); + } if (const auto command = scene_module->getInfrastructureCommand()) { infrastructure_command_array.commands.push_back(*command); From f1d2b9ec7aab0b27d4e2b66e1cc6cf1d97b9a2d6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 17 May 2022 22:54:46 +0900 Subject: [PATCH 30/30] feat(behavior_path_planner): weakened noise filtering of drivable area (#838) * feat(behavior_path_planner): Weakened noise filtering of drivable area Signed-off-by: Takayuki Murooka * fix lanelet's longitudinal disconnection Signed-off-by: Takayuki Murooka * add comments of erode/dilate process Signed-off-by: Takayuki Murooka --- map/lanelet2_extension/lib/utilities.cpp | 34 +++++++++++++++++-- .../behavior_path_planner/src/utilities.cpp | 5 ++- 2 files changed, 36 insertions(+), 3 deletions(-) diff --git a/map/lanelet2_extension/lib/utilities.cpp b/map/lanelet2_extension/lib/utilities.cpp index 072f079028db6..8983d9d4f3678 100644 --- a/map/lanelet2_extension/lib/utilities.cpp +++ b/map/lanelet2_extension/lib/utilities.cpp @@ -315,8 +315,38 @@ lanelet::ConstLanelet getExpandedLanelet( // Note: The lanelet::geometry::offset throws exception when the undesired inversion is found. // Use offsetNoThrow until the logic is updated to handle the inversion. // TODO(Horibe) update - const auto & expanded_left_bound_2d = offsetNoThrow(orig_left_bound_2d, left_offset); - const auto & expanded_right_bound_2d = offsetNoThrow(orig_right_bound_2d, right_offset); + auto expanded_left_bound_2d = offsetNoThrow(orig_left_bound_2d, left_offset); + auto expanded_right_bound_2d = offsetNoThrow(orig_right_bound_2d, right_offset); + + // Note: modify front and back points so that the successive lanelets will not have any + // longitudinal space between them. + { // front + const double diff_x = orig_right_bound_2d.front().x() - orig_left_bound_2d.front().x(); + const double diff_y = orig_right_bound_2d.front().y() - orig_left_bound_2d.front().y(); + const double theta = std::atan2(diff_y, diff_x); + expanded_right_bound_2d.front().x() = + orig_right_bound_2d.front().x() - right_offset * std::cos(theta); + expanded_right_bound_2d.front().y() = + orig_right_bound_2d.front().y() - right_offset * std::sin(theta); + expanded_left_bound_2d.front().x() = + orig_left_bound_2d.front().x() - left_offset * std::cos(theta); + expanded_left_bound_2d.front().y() = + orig_left_bound_2d.front().y() - left_offset * std::sin(theta); + } + { // back + const double diff_x = orig_right_bound_2d.back().x() - orig_left_bound_2d.back().x(); + const double diff_y = orig_right_bound_2d.back().y() - orig_left_bound_2d.back().y(); + const double theta = std::atan2(diff_y, diff_x); + expanded_right_bound_2d.back().x() = + orig_right_bound_2d.back().x() - right_offset * std::cos(theta); + expanded_right_bound_2d.back().y() = + orig_right_bound_2d.back().y() - right_offset * std::sin(theta); + expanded_left_bound_2d.back().x() = + orig_left_bound_2d.back().x() - left_offset * std::cos(theta); + expanded_left_bound_2d.back().y() = + orig_left_bound_2d.back().y() - left_offset * std::sin(theta); + } + rclcpp::Clock clock{RCL_ROS_TIME}; try { checkForInversion(orig_left_bound_2d, expanded_left_bound_2d, left_offset); diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index a2c3545d65c7c..ca29304a65b22 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -1227,7 +1227,10 @@ OccupancyGrid generateDrivableArea( } // Closing - constexpr int num_iter = 10; // TODO(Horibe) Think later. + // NOTE: Because of the discretization error, there may be some discontinuity between two + // successive lanelets in the drivable area. This issue is dealt with by the erode/dilate + // process. + constexpr int num_iter = 1; cv::Mat cv_erode, cv_dilate; cv::erode(cv_image, cv_erode, cv::Mat(), cv::Point(-1, -1), num_iter); cv::dilate(cv_erode, cv_dilate, cv::Mat(), cv::Point(-1, -1), num_iter);

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