From e954bc38d45c9ce2d1841c733c62ecb87356e035 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 7 Apr 2022 16:45:01 +0900 Subject: [PATCH] feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel (#640) * feat(tier4_traffic_light_rviz_plugin): add traffic light publish panel Signed-off-by: satoshi-ota * fix(tier4_traffic_light_rviz_plugin): fix behavior Signed-off-by: satoshi-ota * fix: lisense description Co-authored-by: Yukihiro Saito * fix: lisence description Co-authored-by: Yukihiro Saito Co-authored-by: Yukihiro Saito --- .../CMakeLists.txt | 42 +++ .../tier4_traffic_light_rviz_plugin/README.md | 31 ++ .../classes/TrafficLightPublishPanel.png | Bin 0 -> 18815 bytes .../images/select_panels.png | Bin 0 -> 67237 bytes .../select_traffic_light_publish_panel.png | Bin 0 -> 57494 bytes .../images/traffic_light_publish_panel.gif | Bin 0 -> 416094 bytes .../package.xml | 25 ++ .../plugins/plugin_description.xml | 9 + .../src/traffic_light_publish_panel.cpp | 281 ++++++++++++++++++ .../src/traffic_light_publish_panel.hpp | 76 +++++ 10 files changed, 464 insertions(+) create mode 100644 common/tier4_traffic_light_rviz_plugin/CMakeLists.txt create mode 100644 common/tier4_traffic_light_rviz_plugin/README.md create mode 100644 common/tier4_traffic_light_rviz_plugin/icons/classes/TrafficLightPublishPanel.png create mode 100644 common/tier4_traffic_light_rviz_plugin/images/select_panels.png create mode 100644 common/tier4_traffic_light_rviz_plugin/images/select_traffic_light_publish_panel.png create mode 100644 common/tier4_traffic_light_rviz_plugin/images/traffic_light_publish_panel.gif create mode 100644 common/tier4_traffic_light_rviz_plugin/package.xml create mode 100644 common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml create mode 100644 common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp create mode 100644 common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp diff --git a/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt b/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt new file mode 100644 index 0000000000000..a9e6d1c3f8085 --- /dev/null +++ b/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 3.5) +project(tier4_traffic_light_rviz_plugin) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Werror) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) +set(QT_LIBRARIES Qt5::Widgets) +set(CMAKE_AUTOMOC ON) +set(CMAKE_INCLUDE_CURRENT_DIR ON) +add_definitions(-DQT_NO_KEYWORDS) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/traffic_light_publish_panel.cpp +) + +target_link_libraries(${PROJECT_NAME} + ${QT_LIBRARIES} +) + +# Export the plugin to be imported by rviz2 +pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + icons + plugins +) diff --git a/common/tier4_traffic_light_rviz_plugin/README.md b/common/tier4_traffic_light_rviz_plugin/README.md new file mode 100644 index 0000000000000..6e31c9f466cfb --- /dev/null +++ b/common/tier4_traffic_light_rviz_plugin/README.md @@ -0,0 +1,31 @@ +# tier4_traffic_light_rviz_plugin + +## Purpose + +This plugin panel publishes dummy traffic light signals. + +## Inputs / Outputs + +### Output + +| Name | Type | Description | +| ------------------------------------------------------- | -------------------------------------------------------- | ----------------------------- | +| `/perception/traffic_light_recognition/traffic_signals` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | Publish traffic light signals | + +## HowToUse + +
+ +
+
+ +
+ +1. Start rviz and select panels/Add new panel. +2. Select TrafficLightPublishPanel and press OK. +3. Set `Traffic Light ID` & `Traffic Light Status` and press `SET` button. +4. Traffic light signals are published, while `PUBLISH` button is pushed. + +
+ +
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zYx~nsbvtBxz`S^WHp%Uz;~I4B>pVOYhHM<1_j!=Pq>3bqz58h}O*NIz#uB?&olY2dQ{U5zO1VG;TB5<@{h0MH8Tr18{GBh$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 literal 0 HcmV?d00001 diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/common/tier4_traffic_light_rviz_plugin/package.xml new file mode 100644 index 0000000000000..799341381ecfd --- /dev/null +++ b/common/tier4_traffic_light_rviz_plugin/package.xml @@ -0,0 +1,25 @@ + + + tier4_traffic_light_rviz_plugin + 0.0.0 + The autoware state rviz plugin package + Satoshi OTA + Apache License 2.0 + + ament_cmake_auto + autoware_auto_perception_msgs + libqt5-core + libqt5-gui + libqt5-widgets + qtbase5-dev + rclcpp + rviz_common + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + + diff --git a/common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml b/common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml new file mode 100644 index 0000000000000..0be99996aa2f5 --- /dev/null +++ b/common/tier4_traffic_light_rviz_plugin/plugins/plugin_description.xml @@ -0,0 +1,9 @@ + + + + TrafficLightPublishPanel + + + diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp new file mode 100644 index 0000000000000..cdb735f76845f --- /dev/null +++ b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp @@ -0,0 +1,281 @@ +// +// Copyright 2022 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +#include "traffic_light_publish_panel.hpp" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace rviz_plugins +{ +TrafficLightPublishPanel::TrafficLightPublishPanel(QWidget * parent) : rviz_common::Panel(parent) +{ + // Publish Rate + publishing_rate_input_ = new QSpinBox(); + publishing_rate_input_->setRange(1, 100); + publishing_rate_input_->setSingleStep(1); + publishing_rate_input_->setValue(10); + publishing_rate_input_->setSuffix("Hz"); + + // Traffic Light ID + traffic_light_id_input_ = new QSpinBox(); + traffic_light_id_input_->setRange(0, 999999); + traffic_light_id_input_->setValue(0); + + // Traffic Light Color + light_color_combo_ = new QComboBox(); + light_color_combo_->addItems( + {"RED", "AMBER", "GREEN", "WHITE", "LEFT_ARROW", "RIGHT_ARROW", "UP_ARROW", "DOWN_ARROW", + "DOWN_LEFT_ARROW", "DOWN_RIGHT_ARROW", "FLASHING", "UNKNOWN"}); + + // Set Traffic Signals Button + set_button_ = new QPushButton("SET"); + + // Reset Traffic Signals Button + reset_button_ = new QPushButton("RESET"); + + // Publish Traffic Signals Button + publish_button_ = new QPushButton("PUBLISH"); + + auto vertical_header = new QHeaderView(Qt::Vertical); + vertical_header->hide(); + auto horizontal_header = new QHeaderView(Qt::Horizontal); + horizontal_header->setSectionResizeMode(QHeaderView::Stretch); + + traffic_table_ = new QTableWidget(); + traffic_table_->setColumnCount(2); + traffic_table_->setHorizontalHeaderLabels({"ID", "Status"}); + traffic_table_->setVerticalHeader(vertical_header); + traffic_table_->setHorizontalHeader(horizontal_header); + + connect(publishing_rate_input_, SIGNAL(valueChanged(int)), this, SLOT(onRateChanged(int))); + connect(set_button_, SIGNAL(clicked()), SLOT(onSetTrafficLightState())); + connect(reset_button_, SIGNAL(clicked()), SLOT(onResetTrafficLightState())); + connect(publish_button_, SIGNAL(clicked()), SLOT(onPublishTrafficLightState())); + + auto * h_layout_1 = new QHBoxLayout; + h_layout_1->addWidget(new QLabel("Rate: ")); + h_layout_1->addWidget(publishing_rate_input_); + h_layout_1->addWidget(new QLabel("Traffic Light ID: ")); + h_layout_1->addWidget(traffic_light_id_input_); + + auto * h_layout_2 = new QHBoxLayout; + h_layout_2->addWidget(new QLabel("Traffic Light Status: ")); + h_layout_2->addWidget(light_color_combo_); + + auto * v_layout = new QVBoxLayout; + v_layout->addLayout(h_layout_1); + v_layout->addLayout(h_layout_2); + v_layout->addWidget(set_button_); + v_layout->addWidget(reset_button_); + v_layout->addWidget(publish_button_); + + auto * h_layout_3 = new QHBoxLayout; + h_layout_3->addLayout(v_layout); + h_layout_3->addWidget(traffic_table_); + + setLayout(h_layout_3); +} + +void TrafficLightPublishPanel::onSetTrafficLightState() +{ + const auto traffic_light_id = traffic_light_id_input_->value(); + const auto color = light_color_combo_->currentText(); + + TrafficLight traffic_light; + traffic_light.confidence = 1.0; + + if (color == "RED") { + traffic_light.color = TrafficLight::RED; + } else if (color == "AMBER") { + traffic_light.color = TrafficLight::AMBER; + } else if (color == "GREEN") { + traffic_light.color = TrafficLight::GREEN; + } else if (color == "WHITE") { + traffic_light.color = TrafficLight::WHITE; + } else if (color == "LEFT_ARROW") { + traffic_light.color = TrafficLight::LEFT_ARROW; + } else if (color == "RIGHT_ARROW") { + traffic_light.color = TrafficLight::RIGHT_ARROW; + } else if (color == "UP_ARROW") { + traffic_light.color = TrafficLight::UP_ARROW; + } else if (color == "DOWN_ARROW") { + traffic_light.color = TrafficLight::DOWN_ARROW; + } else if (color == "DOWN_LEFT_ARROW") { + traffic_light.color = TrafficLight::DOWN_LEFT_ARROW; + } else if (color == "DOWN_RIGHT_ARROW") { + traffic_light.color = TrafficLight::DOWN_RIGHT_ARROW; + } else if (color == "FLASHING") { + traffic_light.color = TrafficLight::FLASHING; + } else if (color == "UNKNOWN") { + traffic_light.color = TrafficLight::UNKNOWN; + } + + TrafficSignal traffic_signal; + traffic_signal.lights.push_back(traffic_light); + traffic_signal.map_primitive_id = traffic_light_id; + + for (auto & signal : extra_traffic_signals_.signals) { + if (signal.map_primitive_id == traffic_light_id) { + signal = traffic_signal; + return; + } + } + + extra_traffic_signals_.signals.push_back(traffic_signal); +} + +void TrafficLightPublishPanel::onResetTrafficLightState() +{ + extra_traffic_signals_.signals.clear(); + enable_publish_ = false; + + publish_button_->setText("PUBLISH"); + publish_button_->setStyleSheet("background-color: #FFFFFF"); +} + +void TrafficLightPublishPanel::onPublishTrafficLightState() +{ + enable_publish_ = true; + + publish_button_->setText("PUBLISHING..."); + publish_button_->setStyleSheet("background-color: #FFBF00"); +} + +void TrafficLightPublishPanel::onInitialize() +{ + raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); + + pub_traffic_signals_ = raw_node_->create_publisher( + "/perception/traffic_light_recognition/traffic_signals", rclcpp::QoS(1)); + + createWallTimer(); + + enable_publish_ = false; +} + +void TrafficLightPublishPanel::onRateChanged(int new_rate) +{ + (void)new_rate; + pub_timer_->cancel(); + createWallTimer(); +} + +void TrafficLightPublishPanel::createWallTimer() +{ + // convert rate from Hz to milliseconds + const auto period = + std::chrono::milliseconds(static_cast(1e3 / publishing_rate_input_->value())); + pub_timer_ = raw_node_->create_wall_timer(period, [&]() { onTimer(); }); +} + +void TrafficLightPublishPanel::onTimer() +{ + if (enable_publish_) { + extra_traffic_signals_.header.stamp = rclcpp::Clock().now(); + pub_traffic_signals_->publish(extra_traffic_signals_); + } + + traffic_table_->setRowCount(extra_traffic_signals_.signals.size()); + + if (extra_traffic_signals_.signals.empty()) { + return; + } + + for (size_t i = 0; i < extra_traffic_signals_.signals.size(); ++i) { + const auto & signal = extra_traffic_signals_.signals.at(i); + + if (signal.lights.empty()) { + continue; + } + + auto id_label = new QLabel(QString::number(signal.map_primitive_id)); + id_label->setAlignment(Qt::AlignCenter); + + auto color_label = new QLabel(); + color_label->setAlignment(Qt::AlignCenter); + + const auto & light = signal.lights.front(); + switch (light.color) { + case TrafficLight::RED: + color_label->setText("RED"); + color_label->setStyleSheet("background-color: #FF0000;"); + break; + case TrafficLight::AMBER: + color_label->setText("AMBER"); + color_label->setStyleSheet("background-color: #FFBF00;"); + break; + case TrafficLight::GREEN: + color_label->setText("GREEN"); + color_label->setStyleSheet("background-color: #7CFC00;"); + break; + case TrafficLight::WHITE: + color_label->setText("WHITE"); + color_label->setStyleSheet("background-color: #FFFFFF;"); + break; + case TrafficLight::LEFT_ARROW: + color_label->setText("LEFT_ARROW"); + color_label->setStyleSheet("background-color: #7CFC00;"); + break; + case TrafficLight::RIGHT_ARROW: + color_label->setText("RIGHT_ARROW"); + color_label->setStyleSheet("background-color: #7CFC00;"); + break; + case TrafficLight::UP_ARROW: + color_label->setText("UP_ARROW"); + color_label->setStyleSheet("background-color: #7CFC00;"); + break; + case TrafficLight::DOWN_ARROW: + color_label->setText("DOWN_ARROW"); + color_label->setStyleSheet("background-color: #7CFC00;"); + break; + case TrafficLight::DOWN_LEFT_ARROW: + color_label->setText("DOWN_LEFT_ARROW"); + color_label->setStyleSheet("background-color: #7CFC00;"); + break; + case TrafficLight::DOWN_RIGHT_ARROW: + color_label->setText("DOWN_RIGHT_ARROW"); + color_label->setStyleSheet("background-color: #7CFC00;"); + break; + case TrafficLight::FLASHING: + color_label->setText("FLASHING"); + color_label->setStyleSheet("background-color: #7CFC00;"); + break; + case TrafficLight::UNKNOWN: + color_label->setText("UNKNOWN"); + color_label->setStyleSheet("background-color: #808080;"); + break; + default: + break; + } + + traffic_table_->setCellWidget(i, 0, id_label); + traffic_table_->setCellWidget(i, 1, color_label); + } +} + +} // namespace rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(rviz_plugins::TrafficLightPublishPanel, rviz_common::Panel) diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp new file mode 100644 index 0000000000000..7eb81fa2f3ceb --- /dev/null +++ b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp @@ -0,0 +1,76 @@ +// +// Copyright 2022 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +#ifndef TRAFFIC_LIGHT_PUBLISH_PANEL_HPP_ +#define TRAFFIC_LIGHT_PUBLISH_PANEL_HPP_ + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +namespace rviz_plugins +{ + +using autoware_auto_perception_msgs::msg::TrafficLight; +using autoware_auto_perception_msgs::msg::TrafficSignal; +using autoware_auto_perception_msgs::msg::TrafficSignalArray; + +class TrafficLightPublishPanel : public rviz_common::Panel +{ + Q_OBJECT + +public: + explicit TrafficLightPublishPanel(QWidget * parent = nullptr); + void onInitialize() override; + +public Q_SLOTS: + void onRateChanged(int new_rate); + void onSetTrafficLightState(); + void onResetTrafficLightState(); + void onPublishTrafficLightState(); + +protected: + void onTimer(); + void createWallTimer(); + + rclcpp::Node::SharedPtr raw_node_; + rclcpp::TimerBase::SharedPtr pub_timer_; + rclcpp::Publisher::SharedPtr pub_traffic_signals_; + + QSpinBox * publishing_rate_input_; + QSpinBox * traffic_light_id_input_; + QComboBox * light_color_combo_; + QPushButton * set_button_; + QPushButton * reset_button_; + QPushButton * publish_button_; + QTableWidget * traffic_table_; + + TrafficSignalArray extra_traffic_signals_; + + bool enable_publish_; +}; + +} // namespace rviz_plugins + +#endif // TRAFFIC_LIGHT_PUBLISH_PANEL_HPP_