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fix(mission_planner): set goal in shoulder lane #2548

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merged 2 commits into from
Dec 22, 2022
Merged

fix(mission_planner): set goal in shoulder lane #2548

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c7f26bd
fix(mission_planner): set goal in shoulder lane
kosuke55 Dec 20, 2022
9b0888c
fix map without shoulder lane
kosuke55 Dec 21, 2022
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38 changes: 19 additions & 19 deletions planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -272,6 +272,25 @@ bool DefaultPlanner::is_goal_valid(
const geometry_msgs::msg::Pose & goal, lanelet::ConstLanelets path_lanelets)
{
const auto logger = node_->get_logger();

const auto goal_lanelet_pt = lanelet::utils::conversion::toLaneletPoint(goal.position);

// check if goal is in shoulder lanelet
lanelet::Lanelet closest_shoulder_lanelet;
if (lanelet::utils::query::getClosestLanelet(
shoulder_lanelets_, goal, &closest_shoulder_lanelet)) {
if (is_in_lane(closest_shoulder_lanelet, goal_lanelet_pt)) {
const auto lane_yaw =
lanelet::utils::getLaneletAngle(closest_shoulder_lanelet, goal.position);
const auto goal_yaw = tf2::getYaw(goal.orientation);
const auto angle_diff = tier4_autoware_utils::normalizeRadian(lane_yaw - goal_yaw);
const double th_angle = tier4_autoware_utils::deg2rad(param_.goal_angle_threshold_deg);
if (std::abs(angle_diff) < th_angle) {
return true;
}
}
}

lanelet::Lanelet closest_lanelet;
if (!lanelet::utils::query::getClosestLanelet(road_lanelets_, goal, &closest_lanelet)) {
return false;
Expand All @@ -298,8 +317,6 @@ bool DefaultPlanner::is_goal_valid(
return false;
}

const auto goal_lanelet_pt = lanelet::utils::conversion::toLaneletPoint(goal.position);

if (is_in_lane(closest_lanelet, goal_lanelet_pt)) {
const auto lane_yaw = lanelet::utils::getLaneletAngle(closest_lanelet, goal.position);
const auto goal_yaw = tf2::getYaw(goal.orientation);
Expand All @@ -323,23 +340,6 @@ bool DefaultPlanner::is_goal_valid(
return true;
}

// check if goal is in shoulder lanelet
lanelet::Lanelet closest_shoulder_lanelet;
if (!lanelet::utils::query::getClosestLanelet(
shoulder_lanelets_, goal, &closest_shoulder_lanelet)) {
return false;
}
// check if goal pose is in shoulder lane
if (is_in_lane(closest_shoulder_lanelet, goal_lanelet_pt)) {
const auto lane_yaw = lanelet::utils::getLaneletAngle(closest_shoulder_lanelet, goal.position);
const auto goal_yaw = tf2::getYaw(goal.orientation);
const auto angle_diff = tier4_autoware_utils::normalizeRadian(lane_yaw - goal_yaw);

const double th_angle = tier4_autoware_utils::deg2rad(param_.goal_angle_threshold_deg);
if (std::abs(angle_diff) < th_angle) {
return true;
}
}
return false;
}

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