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refactor(pull_over): move parameter declare pull over #3048

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merged 3 commits into from
Mar 10, 2023
Merged

refactor(pull_over): move parameter declare pull over #3048

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12d088c
fix(pull_over): declaration parameters outside of scene module
satoshi-ota Mar 10, 2023
f355882
refactor(pull_over): remove default params
satoshi-ota Mar 10, 2023
3e00b9a
change double to int
kosuke55 Mar 10, 2023
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/config/pull_over/pull_over.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,7 @@
min_stop_distance: 5.0
stop_time: 2.0
hysteresis_buffer_distance: 2.0
prediction_time_resolution: 0.5
enable_collision_check_at_prepare_phase: false
use_predicted_path_outside_lanelet: false
use_all_predicted_path: false
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7 changes: 0 additions & 7 deletions ...ehavior_path_planner/include/behavior_path_planner/util/pull_over/freespace_pull_over.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,8 @@
namespace behavior_path_planner
{
using freespace_planning_algorithms::AbstractPlanningAlgorithm;
using freespace_planning_algorithms::AstarParam;
using freespace_planning_algorithms::AstarSearch;
using freespace_planning_algorithms::PlannerCommonParam;
using freespace_planning_algorithms::RRTStar;
using freespace_planning_algorithms::RRTStarParam;

class FreespacePullOver : public PullOverPlannerBase
{
Expand All @@ -47,10 +44,6 @@ class FreespacePullOver : public PullOverPlannerBase
boost::optional<PullOverPath> plan(const Pose & goal_pose) override;

protected:
PlannerCommonParam getCommonParam(rclcpp::Node & node) const;
AstarParam getAstarParam(rclcpp::Node & node) const;
RRTStarParam getRRTStarParam(rclcpp::Node & node) const;

std::unique_ptr<AbstractPlanningAlgorithm> planner_;
double velocity_;
bool use_back_;
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21 changes: 19 additions & 2 deletions ...havior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_parameters.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,11 +16,20 @@
#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PARAMETERS_HPP_
#define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PARAMETERS_HPP_

#include <freespace_planning_algorithms/abstract_algorithm.hpp>
#include <freespace_planning_algorithms/astar_search.hpp>
#include <freespace_planning_algorithms/rrtstar.hpp>

#include <string>
#include <vector>

namespace behavior_path_planner
{

using freespace_planning_algorithms::AstarParam;
using freespace_planning_algorithms::PlannerCommonParam;
using freespace_planning_algorithms::RRTStarParam;

struct PullOverParameters
{
double request_length;
Expand All @@ -44,8 +53,8 @@ struct PullOverParameters
bool use_occupancy_grid;
bool use_occupancy_grid_for_longitudinal_margin;
double occupancy_grid_collision_check_margin;
double theta_size;
double obstacle_threshold;
int theta_size;
int obstacle_threshold;
// object recognition
bool use_object_recognition;
double object_recognition_collision_check_margin;
Expand Down Expand Up @@ -90,6 +99,14 @@ struct PullOverParameters
std::vector<std::string> drivable_area_types_to_skip;
// debug
bool print_debug_info;

// freespace pull over
std::string algorithm;
double freespace_parking_velocity;
double vehicle_shape_margin;
PlannerCommonParam common_parameters;
AstarParam astar_parameters;
RRTStarParam rrt_star_parameters;
};
} // namespace behavior_path_planner

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235 changes: 147 additions & 88 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -690,97 +690,156 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam()

PullOverParameters BehaviorPathPlannerNode::getPullOverParam()
{
const auto dp = [this](const std::string & str, auto def_val) {
std::string name = "pull_over." + str;
return this->declare_parameter(name, def_val);
};

PullOverParameters p;
p.request_length = dp("request_length", 200.0);
p.th_stopped_velocity = dp("th_stopped_velocity", 0.01);
p.th_arrived_distance = dp("th_arrived_distance", 0.3);
p.th_stopped_time = dp("th_stopped_time", 2.0);
p.margin_from_boundary = dp("margin_from_boundary", 0.3);
p.decide_path_distance = dp("decide_path_distance", 10.0);
p.maximum_deceleration = dp("maximum_deceleration", 1.0);
// goal research
p.enable_goal_research = dp("enable_goal_research", true);
p.search_priority = dp("search_priority", "efficient_path");
p.forward_goal_search_length = dp("forward_goal_search_length", 20.0);
p.backward_goal_search_length = dp("backward_goal_search_length", 20.0);
p.goal_search_interval = dp("goal_search_interval", 5.0);
p.longitudinal_margin = dp("longitudinal_margin", 3.0);
p.max_lateral_offset = dp("max_lateral_offset", 1.0);
p.lateral_offset_interval = dp("lateral_offset_interval", 0.25);
p.ignore_distance_from_lane_start = dp("ignore_distance_from_lane_start", 15.0);
// occupancy grid map
p.use_occupancy_grid = dp("use_occupancy_grid", true);
p.use_occupancy_grid_for_longitudinal_margin =
dp("use_occupancy_grid_for_longitudinal_margin", false);
p.occupancy_grid_collision_check_margin = dp("occupancy_grid_collision_check_margin", 0.0);
p.theta_size = dp("theta_size", 360);
p.obstacle_threshold = dp("obstacle_threshold", 90);
// object recognition
p.use_object_recognition = dp("use_object_recognition", true);
p.object_recognition_collision_check_margin =
dp("object_recognition_collision_check_margin", 1.0);
// shift path
p.enable_shift_parking = dp("enable_shift_parking", true);
p.pull_over_sampling_num = dp("pull_over_sampling_num", 4);
p.maximum_lateral_jerk = dp("maximum_lateral_jerk", 3.0);
p.minimum_lateral_jerk = dp("minimum_lateral_jerk", 1.0);
p.deceleration_interval = dp("deceleration_interval", 10.0);
p.pull_over_velocity = dp("pull_over_velocity", 8.3);
p.pull_over_minimum_velocity = dp("pull_over_minimum_velocity", 0.3);
p.after_pull_over_straight_distance = dp("after_pull_over_straight_distance", 3.0);
// parallel parking
p.enable_arc_forward_parking = dp("enable_arc_forward_parking", true);
p.enable_arc_backward_parking = dp("enable_arc_backward_parking", true);
p.after_forward_parking_straight_distance = dp("after_forward_parking_straight_distance", 0.5);
p.after_backward_parking_straight_distance = dp("after_backward_parking_straight_distance", 0.5);
p.forward_parking_velocity = dp("forward_parking_velocity", 1.0);
p.backward_parking_velocity = dp("backward_parking_velocity", -0.5);
p.forward_parking_lane_departure_margin = dp("forward_parking_lane_departure_margin", 0.0);
p.backward_parking_lane_departure_margin = dp("backward_parking_lane_departure_margin", 0.0);
p.arc_path_interval = dp("arc_path_interval", 1.0);
p.pull_over_max_steer_angle = dp("pull_over_max_steer_angle", 0.35); // 20deg
// freespace parking
p.enable_freespace_parking = dp("enable_freespace_parking", true);
// hazard
p.hazard_on_threshold_distance = dp("hazard_on_threshold_distance", 1.0);
p.hazard_on_threshold_velocity = dp("hazard_on_threshold_velocity", 0.5);
// safety with dynamic objects. Not used now.
p.pull_over_duration = dp("pull_over_duration", 4.0);
p.pull_over_prepare_duration = dp("pull_over_prepare_duration", 2.0);
p.min_stop_distance = dp("min_stop_distance", 5.0);
p.stop_time = dp("stop_time", 2.0);
p.hysteresis_buffer_distance = dp("hysteresis_buffer_distance", 2.0);
p.prediction_time_resolution = dp("prediction_time_resolution", 0.5);
p.enable_collision_check_at_prepare_phase = dp("enable_collision_check_at_prepare_phase", true);
p.use_predicted_path_outside_lanelet = dp("use_predicted_path_outside_lanelet", true);
p.use_all_predicted_path = dp("use_all_predicted_path", false);
// drivable area
p.drivable_area_right_bound_offset = dp("drivable_area_right_bound_offset", 0.0);
p.drivable_area_left_bound_offset = dp("drivable_area_left_bound_offset", 0.0);
p.drivable_area_types_to_skip =
dp("drivable_area_types_to_skip", std::vector<std::string>({"road_border"}));
// debug
p.print_debug_info = dp("print_debug_info", false);

// validation of parameters
if (p.pull_over_sampling_num < 1) {
RCLCPP_FATAL_STREAM(
get_logger(), "pull_over_sampling_num must be positive integer. Given parameter: "
<< p.pull_over_sampling_num << std::endl
<< "Terminating the program...");
exit(EXIT_FAILURE);
{
std::string ns = "pull_over.";
p.request_length = declare_parameter<double>(ns + "request_length");
p.th_stopped_velocity = declare_parameter<double>(ns + "th_stopped_velocity");
p.th_arrived_distance = declare_parameter<double>(ns + "th_arrived_distance");
p.th_stopped_time = declare_parameter<double>(ns + "th_stopped_time");
p.margin_from_boundary = declare_parameter<double>(ns + "margin_from_boundary");
p.decide_path_distance = declare_parameter<double>(ns + "decide_path_distance");
p.maximum_deceleration = declare_parameter<double>(ns + "maximum_deceleration");
// goal research
p.enable_goal_research = declare_parameter<bool>(ns + "enable_goal_research");
p.search_priority = declare_parameter<std::string>(ns + "search_priority");
p.forward_goal_search_length = declare_parameter<double>(ns + "forward_goal_search_length");
p.backward_goal_search_length = declare_parameter<double>(ns + "backward_goal_search_length");
p.goal_search_interval = declare_parameter<double>(ns + "goal_search_interval");
p.longitudinal_margin = declare_parameter<double>(ns + "longitudinal_margin");
p.max_lateral_offset = declare_parameter<double>(ns + "max_lateral_offset");
p.lateral_offset_interval = declare_parameter<double>(ns + "lateral_offset_interval");
p.ignore_distance_from_lane_start =
declare_parameter<double>(ns + "ignore_distance_from_lane_start");
// occupancy grid map
p.use_occupancy_grid = declare_parameter<bool>(ns + "use_occupancy_grid");
p.use_occupancy_grid_for_longitudinal_margin =
declare_parameter<bool>(ns + "use_occupancy_grid_for_longitudinal_margin");
p.occupancy_grid_collision_check_margin =
declare_parameter<double>(ns + "occupancy_grid_collision_check_margin");
p.theta_size = declare_parameter<int>(ns + "theta_size");
p.obstacle_threshold = declare_parameter<int>(ns + "obstacle_threshold");
// object recognition
p.use_object_recognition = declare_parameter<bool>(ns + "use_object_recognition");
p.object_recognition_collision_check_margin =
declare_parameter<double>(ns + "object_recognition_collision_check_margin");
// shift path
p.enable_shift_parking = declare_parameter<bool>(ns + "enable_shift_parking");
p.pull_over_sampling_num = declare_parameter<int>(ns + "pull_over_sampling_num");
p.maximum_lateral_jerk = declare_parameter<double>(ns + "maximum_lateral_jerk");
p.minimum_lateral_jerk = declare_parameter<double>(ns + "minimum_lateral_jerk");
p.deceleration_interval = declare_parameter<double>(ns + "deceleration_interval");
p.pull_over_velocity = declare_parameter<double>(ns + "pull_over_velocity");
p.pull_over_minimum_velocity = declare_parameter<double>(ns + "pull_over_minimum_velocity");
p.after_pull_over_straight_distance =
declare_parameter<double>(ns + "after_pull_over_straight_distance");
// parallel parking
p.enable_arc_forward_parking = declare_parameter<bool>(ns + "enable_arc_forward_parking");
p.enable_arc_backward_parking = declare_parameter<bool>(ns + "enable_arc_backward_parking");
p.after_forward_parking_straight_distance =
declare_parameter<double>(ns + "after_forward_parking_straight_distance");
p.after_backward_parking_straight_distance =
declare_parameter<double>(ns + "after_backward_parking_straight_distance");
p.forward_parking_velocity = declare_parameter<double>(ns + "forward_parking_velocity");
p.backward_parking_velocity = declare_parameter<double>(ns + "backward_parking_velocity");
p.forward_parking_lane_departure_margin =
declare_parameter<double>(ns + "forward_parking_lane_departure_margin");
p.backward_parking_lane_departure_margin =
declare_parameter<double>(ns + "backward_parking_lane_departure_margin");
p.arc_path_interval = declare_parameter<double>(ns + "arc_path_interval");
p.pull_over_max_steer_angle =
declare_parameter<double>(ns + "pull_over_max_steer_angle"); // 20deg
// freespace parking
p.enable_freespace_parking = declare_parameter<bool>(ns + "enable_freespace_parking");
// hazard
p.hazard_on_threshold_distance = declare_parameter<double>(ns + "hazard_on_threshold_distance");
p.hazard_on_threshold_velocity = declare_parameter<double>(ns + "hazard_on_threshold_velocity");
// safety with dynamic objects. Not used now.
p.pull_over_duration = declare_parameter<double>(ns + "pull_over_duration");
p.pull_over_prepare_duration = declare_parameter<double>(ns + "pull_over_prepare_duration");
p.min_stop_distance = declare_parameter<double>(ns + "min_stop_distance");
p.stop_time = declare_parameter<double>(ns + "stop_time");
p.hysteresis_buffer_distance = declare_parameter<double>(ns + "hysteresis_buffer_distance");
p.prediction_time_resolution = declare_parameter<double>(ns + "prediction_time_resolution");
p.enable_collision_check_at_prepare_phase =
declare_parameter<bool>(ns + "enable_collision_check_at_prepare_phase");
p.use_predicted_path_outside_lanelet =
declare_parameter<bool>(ns + "use_predicted_path_outside_lanelet");
p.use_all_predicted_path = declare_parameter<bool>(ns + "use_all_predicted_path");
// drivable area
p.drivable_area_right_bound_offset =
declare_parameter<double>(ns + "drivable_area_right_bound_offset");
p.drivable_area_left_bound_offset =
declare_parameter<double>(ns + "drivable_area_left_bound_offset");
p.drivable_area_types_to_skip =
declare_parameter<std::vector<std::string>>(ns + "drivable_area_types_to_skip");
// debug
p.print_debug_info = declare_parameter<bool>(ns + "print_debug_info");

// validation of parameters
if (p.pull_over_sampling_num < 1) {
RCLCPP_FATAL_STREAM(
get_logger(), "pull_over_sampling_num must be positive integer. Given parameter: "
<< p.pull_over_sampling_num << std::endl
<< "Terminating the program...");
exit(EXIT_FAILURE);
}
if (p.maximum_deceleration < 0.0) {
RCLCPP_FATAL_STREAM(
get_logger(), "maximum_deceleration cannot be negative value. Given parameter: "
<< p.maximum_deceleration << std::endl
<< "Terminating the program...");
exit(EXIT_FAILURE);
}
}
if (p.maximum_deceleration < 0.0) {
RCLCPP_FATAL_STREAM(
get_logger(), "maximum_deceleration cannot be negative value. Given parameter: "
<< p.maximum_deceleration << std::endl
<< "Terminating the program...");
exit(EXIT_FAILURE);

{
std::string ns = "pull_over.freespace_parking.";
// search configs
p.algorithm = declare_parameter<std::string>(ns + "planning_algorithm");
p.freespace_parking_velocity = declare_parameter<double>(ns + "velocity");
p.vehicle_shape_margin = declare_parameter<double>(ns + "vehicle_shape_margin");
p.common_parameters.time_limit = declare_parameter<double>(ns + "time_limit");
p.common_parameters.minimum_turning_radius =
declare_parameter<double>(ns + "minimum_turning_radius");
p.common_parameters.maximum_turning_radius =
declare_parameter<double>(ns + "maximum_turning_radius");
p.common_parameters.turning_radius_size = declare_parameter<int>(ns + "turning_radius_size");
p.common_parameters.maximum_turning_radius = std::max(
p.common_parameters.maximum_turning_radius, p.common_parameters.minimum_turning_radius);
p.common_parameters.turning_radius_size = std::max(p.common_parameters.turning_radius_size, 1);

p.common_parameters.theta_size = declare_parameter<int>(ns + "theta_size");
p.common_parameters.angle_goal_range = declare_parameter<double>(ns + "angle_goal_range");

p.common_parameters.curve_weight = declare_parameter<double>(ns + "curve_weight");
p.common_parameters.reverse_weight = declare_parameter<double>(ns + "reverse_weight");
p.common_parameters.lateral_goal_range = declare_parameter<double>(ns + "lateral_goal_range");
p.common_parameters.longitudinal_goal_range =
declare_parameter<double>(ns + "longitudinal_goal_range");

// costmap configs
p.common_parameters.obstacle_threshold = declare_parameter<int>(ns + "obstacle_threshold");
}

{
std::string ns = "pull_over.freespace_parking.astar.";
p.astar_parameters.only_behind_solutions =
declare_parameter<bool>(ns + "only_behind_solutions");
p.astar_parameters.use_back = declare_parameter<bool>(ns + "use_back");
p.astar_parameters.distance_heuristic_weight =
declare_parameter<double>(ns + "distance_heuristic_weight");
}

{
std::string ns = "pull_over.freespace_parking.rrtstar.";
p.rrt_star_parameters.enable_update = declare_parameter<bool>(ns + "enable_update");
p.rrt_star_parameters.use_informed_sampling =
declare_parameter<bool>(ns + "use_informed_sampling");
p.rrt_star_parameters.max_planning_time = declare_parameter<double>(ns + "max_planning_time");
p.rrt_star_parameters.neighbor_radius = declare_parameter<double>(ns + "neighbor_radius");
p.rrt_star_parameters.margin = declare_parameter<double>(ns + "margin");
}

return p;
Expand Down
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