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fix(mission_planner/behavior_path_planner): use transient local for modified goal #5012

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Sep 19, 2023
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fix(mission_planner/behavior_path_planner): use transient local for modified goal #5012

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4 changes: 3 additions & 1 deletion planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,9 @@
turn_signal_publisher_ =
create_publisher<TurnIndicatorsCommand>("~/output/turn_indicators_cmd", 1);
hazard_signal_publisher_ = create_publisher<HazardLightsCommand>("~/output/hazard_lights_cmd", 1);
modified_goal_publisher_ = create_publisher<PoseWithUuidStamped>("~/output/modified_goal", 1);
const auto durable_qos = rclcpp::QoS(1).transient_local();
modified_goal_publisher_ =
create_publisher<PoseWithUuidStamped>("~/output/modified_goal", durable_qos);

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

BehaviorPathPlannerNode::BehaviorPathPlannerNode already has high cyclomatic complexity, and now it increases in Lines of Code from 178 to 180. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
stop_reason_publisher_ = create_publisher<StopReasonArray>("~/output/stop_reasons", 1);
reroute_availability_publisher_ =
create_publisher<RerouteAvailability>("~/output/is_reroute_available", 1);
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9 changes: 5 additions & 4 deletions planning/mission_planner/src/mission_planner/mission_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,12 +99,14 @@
rclcpp::QoS(1),
std::bind(&MissionPlanner::on_reroute_availability, this, std::placeholders::_1));

auto qos_transient_local = rclcpp::QoS{1}.transient_local();
const auto durable_qos = rclcpp::QoS(1).transient_local();

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planning/mission_planner/src/mission_planner/mission_planner.cpp#L102 

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sub_vector_map_ = create_subscription<HADMapBin>(
"input/vector_map", qos_transient_local,
"input/vector_map", durable_qos,
std::bind(&MissionPlanner::on_map, this, std::placeholders::_1));
sub_modified_goal_ = create_subscription<PoseWithUuidStamped>(

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planning/mission_planner/src/mission_planner/mission_planner.cpp#L106 

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"input/modified_goal", durable_qos,
std::bind(&MissionPlanner::on_modified_goal, this, std::placeholders::_1));

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planning/mission_planner/src/mission_planner/mission_planner.cpp#L108 

Added line #L108 was not covered by tests

const auto durable_qos = rclcpp::QoS(1).transient_local();
pub_marker_ = create_publisher<MarkerArray>("debug/route_marker", durable_qos);

const auto adaptor = component_interface_utils::NodeAdaptor(this);
Expand All @@ -119,7 +121,6 @@
adaptor.init_srv(srv_change_route_points_, this, &MissionPlanner::on_change_route_points);
adaptor.init_srv(srv_set_mrm_route_, this, &MissionPlanner::on_set_mrm_route);
adaptor.init_srv(srv_clear_mrm_route_, this, &MissionPlanner::on_clear_mrm_route);
adaptor.init_sub(sub_modified_goal_, this, &MissionPlanner::on_modified_goal);

change_state(RouteState::Message::UNSET);
}
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5 changes: 3 additions & 2 deletions planning/mission_planner/src/mission_planner/mission_planner.hpp
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Expand Up @@ -75,12 +75,15 @@ class MissionPlanner : public rclcpp::Node
rclcpp::Subscription<Odometry>::SharedPtr sub_odometry_;
rclcpp::Subscription<HADMapBin>::SharedPtr sub_vector_map_;
rclcpp::Subscription<RerouteAvailability>::SharedPtr sub_reroute_availability_;
rclcpp::Subscription<PoseWithUuidStamped>::SharedPtr sub_modified_goal_;

Odometry::ConstSharedPtr odometry_;
HADMapBin::ConstSharedPtr map_ptr_;
RerouteAvailability::ConstSharedPtr reroute_availability_;
void on_odometry(const Odometry::ConstSharedPtr msg);
void on_map(const HADMapBin::ConstSharedPtr msg);
void on_reroute_availability(const RerouteAvailability::ConstSharedPtr msg);
void on_modified_goal(const PoseWithUuidStamped::ConstSharedPtr msg);

rclcpp::Publisher<MarkerArray>::SharedPtr pub_marker_;
void clear_route();
Expand Down Expand Up @@ -128,8 +131,6 @@ class MissionPlanner : public rclcpp::Node
const ClearMrmRoute::Service::Request::SharedPtr req,
const ClearMrmRoute::Service::Response::SharedPtr res);

component_interface_utils::Subscription<ModifiedGoal>::SharedPtr sub_modified_goal_;
void on_modified_goal(const ModifiedGoal::Message::ConstSharedPtr msg);
void on_change_route(
const SetRoute::Service::Request::SharedPtr req,
const SetRoute::Service::Response::SharedPtr res);
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