feat(behavior_path_planner): add geometric_parallel_parking (tier4#1260)

* feat(behavior_path_planner): add parallel_parking_planner

Signed-off-by: kosuke55 <[email protected]>

Signed-off-by: kosuke55 <[email protected]>

* Remove removeOverlappingPoints

Signed-off-by: kosuke55 <[email protected]>

* clean up

Signed-off-by: kosuke55 <[email protected]>

* Rename and move flle

Signed-off-by: kosuke55 <[email protected]>

* Add tf2_eigen to depend

Signed-off-by: kosuke55 <[email protected]>

* fix humble error

Signed-off-by: kosuke55 <[email protected]>

planning/behavior_path_planner/CMakeLists.txt

@@ -27,6 +27,7 @@ ament_auto_add_library(behavior_path_planner_node SHARED
   src/scene_module/pull_over/util.cpp
   src/scene_module/pull_out/pull_out_module.cpp
   src/scene_module/pull_out/util.cpp
+  src/scene_module/utils/geometric_parallel_parking.cpp
 )
 
 target_include_directories(behavior_path_planner_node SYSTEM PUBLIC

planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp

@@ -0,0 +1,117 @@
+// 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 BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__GEOMETRIC_PARALLEL_PARKING_HPP_
+#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__GEOMETRIC_PARALLEL_PARKING_HPP_
+
+#include "behavior_path_planner/data_manager.hpp"
+#include "behavior_path_planner/parameters.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
+
+#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
+#include <geometry_msgs/msg/point.hpp>
+#include <geometry_msgs/msg/polygon.hpp>
+#include <geometry_msgs/msg/pose_array.hpp>
+#include <visualization_msgs/msg/marker_array.hpp>
+
+#include <lanelet2_core/LaneletMap.h>
+#include <lanelet2_routing/RoutingGraph.h>
+
+#include <algorithm>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace behavior_path_planner
+{
+using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
+using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using geometry_msgs::msg::Point;
+using geometry_msgs::msg::Pose;
+using geometry_msgs::msg::PoseArray;
+using geometry_msgs::msg::PoseStamped;
+
+struct ParallelParkingParameters
+{
+  double th_arrived_distance_m;
+  double th_stopped_velocity_mps;
+  double after_forward_parking_straight_distance;
+  double after_backward_parking_straight_distance;
+  double forward_parking_velocity;
+  double backward_parking_velocity;
+  double arc_path_interval;
+  double min_acc;
+};
+
+class GeometricParallelParking
+{
+public:
+  bool isParking() const;
+  bool plan(const Pose goal_pose, lanelet::ConstLanelets lanes, const bool is_forward);
+  void setParams(
+    const std::shared_ptr<const PlannerData> & planner_data, ParallelParkingParameters parameters);
+  void incrementPathIndex();
+  void clear();
+
+  PathWithLaneId getCurrentPath() const;
+  PathWithLaneId getFullPath() const;
+  PathWithLaneId getArcPath() const;
+  PoseStamped getCr() const { return Cr_; }
+  PoseStamped getCl() const { return Cl_; }
+  PoseStamped getStartPose() const { return start_pose_; }
+  PoseStamped getArcEndPose() const { return arc_end_pose_; }
+
+  PoseArray getPathPoseArray() const { return path_pose_array_; }
+
+private:
+  std::shared_ptr<const PlannerData> planner_data_;
+  ParallelParkingParameters parameters_;
+
+  // todo: use vehicle info after merging
+  // https://github.com/autowarefoundation/autoware.universe/pull/740
+  float max_steer_deg_ = 40.0;  // max steering angle [deg].
+  float max_steer_rad_;
+  float R_E_min_;   // base_link
+  float R_Bl_min_;  // front_left
+
+  std::vector<PathWithLaneId> paths_;
+  size_t current_path_idx_ = 0;
+
+  bool planOneTraial(
+    const Pose goal_pose, const double start_pose_offset, const double R_E_r,
+    const lanelet::ConstLanelets lanes, const bool is_forward);
+  PathWithLaneId generateArcPath(
+    const Pose & center, const float radius, const float start_rad, float end_rad,
+    const bool is_left_turn, const bool is_forward);
+  PathPointWithLaneId generateArcPathPoint(
+    const Pose & center, const float radius, const float yaw, const bool is_left_turn,
+    const bool is_forward);
+  Pose calcStartPose(
+    const Pose goal_pose, const double start_pose_offset, const double R_E_r,
+    const bool is_forward);
+  void generateStraightPath(const Pose start_pose);
+
+  PoseStamped Cr_;
+  PoseStamped Cl_;
+  PoseStamped start_pose_;
+  PoseStamped arc_end_pose_;
+  PoseArray path_pose_array_;
+};
+}  // namespace behavior_path_planner
+
+#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__GEOMETRIC_PARALLEL_PARKING_HPP_

planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp

@@ -245,6 +245,7 @@ PathPointWithLaneId insertStopPoint(double length, PathWithLaneId * path);
 
 double getDistanceToShoulderBoundary(
   const lanelet::ConstLanelets & shoulder_lanelets, const Pose & pose);
+double getDistanceToRightBoundary(const lanelet::ConstLanelets & lanelets, const Pose & pose);
 
 // misc
 
@@ -281,6 +282,9 @@ bool checkLaneIsInIntersection(
 // object label
 std::uint8_t getHighestProbLabel(const std::vector<ObjectClassification> & classification);
 
+lanelet::ConstLanelets getExtendedCurrentLanes(
+  const std::shared_ptr<const PlannerData> & planner_data);
+
 }  // namespace util
 }  // namespace behavior_path_planner
 

planning/behavior_path_planner/package.xml

@@ -30,6 +30,7 @@
   <depend>rtc_interface</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
+  <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>