diff --git a/planning/mission_planner/src/mission_planner/mission_planner.cpp b/planning/mission_planner/src/mission_planner/mission_planner.cpp index a1536a1bebfbf..d4aeb0d6d98f5 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.cpp @@ -29,6 +29,7 @@ #include #include #include +#include namespace { @@ -172,6 +173,8 @@ void MissionPlanner::on_reroute_availability(const RerouteAvailability::ConstSha void MissionPlanner::on_map(const HADMapBin::ConstSharedPtr msg) { map_ptr_ = msg; + lanelet_map_ptr_ = std::make_shared(); + lanelet::utils::conversion::fromBinMsg(*map_ptr_, lanelet_map_ptr_); } PoseStamped MissionPlanner::transform_pose(const PoseStamped & input) @@ -730,7 +733,10 @@ void MissionPlanner::on_change_route_points( bool MissionPlanner::check_reroute_safety( const LaneletRoute & original_route, const LaneletRoute & target_route) { - if (original_route.segments.empty() || target_route.segments.empty() || !map_ptr_ || !odometry_) { + if ( + original_route.segments.empty() || target_route.segments.empty() || !map_ptr_ || + !lanelet_map_ptr_ || !odometry_) { + RCLCPP_ERROR(get_logger(), "Check reroute safety failed. Route, map or odometry is not set."); return false; } @@ -748,109 +754,135 @@ bool MissionPlanner::check_reroute_safety( return false; } - bool is_same = false; for (const auto & primitive : original_primitives) { const auto has_same = [&](const auto & p) { return p.id == primitive.id; }; - is_same = std::find_if(target_primitives.begin(), target_primitives.end(), has_same) != - target_primitives.end(); - } - return is_same; - }; - - // find idx of original primitives that matches the target primitives - const auto start_idx_opt = std::invoke([&]() -> std::optional { - /* - * find the index of the original route that has same idx with the front segment of the new - * route - * - * start_idx - * +-----------+-----------+-----------+-----------+-----------+ - * | | | | | | - * +-----------+-----------+-----------+-----------+-----------+ - * | | | | | | - * +-----------+-----------+-----------+-----------+-----------+ - * original original original original original - * target target target - */ - const auto target_front_primitives = target_route.segments.front().primitives; - for (size_t i = 0; i < original_route.segments.size(); ++i) { - const auto & original_primitives = original_route.segments.at(i).primitives; - if (hasSamePrimitives(original_primitives, target_front_primitives)) { - return i; + const bool is_same = + std::find_if(target_primitives.begin(), target_primitives.end(), has_same) != + target_primitives.end(); + if (!is_same) { + return false; } } + return true; + }; - /* - * find the target route that has same idx with the front segment of the original route - * - * start_idx - * +-----------+-----------+-----------+-----------+-----------+ - * | | | | | | - * +-----------+-----------+-----------+-----------+-----------+ - * | | | | | | - * +-----------+-----------+-----------+-----------+-----------+ - * 　　　　　　　　　　　　　　　original original original - * target target target target target - */ - const auto original_front_primitives = original_route.segments.front().primitives; - for (size_t i = 0; i < target_route.segments.size(); ++i) { - const auto & target_primitives = target_route.segments.at(i).primitives; - if (hasSamePrimitives(target_primitives, original_front_primitives)) { - return 0; + // ============================================================================================= + // NOTE: the target route is calculated while ego is driving on the original route, so basically + // the first lane of the target route should be in the original route lanelets. So the common + // segment interval matches the beginning of the target route. The exception is that if ego is + // on an intersection lanelet, getClosestLanelet() may not return the same lanelet which exists + // in the original route. In that case the common segment interval does not match the beginning of + // the target lanelet + // ============================================================================================= + const auto start_idx_opt = + std::invoke([&]() -> std::optional> { + for (size_t i = 0; i < original_route.segments.size(); ++i) { + const auto & original_segment = original_route.segments.at(i).primitives; + for (size_t j = 0; j < target_route.segments.size(); ++j) { + const auto & target_segment = target_route.segments.at(j).primitives; + if (hasSamePrimitives(original_segment, target_segment)) { + return std::make_pair(i, j); + } + } } - } - - return std::nullopt; - }); + return std::nullopt; + }); if (!start_idx_opt.has_value()) { + RCLCPP_ERROR( + get_logger(), "Check reroute safety failed. Cannot find the start index of the route."); return false; } - const size_t start_idx = start_idx_opt.value(); + const auto [start_idx_original, start_idx_target] = start_idx_opt.value(); // find last idx that matches the target primitives - size_t end_idx = start_idx; - for (size_t i = 1; i < target_route.segments.size(); ++i) { - if (start_idx + i > original_route.segments.size() - 1) { + size_t end_idx_original = start_idx_original; + size_t end_idx_target = start_idx_target; + for (size_t i = 1; i < target_route.segments.size() - start_idx_target; ++i) { + if (start_idx_original + i > original_route.segments.size() - 1) { break; } - const auto & original_primitives = original_route.segments.at(start_idx + i).primitives; - const auto & target_primitives = target_route.segments.at(i).primitives; + const auto & original_primitives = + original_route.segments.at(start_idx_original + i).primitives; + const auto & target_primitives = target_route.segments.at(start_idx_target + i).primitives; if (!hasSamePrimitives(original_primitives, target_primitives)) { break; } - end_idx = start_idx + i; + end_idx_original = start_idx_original + i; + end_idx_target = start_idx_target + i; + } + + // at the very first transition from main/MRM to MRM/main, the requested route from the + // route_selector may not begin from ego current lane (because route_selector requests the + // previous route once, and then replan) + const bool ego_is_on_first_target_section = std::any_of( + target_route.segments.front().primitives.begin(), + target_route.segments.front().primitives.end(), [&](const auto & primitive) { + const auto lanelet = lanelet_map_ptr_->laneletLayer.get(primitive.id); + return lanelet::utils::isInLanelet(target_route.start_pose, lanelet); + }); + if (!ego_is_on_first_target_section) { + RCLCPP_ERROR( + get_logger(), + "Check reroute safety failed. Ego is not on the first section of target route."); + return false; } - // create map - auto lanelet_map_ptr_ = std::make_shared(); - lanelet::utils::conversion::fromBinMsg(*map_ptr_, lanelet_map_ptr_); + // if the front of target route is not the front of common segment, it is expected that the front + // of the target route is conflicting with another lane which is equal to original + // route[start_idx_original-1] + double accumulated_length = 0.0; - // compute distance from the current pose to the end of the current lanelet - const auto current_pose = target_route.start_pose; - const auto primitives = original_route.segments.at(start_idx).primitives; - lanelet::ConstLanelets start_lanelets; - for (const auto & primitive : primitives) { - const auto lanelet = lanelet_map_ptr_->laneletLayer.get(primitive.id); - start_lanelets.push_back(lanelet); - } + if (start_idx_target != 0 && start_idx_original > 1) { + // compute distance from the current pose to the beginning of the common segment + const auto current_pose = target_route.start_pose; + const auto primitives = original_route.segments.at(start_idx_original - 1).primitives; + lanelet::ConstLanelets start_lanelets; + for (const auto & primitive : primitives) { + const auto lanelet = lanelet_map_ptr_->laneletLayer.get(primitive.id); + start_lanelets.push_back(lanelet); + } + // closest lanelet in start lanelets + lanelet::ConstLanelet closest_lanelet; + if (!lanelet::utils::query::getClosestLanelet(start_lanelets, current_pose, &closest_lanelet)) { + RCLCPP_ERROR(get_logger(), "Check reroute safety failed. Cannot find the closest lanelet."); + return false; + } - // get closest lanelet in start lanelets - lanelet::ConstLanelet closest_lanelet; - if (!lanelet::utils::query::getClosestLanelet(start_lanelets, current_pose, &closest_lanelet)) { - return false; - } + const auto & centerline_2d = lanelet::utils::to2D(closest_lanelet.centerline()); + const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(current_pose.position); + const auto arc_coordinates = lanelet::geometry::toArcCoordinates( + centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint()); + const double dist_to_current_pose = arc_coordinates.length; + const double lanelet_length = lanelet::utils::getLaneletLength2d(closest_lanelet); + accumulated_length = lanelet_length - dist_to_current_pose; + } else { + // compute distance from the current pose to the end of the current lanelet + const auto current_pose = target_route.start_pose; + const auto primitives = original_route.segments.at(start_idx_original).primitives; + lanelet::ConstLanelets start_lanelets; + for (const auto & primitive : primitives) { + const auto lanelet = lanelet_map_ptr_->laneletLayer.get(primitive.id); + start_lanelets.push_back(lanelet); + } + // closest lanelet in start lanelets + lanelet::ConstLanelet closest_lanelet; + if (!lanelet::utils::query::getClosestLanelet(start_lanelets, current_pose, &closest_lanelet)) { + RCLCPP_ERROR(get_logger(), "Check reroute safety failed. Cannot find the closest lanelet."); + return false; + } - const auto & centerline_2d = lanelet::utils::to2D(closest_lanelet.centerline()); - const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(current_pose.position); - const auto arc_coordinates = lanelet::geometry::toArcCoordinates( - centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint()); - const double dist_to_current_pose = arc_coordinates.length; - const double lanelet_length = lanelet::utils::getLaneletLength2d(closest_lanelet); - double accumulated_length = lanelet_length - dist_to_current_pose; + const auto & centerline_2d = lanelet::utils::to2D(closest_lanelet.centerline()); + const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(current_pose.position); + const auto arc_coordinates = lanelet::geometry::toArcCoordinates( + centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint()); + const double dist_to_current_pose = arc_coordinates.length; + const double lanelet_length = lanelet::utils::getLaneletLength2d(closest_lanelet); + accumulated_length = lanelet_length - dist_to_current_pose; + } // compute distance from the start_idx+1 to end_idx - for (size_t i = start_idx + 1; i <= end_idx; ++i) { + for (size_t i = start_idx_original + 1; i <= end_idx_original; ++i) { const auto primitives = original_route.segments.at(i).primitives; if (primitives.empty()) { break; @@ -866,7 +898,7 @@ bool MissionPlanner::check_reroute_safety( } // check if the goal is inside of the target terminal lanelet - const auto & target_end_primitives = target_route.segments.at(end_idx - start_idx).primitives; + const auto & target_end_primitives = target_route.segments.at(end_idx_target).primitives; const auto & target_goal = target_route.goal_pose; for (const auto & target_end_primitive : target_end_primitives) { const auto lanelet = lanelet_map_ptr_->laneletLayer.get(target_end_primitive.id); @@ -878,8 +910,11 @@ bool MissionPlanner::check_reroute_safety( lanelet::utils::to2D(target_goal_position).basicPoint()) .length; const double target_lanelet_length = lanelet::utils::getLaneletLength2d(lanelet); - const double dist = target_lanelet_length - dist_to_goal; - accumulated_length = std::max(accumulated_length - dist, 0.0); + // NOTE: `accumulated_length` here contains the length of the entire target_end_primitive, so + // the remaining distance from the goal to the end of the target_end_primitive needs to be + // subtracted. + const double remaining_dist = target_lanelet_length - dist_to_goal; + accumulated_length = std::max(accumulated_length - remaining_dist, 0.0); break; } } diff --git a/planning/mission_planner/src/mission_planner/mission_planner.hpp b/planning/mission_planner/src/mission_planner/mission_planner.hpp index ea44d2643e186..b5295d38d7904 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.hpp @@ -148,6 +148,7 @@ class MissionPlanner : public rclcpp::Node std::shared_ptr normal_route_{nullptr}; std::shared_ptr mrm_route_{nullptr}; + lanelet::LaneletMapPtr lanelet_map_ptr_{nullptr}; std::unique_ptr logger_configure_; };