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feat(motion_velocity_smoother): force slow driving #1409

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merged 3 commits into from
Jul 11, 2024
Merged

feat(motion_velocity_smoother): force slow driving #1409

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be42248
add force slow driving function
go-sakayori Jun 24, 2024
bc841a9
fix state
go-sakayori Jun 24, 2024
e372ab6
erase log info
go-sakayori Jul 11, 2024
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12 changes: 12 additions & 0 deletions ...tion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,12 @@ class MotionVelocitySmootherNode : public rclcpp::Node
NORMAL = 3,
};

enum class ForceSlowDrivingType {
DEACTIVATED = 0,
READY = 1,
ACTIVATED = 2,
};

struct ForceAccelerationParam
{
double max_acceleration;
Expand Down Expand Up @@ -168,6 +174,7 @@ class MotionVelocitySmootherNode : public rclcpp::Node
bool plan_from_ego_speed_on_manual_mode = true;

ForceAccelerationParam force_acceleration_param;
double force_slow_driving_velocity;
} node_param_{};

struct ExternalVelocityLimit
Expand Down Expand Up @@ -257,11 +264,16 @@ class MotionVelocitySmootherNode : public rclcpp::Node

// parameter handling
void initCommonParam();

// Related to force acceleration
void onForceAcceleration(
const std::shared_ptr<SetBool::Request> request, std::shared_ptr<SetBool::Response> response);
bool force_acceleration_mode_;

// Related to force slow driving
void onSlowDriving(
const std::shared_ptr<SetBool::Request> request, std::shared_ptr<SetBool::Response> response);
ForceSlowDrivingType force_slow_driving_mode_;

// debug
tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
Expand Down
30 changes: 29 additions & 1 deletion planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,7 @@
srv_slow_driving_ = create_service<SetBool>(
"~/slow_driving", std::bind(&MotionVelocitySmootherNode::onSlowDriving, this, _1, _2));
force_acceleration_mode_ = false;
force_slow_driving_mode_ = ForceSlowDrivingType::DEACTIVATED;

// parameter update
set_param_res_ = this->add_on_set_parameters_callback(
Expand Down Expand Up @@ -205,6 +206,7 @@
update_param("force_acceleration.engage_velocity", p.force_acceleration_param.engage_velocity);
update_param(
"force_acceleration.engage_acceleration", p.force_acceleration_param.engage_acceleration);
update_param("force_slow_driving.velocity", p.force_slow_driving_velocity);
}

{
Expand Down Expand Up @@ -334,6 +336,8 @@
declare_parameter<double>("force_acceleration.engage_velocity");
p.force_acceleration_param.engage_acceleration =
declare_parameter<double>("force_acceleration.engage_acceleration");

p.force_slow_driving_velocity = declare_parameter<double>("force_slow_driving.velocity");
}

void MotionVelocitySmootherNode::publishTrajectory(const TrajectoryPoints & trajectory) const
Expand Down Expand Up @@ -504,6 +508,14 @@
flipVelocity(input_points);
}

// Only activate slow driving when velocity is below threshold
double slow_driving_vel_threshold = get_parameter("force_slow_driving.velocity").as_double();
if (
force_slow_driving_mode_ == ForceSlowDrivingType::READY &&
current_odometry_ptr_->twist.twist.linear.x < slow_driving_vel_threshold) {
force_slow_driving_mode_ = ForceSlowDrivingType::ACTIVATED;
}

const auto output = calcTrajectoryVelocity(input_points);
if (output.empty()) {
RCLCPP_WARN(get_logger(), "Output Point is empty");
Expand Down Expand Up @@ -589,6 +601,13 @@
// Apply velocity to approach stop point
applyStopApproachingVelocity(traj_extracted);

// Apply force slow driving if activated
if (force_slow_driving_mode_ == ForceSlowDrivingType::ACTIVATED) {
for (auto & tp : traj_extracted) {
tp.longitudinal_velocity_mps = get_parameter("force_slow_driving.velocity").as_double();
}
}

// Debug
if (publish_debug_trajs_) {
auto tmp = traj_extracted;
Expand Down Expand Up @@ -1156,12 +1175,21 @@
}

response->success = true;
response->message = message;
}

void MotionVelocitySmootherNode::onSlowDriving(
const std::shared_ptr<SetBool::Request> request, std::shared_ptr<SetBool::Response> response)
{
const std::string message = request->data ? "Slow driving" : "Default";
std::string message = "default";
if (request->data && force_slow_driving_mode_ == ForceSlowDrivingType::DEACTIVATED) {
force_slow_driving_mode_ = ForceSlowDrivingType::READY;

message = "Activated force slow drving";

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} else if (!request->data) {
force_slow_driving_mode_ = ForceSlowDrivingType::DEACTIVATED;
message = "Deactivated force slow driving";
}

response->success = true;
response->message = message;
Expand Down
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