From 1881f970c9a7873ed6fe2154020843638328e12d Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 3 Oct 2022 17:51:23 +0900 Subject: [PATCH 01/28] refactor(route_handler): clang tidy and reserving vector (#1992) * refactor(route_handler): clang tidy and reserving vector Signed-off-by: Muhammad Zulfaqar Azmi * make num constant Co-authored-by: Fumiya Watanabe * make output from getNumLaneToPreferredLane const Signed-off-by: Muhammad Zulfaqar Azmi * const variable wherever possible Signed-off-by: Muhammad Zulfaqar Azmi * use count instead of re-reserve. Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: Fumiya Watanabe --- .../include/route_handler/route_handler.hpp | 12 +- planning/route_handler/src/route_handler.cpp | 254 +++++++++--------- 2 files changed, 140 insertions(+), 126 deletions(-) diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp index b0615d8da94d5..c91f9d93ad9cb 100644 --- a/planning/route_handler/include/route_handler/route_handler.hpp +++ b/planning/route_handler/include/route_handler/route_handler.hpp @@ -86,7 +86,7 @@ class RouteHandler const Pose & start_checkpoint, const Pose & goal_checkpoint, lanelet::ConstLanelets * path_lanelets) const; std::vector createMapSegments(const lanelet::ConstLanelets & path_lanelets) const; - bool isRouteLooped(const RouteSections & route_sections) const; + static bool isRouteLooped(const RouteSections & route_sections); // for goal bool isInGoalRouteSection(const lanelet::ConstLanelet & lanelet) const; @@ -222,7 +222,7 @@ class RouteHandler bool getClosestLaneletWithinRoute( const Pose & search_pose, lanelet::ConstLanelet * closest_lanelet) const; lanelet::ConstLanelet getLaneletsFromId(const lanelet::Id id) const; - lanelet::ConstLanelets getLaneletsFromIds(const lanelet::Ids ids) const; + lanelet::ConstLanelets getLaneletsFromIds(const lanelet::Ids & ids) const; lanelet::ConstLanelets getLaneletSequence( const lanelet::ConstLanelet & lanelet, const Pose & current_pose, const double backward_distance, const double forward_distance) const; @@ -247,12 +247,12 @@ class RouteHandler bool use_exact = true) const; bool getLaneChangeTarget( const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const; - bool getPullOverTarget( + static bool getPullOverTarget( const lanelet::ConstLanelets & lanelets, const Pose & goal_pose, - lanelet::ConstLanelet * target_lanelet) const; - bool getPullOutStartLane( + lanelet::ConstLanelet * target_lanelet); + static bool getPullOutStartLane( const lanelet::ConstLanelets & lanelets, const Pose & pose, const double vehicle_width, - lanelet::ConstLanelet * target_lanelet) const; + lanelet::ConstLanelet * target_lanelet); double getLaneChangeableDistance( const Pose & current_pose, const LaneChangeDirection & direction) const; lanelet::ConstPolygon3d getIntersectionAreaById(const lanelet::Id id) const; diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index 6106fa86c1f59..62b02dc3f1df4 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -72,18 +72,18 @@ lanelet::ConstPoint3d get3DPointFrom2DArcLength( prev_pt = centerline.front(); } for (const auto & pt : centerline) { - double distance2d = lanelet::geometry::distance2d(to2D(prev_pt), to2D(pt)); + const double distance2d = lanelet::geometry::distance2d(to2D(prev_pt), to2D(pt)); if (accumulated_distance2d + distance2d > s) { - double ratio = (s - accumulated_distance2d) / distance2d; - auto interpolated_pt = prev_pt.basicPoint() * (1 - ratio) + pt.basicPoint() * ratio; - return lanelet::ConstPoint3d( - lanelet::InvalId, interpolated_pt.x(), interpolated_pt.y(), interpolated_pt.z()); + const double ratio = (s - accumulated_distance2d) / distance2d; + const auto interpolated_pt = prev_pt.basicPoint() * (1 - ratio) + pt.basicPoint() * ratio; + return lanelet::ConstPoint3d{ + lanelet::InvalId, interpolated_pt.x(), interpolated_pt.y(), interpolated_pt.z()}; } accumulated_distance2d += distance2d; prev_pt = pt; } } - return lanelet::ConstPoint3d(); + return lanelet::ConstPoint3d{}; } PathWithLaneId removeOverlappingPoints(const PathWithLaneId & input_path) @@ -134,11 +134,11 @@ void RouteHandler::setMap(const HADMapBin & map_msg) lanelet::Locations::Germany, lanelet::Participants::Vehicle); const auto pedestrian_rules = lanelet::traffic_rules::TrafficRulesFactory::create( lanelet::Locations::Germany, lanelet::Participants::Pedestrian); - lanelet::routing::RoutingGraphConstPtr vehicle_graph = + const lanelet::routing::RoutingGraphConstPtr vehicle_graph = lanelet::routing::RoutingGraph::build(*lanelet_map_ptr_, *traffic_rules); - lanelet::routing::RoutingGraphConstPtr pedestrian_graph = + const lanelet::routing::RoutingGraphConstPtr pedestrian_graph = lanelet::routing::RoutingGraph::build(*lanelet_map_ptr_, *pedestrian_rules); - lanelet::routing::RoutingGraphContainer overall_graphs({vehicle_graph, pedestrian_graph}); + const lanelet::routing::RoutingGraphContainer overall_graphs({vehicle_graph, pedestrian_graph}); overall_graphs_ptr_ = std::make_shared(overall_graphs); lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_); @@ -151,16 +151,15 @@ void RouteHandler::setMap(const HADMapBin & map_msg) setLaneletsFromRouteMsg(); } -bool RouteHandler::isRouteLooped(const RouteSections & route_sections) const +bool RouteHandler::isRouteLooped(const RouteSections & route_sections) { std::set lane_primitives; for (const auto & route_section : route_sections) { for (const auto & primitive : route_section.primitives) { - if (lane_primitives.find(primitive.id) == lane_primitives.end()) { - lane_primitives.emplace(primitive.id); - } else { + if (lane_primitives.find(primitive.id) != lane_primitives.end()) { return true; // find duplicated id } + lane_primitives.emplace(primitive.id); } } return false; @@ -185,9 +184,9 @@ bool RouteHandler::isHandlerReady() const { return is_handler_ready_; } void RouteHandler::setRouteLanelets(const lanelet::ConstLanelets & path_lanelets) { if (!path_lanelets.empty()) { - auto first_lanelet = path_lanelets.front(); + const auto & first_lanelet = path_lanelets.front(); start_lanelets_ = lanelet::utils::query::getAllNeighbors(routing_graph_ptr_, first_lanelet); - auto last_lanelet = path_lanelets.back(); + const auto & last_lanelet = path_lanelets.back(); goal_lanelets_ = lanelet::utils::query::getAllNeighbors(routing_graph_ptr_, last_lanelet); } @@ -275,6 +274,7 @@ void RouteHandler::setRouteLanelets(const lanelet::ConstLanelets & path_lanelets } route_lanelets_.clear(); + route_lanelets_.reserve(route_lanelets_id.size()); for (const auto & id : route_lanelets_id) { route_lanelets_.push_back(lanelet_map_ptr_->laneletLayer.get(id)); } @@ -288,10 +288,17 @@ void RouteHandler::setLaneletsFromRouteMsg() } route_lanelets_.clear(); preferred_lanelets_.clear(); - bool is_route_valid = lanelet::utils::route::isRouteValid(route_msg_, lanelet_map_ptr_); + const bool is_route_valid = lanelet::utils::route::isRouteValid(route_msg_, lanelet_map_ptr_); if (!is_route_valid) { return; } + + size_t primitive_size{0}; + for (const auto & route_section : route_msg_.segments) { + primitive_size += route_section.primitives.size(); + } + route_lanelets_.reserve(primitive_size); + for (const auto & route_section : route_msg_.segments) { for (const auto & primitive : route_section.primitives) { const auto id = primitive.id; @@ -305,11 +312,13 @@ void RouteHandler::setLaneletsFromRouteMsg() goal_lanelets_.clear(); start_lanelets_.clear(); if (!route_msg_.segments.empty()) { + goal_lanelets_.reserve(route_msg_.segments.back().primitives.size()); for (const auto & primitive : route_msg_.segments.back().primitives) { const auto id = primitive.id; const auto & llt = lanelet_map_ptr_->laneletLayer.get(id); goal_lanelets_.push_back(llt); } + start_lanelets_.reserve(route_msg_.segments.front().primitives.size()); for (const auto & primitive : route_msg_.segments.front().primitives) { const auto id = primitive.id; const auto & llt = lanelet_map_ptr_->laneletLayer.get(id); @@ -370,9 +379,9 @@ lanelet::Id RouteHandler::getGoalLaneId() const { if (route_msg_.segments.empty()) { return lanelet::InvalId; - } else { - return route_msg_.segments.back().preferred_primitive_id; } + + return route_msg_.segments.back().preferred_primitive_id; } bool RouteHandler::getGoalLanelet(lanelet::ConstLanelet * goal_lanelet) const @@ -391,14 +400,14 @@ bool RouteHandler::isInGoalRouteSection(const lanelet::ConstLanelet & lanelet) c { if (route_msg_.segments.empty()) { return false; - } else { - return exists(route_msg_.segments.back().primitives, lanelet.id()); } + return exists(route_msg_.segments.back().primitives, lanelet.id()); } -lanelet::ConstLanelets RouteHandler::getLaneletsFromIds(const lanelet::Ids ids) const +lanelet::ConstLanelets RouteHandler::getLaneletsFromIds(const lanelet::Ids & ids) const { lanelet::ConstLanelets lanelets; + lanelets.reserve(ids.size()); for (const auto & id : ids) { lanelets.push_back(lanelet_map_ptr_->laneletLayer.get(id)); } @@ -413,10 +422,7 @@ lanelet::ConstLanelet RouteHandler::getLaneletsFromId(const lanelet::Id id) cons bool RouteHandler::isDeadEndLanelet(const lanelet::ConstLanelet & lanelet) const { lanelet::ConstLanelet next_lanelet; - if (getNextLaneletWithinRoute(lanelet, &next_lanelet)) { - return false; - } - return true; + return !getNextLaneletWithinRoute(lanelet, &next_lanelet); } lanelet::ConstLanelets RouteHandler::getLaneletSequenceAfter( @@ -436,7 +442,8 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequenceAfter( } lanelet_sequence_forward.push_back(next_lanelet); current_lanelet = next_lanelet; - length += boost::geometry::length(next_lanelet.centerline().basicLineString()); + length += + static_cast(boost::geometry::length(next_lanelet.centerline().basicLineString())); } return lanelet_sequence_forward; @@ -481,7 +488,8 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequenceUpTo( continue; } lanelet_sequence_backward.push_back(prev_lanelet); - length += boost::geometry::length(prev_lanelet.centerline().basicLineString()); + length += + static_cast(boost::geometry::length(prev_lanelet.centerline().basicLineString())); current_lanelet = prev_lanelet; break; } @@ -502,18 +510,19 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequence( } lanelet::ConstLanelets lanelet_sequence; - lanelet::ConstLanelets lanelet_sequence_backward; - lanelet::ConstLanelets lanelet_sequence_forward; if (!exists(route_lanelets_, lanelet)) { return lanelet_sequence; } - lanelet_sequence_forward = getLaneletSequenceAfter(lanelet, forward_distance); - - const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose); - if (arc_coordinate.length < backward_distance) { - lanelet_sequence_backward = getLaneletSequenceUpTo(lanelet, backward_distance); - } + lanelet::ConstLanelets lanelet_sequence_forward = + getLaneletSequenceAfter(lanelet, forward_distance); + const lanelet::ConstLanelets lanelet_sequence_backward = std::invoke([&]() { + const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose); + if (arc_coordinate.length < backward_distance) { + return getLaneletSequenceUpTo(lanelet, backward_distance); + } + return lanelet::ConstLanelets{}; + }); // loop check if (!lanelet_sequence_forward.empty() && !lanelet_sequence_backward.empty()) { @@ -535,18 +544,19 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequence( const double forward_distance) const { lanelet::ConstLanelets lanelet_sequence; - lanelet::ConstLanelets lanelet_sequence_backward; - lanelet::ConstLanelets lanelet_sequence_forward; if (!exists(route_lanelets_, lanelet)) { return lanelet_sequence; } - lanelet_sequence_forward = getLaneletSequenceAfter(lanelet, forward_distance); - - const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose); - if (arc_coordinate.length < backward_distance) { - lanelet_sequence_backward = getLaneletSequenceUpTo(lanelet, backward_distance); - } + lanelet::ConstLanelets lanelet_sequence_forward = + getLaneletSequenceAfter(lanelet, forward_distance); + const lanelet::ConstLanelets lanelet_sequence_backward = std::invoke([&]() { + const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose); + if (arc_coordinate.length < backward_distance) { + return getLaneletSequenceUpTo(lanelet, backward_distance); + } + return lanelet::ConstLanelets{}; + }); // loop check if (!lanelet_sequence_forward.empty() && !lanelet_sequence_backward.empty()) { @@ -571,9 +581,6 @@ bool RouteHandler::getFollowingShoulderLanelet( back_pose.position.y = lanelet.centerline2d().back().y(); back_pose.position.z = 0; - lanelet::ArcCoordinates arc_coordinates; - const auto & centerline_2d = to2D(lanelet.centerline()); - for (const auto & shoulder_lanelet : shoulder_lanelets_) { Pose front_pose; front_pose.position.x = shoulder_lanelet.centerline2d().front().x(); @@ -607,7 +614,8 @@ lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequenceAfter( } lanelet_sequence_forward.push_back(next_lanelet); current_lanelet = next_lanelet; - length += boost::geometry::length(next_lanelet.centerline().basicLineString()); + length += + static_cast(boost::geometry::length(next_lanelet.centerline().basicLineString())); } return lanelet_sequence_forward; @@ -621,9 +629,6 @@ bool RouteHandler::getPreviousShoulderLanelet( front_pose.position.y = lanelet.centerline2d().front().y(); front_pose.position.z = 0; - lanelet::ArcCoordinates arc_coordinates; - const auto & centerline_2d = to2D(lanelet.centerline()); - for (const auto & shoulder_lanelet : shoulder_lanelets_) { Pose back_pose; back_pose.position.x = shoulder_lanelet.centerline2d().back().x(); @@ -658,7 +663,8 @@ lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequenceUpTo( lanelet_sequence_backward.insert(lanelet_sequence_backward.begin(), prev_lanelet); current_lanelet = prev_lanelet; - length += boost::geometry::length(prev_lanelet.centerline().basicLineString()); + length += + static_cast(boost::geometry::length(prev_lanelet.centerline().basicLineString())); } return lanelet_sequence_backward; @@ -669,18 +675,19 @@ lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequence( const double forward_distance) const { lanelet::ConstLanelets lanelet_sequence; - lanelet::ConstLanelets lanelet_sequence_backward; - lanelet::ConstLanelets lanelet_sequence_forward; if (!exists(shoulder_lanelets_, lanelet)) { return lanelet_sequence; } - lanelet_sequence_forward = getShoulderLaneletSequenceAfter(lanelet, forward_distance); - - const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, pose); - if (arc_coordinate.length < backward_distance) { - lanelet_sequence_backward = getShoulderLaneletSequenceUpTo(lanelet, backward_distance); - } + lanelet::ConstLanelets lanelet_sequence_forward = + getShoulderLaneletSequenceAfter(lanelet, forward_distance); + const lanelet::ConstLanelets lanelet_sequence_backward = std::invoke([&]() { + const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, pose); + if (arc_coordinate.length < backward_distance) { + return getShoulderLaneletSequenceUpTo(lanelet, backward_distance); + } + return lanelet::ConstLanelets{}; + }); // loop check if (!lanelet_sequence_forward.empty() && !lanelet_sequence_backward.empty()) { @@ -710,7 +717,7 @@ bool RouteHandler::getNextLaneletWithinRoute( if (exists(goal_lanelets_, lanelet)) { return false; } - lanelet::ConstLanelets following_lanelets = routing_graph_ptr_->following(lanelet); + const auto following_lanelets = routing_graph_ptr_->following(lanelet); for (const auto & llt : following_lanelets) { if (exists(route_lanelets_, llt)) { *next_lanelet = llt; @@ -731,7 +738,7 @@ bool RouteHandler::getPreviousLaneletsWithinRoute( if (exists(start_lanelets_, lanelet)) { return false; } - lanelet::ConstLanelets candidate_lanelets = routing_graph_ptr_->previous(lanelet); + const auto candidate_lanelets = routing_graph_ptr_->previous(lanelet); prev_lanelets->clear(); for (const auto & llt : candidate_lanelets) { if (exists(route_lanelets_, llt)) { @@ -749,13 +756,12 @@ lanelet::ConstLanelets RouteHandler::getLaneletsFromPoint(const lanelet::ConstPo bool RouteHandler::getRightLaneletWithinRoute( const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * right_lanelet) const { - auto opt_right_lanelet = routing_graph_ptr_->right(lanelet); + const auto opt_right_lanelet = routing_graph_ptr_->right(lanelet); if (!!opt_right_lanelet) { *right_lanelet = opt_right_lanelet.get(); return exists(route_lanelets_, *right_lanelet); - } else { - return false; } + return false; } bool RouteHandler::getNextLaneletWithinRouteExceptStart( @@ -764,7 +770,7 @@ bool RouteHandler::getNextLaneletWithinRouteExceptStart( if (exists(goal_lanelets_, lanelet)) { return false; } - lanelet::ConstLanelets following_lanelets = routing_graph_ptr_->following(lanelet); + const lanelet::ConstLanelets following_lanelets = routing_graph_ptr_->following(lanelet); for (const auto & llt : following_lanelets) { if (exists(route_lanelets_, llt) && !exists(start_lanelets_, llt)) { *next_lanelet = llt; @@ -780,7 +786,7 @@ bool RouteHandler::getPreviousLaneletWithinRouteExceptGoal( if (exists(start_lanelets_, lanelet)) { return false; } - lanelet::ConstLanelets previous_lanelets = routing_graph_ptr_->previous(lanelet); + const lanelet::ConstLanelets previous_lanelets = routing_graph_ptr_->previous(lanelet); for (const auto & llt : previous_lanelets) { if (exists(route_lanelets_, llt) && !(exists(goal_lanelets_, llt))) { *prev_lanelet = llt; @@ -839,13 +845,12 @@ boost::optional RouteHandler::getRightLanelet( bool RouteHandler::getLeftLaneletWithinRoute( const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * left_lanelet) const { - auto opt_left_lanelet = routing_graph_ptr_->left(lanelet); + const auto opt_left_lanelet = routing_graph_ptr_->left(lanelet); if (!!opt_left_lanelet) { *left_lanelet = opt_left_lanelet.get(); return exists(route_lanelets_, *left_lanelet); - } else { - return false; } + return false; } boost::optional RouteHandler::getLeftLanelet( @@ -989,12 +994,17 @@ lanelet::ConstLineString3d RouteHandler::getRightMostLinestring( const auto & opposite = getRightOppositeLanelets(lanelet); if (!same && opposite.empty()) { return lanelet.rightBound(); - } else if (same) { + } + + if (same) { return getRightMostLinestring(same.get()); - } else if (!opposite.empty()) { + } + + if (!opposite.empty()) { return getLeftMostLinestring(lanelet::ConstLanelet(opposite.front())); } - return {}; + + return lanelet.rightBound(); } lanelet::ConstLineString3d RouteHandler::getLeftMostSameDirectionLinestring( @@ -1018,12 +1028,17 @@ lanelet::ConstLineString3d RouteHandler::getLeftMostLinestring( if (!same && opposite.empty()) { return lanelet.leftBound(); - } else if (same) { + } + + if (same) { return getLeftMostLinestring(same.get()); - } else if (!opposite.empty()) { + } + + if (!opposite.empty()) { return getRightMostLinestring(lanelet::ConstLanelet(opposite.front())); } - return {}; + + return lanelet.leftBound(); } lanelet::ConstLineStrings3d RouteHandler::getFurthestLinestring( @@ -1054,32 +1069,28 @@ lanelet::ConstLineStrings3d RouteHandler::getFurthestLinestring( bool RouteHandler::getLaneChangeTarget( const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const { - for (auto it = lanelets.begin(); it != lanelets.end(); ++it) { - const auto lanelet = *it; - - int num = getNumLaneToPreferredLane(lanelet); + for (const auto & lanelet : lanelets) { + const int num = getNumLaneToPreferredLane(lanelet); if (num == 0) { continue; } if (num < 0) { if (!!routing_graph_ptr_->right(lanelet)) { - auto right_lanelet = routing_graph_ptr_->right(lanelet); + const auto right_lanelet = routing_graph_ptr_->right(lanelet); *target_lanelet = right_lanelet.get(); return true; - } else { - continue; } + continue; } if (num > 0) { if (!!routing_graph_ptr_->left(lanelet)) { - auto left_lanelet = routing_graph_ptr_->left(lanelet); + const auto left_lanelet = routing_graph_ptr_->left(lanelet); *target_lanelet = left_lanelet.get(); return true; - } else { - continue; } + continue; } } @@ -1089,7 +1100,7 @@ bool RouteHandler::getLaneChangeTarget( bool RouteHandler::getPullOverTarget( const lanelet::ConstLanelets & lanelets, const Pose & goal_pose, - lanelet::ConstLanelet * target_lanelet) const + lanelet::ConstLanelet * target_lanelet) { for (const auto & shoulder_lanelet : lanelets) { if (lanelet::utils::isInLanelet(goal_pose, shoulder_lanelet, 0.1)) { @@ -1102,7 +1113,7 @@ bool RouteHandler::getPullOverTarget( bool RouteHandler::getPullOutStartLane( const lanelet::ConstLanelets & lanelets, const Pose & pose, const double vehicle_width, - lanelet::ConstLanelet * target_lanelet) const + lanelet::ConstLanelet * target_lanelet) { for (const auto & shoulder_lanelet : lanelets) { if (lanelet::utils::isInLanelet(pose, shoulder_lanelet, vehicle_width / 2.0)) { @@ -1116,9 +1127,8 @@ bool RouteHandler::getPullOutStartLane( lanelet::ConstLanelets RouteHandler::getClosestLaneletSequence(const Pose & pose) const { lanelet::ConstLanelet lanelet; - lanelet::ConstLanelets empty_lanelets; if (!getClosestLaneletWithinRoute(pose, &lanelet)) { - return empty_lanelets; + return lanelet::ConstLanelets{}; } return getLaneletSequence(lanelet); } @@ -1175,33 +1185,33 @@ PathWithLaneId RouteHandler::getCenterLinePath( double s = 0; for (const auto & llt : lanelet_sequence) { - lanelet::traffic_rules::SpeedLimitInformation limit = traffic_rules_ptr_->speedLimit(llt); + const lanelet::traffic_rules::SpeedLimitInformation limit = traffic_rules_ptr_->speedLimit(llt); const lanelet::ConstLineString3d centerline = llt.centerline(); - const auto addPathPoint = [&reference_path, &limit, &llt](const auto & pt) { + const auto add_path_point = [&reference_path, &limit, &llt](const auto & pt) { PathPointWithLaneId p{}; p.point.pose.position = lanelet::utils::conversion::toGeomMsgPt(pt); p.lane_ids.push_back(llt.id()); - p.point.longitudinal_velocity_mps = limit.speedLimit.value(); + p.point.longitudinal_velocity_mps = static_cast(limit.speedLimit.value()); reference_path.points.push_back(p); }; for (size_t i = 0; i < centerline.size(); i++) { - const lanelet::ConstPoint3d pt = centerline[i]; - lanelet::ConstPoint3d next_pt = + const auto & pt = centerline[i]; + const lanelet::ConstPoint3d next_pt = (i + 1 < centerline.size()) ? centerline[i + 1] : centerline[i]; - double distance = lanelet::geometry::distance2d(to2D(pt), to2D(next_pt)); + const double distance = lanelet::geometry::distance2d(to2D(pt), to2D(next_pt)); if (s < s_start && s + distance > s_start) { const auto p = use_exact ? get3DPointFrom2DArcLength(lanelet_sequence, s_start) : pt; - addPathPoint(p); + add_path_point(p); } if (s >= s_start && s <= s_end) { - addPathPoint(pt); + add_path_point(pt); } if (s < s_end && s + distance > s_end) { const auto p = use_exact ? get3DPointFrom2DArcLength(lanelet_sequence, s_end) : next_pt; - addPathPoint(p); + add_path_point(p); } s += distance; } @@ -1211,7 +1221,7 @@ PathWithLaneId RouteHandler::getCenterLinePath( // append a point only when having one point so that yaw calculation would work if (reference_path.points.size() == 1) { - const int lane_id = reference_path.points.front().lane_ids.front(); + const int lane_id = static_cast(reference_path.points.front().lane_ids.front()); const auto lanelet = lanelet_map_ptr_->laneletLayer.get(lane_id); const auto point = reference_path.points.front().point.pose.position; const auto lane_yaw = lanelet::utils::getLaneletAngle(lanelet, point); @@ -1248,8 +1258,8 @@ PathWithLaneId RouteHandler::updatePathTwist(const PathWithLaneId & path) const for (auto & point : updated_path.points) { const auto id = point.lane_ids.at(0); const auto llt = lanelet_map_ptr_->laneletLayer.get(id); - lanelet::traffic_rules::SpeedLimitInformation limit = traffic_rules_ptr_->speedLimit(llt); - point.point.longitudinal_velocity_mps = limit.speedLimit.value(); + const auto limit = traffic_rules_ptr_->speedLimit(llt); + point.point.longitudinal_velocity_mps = static_cast(limit.speedLimit.value()); } return updated_path; } @@ -1262,17 +1272,17 @@ lanelet::ConstLanelets RouteHandler::getLaneChangeTargetLanes(const Pose & pose) return target_lanelets; } - int num = getNumLaneToPreferredLane(lanelet); + const int num = getNumLaneToPreferredLane(lanelet); if (num < 0) { - auto right_lanelet = (!!routing_graph_ptr_->right(lanelet)) - ? routing_graph_ptr_->right(lanelet) - : routing_graph_ptr_->adjacentRight(lanelet); + const auto right_lanelet = (!!routing_graph_ptr_->right(lanelet)) + ? routing_graph_ptr_->right(lanelet) + : routing_graph_ptr_->adjacentRight(lanelet); target_lanelets = getLaneletSequence(right_lanelet.get()); } if (num > 0) { - auto left_lanelet = (!!routing_graph_ptr_->left(lanelet)) - ? routing_graph_ptr_->left(lanelet) - : routing_graph_ptr_->adjacentLeft(lanelet); + const auto left_lanelet = (!!routing_graph_ptr_->left(lanelet)) + ? routing_graph_ptr_->left(lanelet) + : routing_graph_ptr_->adjacentLeft(lanelet); target_lanelets = getLaneletSequence(left_lanelet.get()); } return target_lanelets; @@ -1440,7 +1450,7 @@ lanelet::ConstLanelets RouteHandler::getPreviousLaneletSequence( return previous_lanelet_sequence; } - auto first_lane = lanelet_sequence.front(); + const auto & first_lane = lanelet_sequence.front(); if (exists(start_lanelets_, first_lane)) { return previous_lanelet_sequence; } @@ -1467,8 +1477,8 @@ lanelet::ConstLanelets RouteHandler::getPreviousLaneletSequence( lanelet::ConstLanelets RouteHandler::getLaneSequence(const lanelet::ConstLanelet & lanelet) const { lanelet::ConstLanelets lane_sequence; - lanelet::ConstLanelets lane_sequence_up_to = getLaneSequenceUpTo(lanelet); - lanelet::ConstLanelets lane_sequence_after = getLaneSequenceAfter(lanelet); + const lanelet::ConstLanelets lane_sequence_up_to = getLaneSequenceUpTo(lanelet); + const lanelet::ConstLanelets lane_sequence_after = getLaneSequenceAfter(lanelet); lane_sequence.insert(lane_sequence.end(), lane_sequence_up_to.begin(), lane_sequence_up_to.end()); lane_sequence.insert(lane_sequence.end(), lane_sequence_after.begin(), lane_sequence_after.end()); @@ -1517,8 +1527,8 @@ lanelet::ConstLanelets RouteHandler::getLaneSequenceUpTo( break; } - lanelet::ConstLanelets current_lanelet_section = getNeighborsWithinRoute(current_lanelet); - lanelet::ConstLanelets prev_lanelet_section = getNeighborsWithinRoute(prev_lanelet); + const lanelet::ConstLanelets current_lanelet_section = getNeighborsWithinRoute(current_lanelet); + const lanelet::ConstLanelets prev_lanelet_section = getNeighborsWithinRoute(prev_lanelet); if (!isBijectiveConnection(prev_lanelet_section, current_lanelet_section)) { break; } @@ -1546,8 +1556,8 @@ lanelet::ConstLanelets RouteHandler::getLaneSequenceAfter( break; } - lanelet::ConstLanelets current_lanelet_section = getNeighborsWithinRoute(current_lanelet); - lanelet::ConstLanelets next_lanelet_section = getNeighborsWithinRoute(next_lanelet); + const lanelet::ConstLanelets current_lanelet_section = getNeighborsWithinRoute(current_lanelet); + const lanelet::ConstLanelets next_lanelet_section = getNeighborsWithinRoute(next_lanelet); if (!isBijectiveConnection(current_lanelet_section, next_lanelet_section)) { break; } @@ -1561,7 +1571,7 @@ lanelet::ConstLanelets RouteHandler::getLaneSequenceAfter( lanelet::ConstLanelets RouteHandler::getNeighborsWithinRoute( const lanelet::ConstLanelet & lanelet) const { - lanelet::ConstLanelets neighbor_lanelets = + const lanelet::ConstLanelets neighbor_lanelets = lanelet::utils::query::getAllNeighbors(routing_graph_ptr_, lanelet); lanelet::ConstLanelets neighbors_within_route; for (const auto & llt : neighbor_lanelets) { @@ -1575,8 +1585,9 @@ lanelet::ConstLanelets RouteHandler::getNeighborsWithinRoute( std::vector RouteHandler::getLaneSection( const lanelet::ConstLanelet & lanelet) const { - lanelet::ConstLanelets neighbors = getNeighborsWithinRoute(lanelet); + const lanelet::ConstLanelets neighbors = getNeighborsWithinRoute(lanelet); std::vector lane_section; + lane_section.reserve(neighbors.size()); for (const auto & llt : neighbors) { lane_section.push_back(getLaneSequence(llt)); } @@ -1590,7 +1601,7 @@ lanelet::ConstLanelets RouteHandler::getNextLaneSequence( if (lane_sequence.empty()) { return next_lane_sequence; } - lanelet::ConstLanelet final_lanelet = lane_sequence.back(); + const auto & final_lanelet = lane_sequence.back(); lanelet::ConstLanelet next_lanelet; if (!getNextLaneletWithinRoute(final_lanelet, &next_lanelet)) { return next_lane_sequence; @@ -1612,7 +1623,7 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints( } // get all possible lanes that can be used to reach goal (including all possible lane change) - lanelet::Optional optional_route = + const lanelet::Optional optional_route = routing_graph_ptr_->getRoute(start_lanelet, goal_lanelet, 0); if (!optional_route) { RCLCPP_ERROR_STREAM( @@ -1626,6 +1637,7 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints( } const auto shortest_path = optional_route->shortestPath(); + path_lanelets->reserve(shortest_path.size()); for (const auto & llt : shortest_path) { path_lanelets->push_back(llt); } @@ -1643,10 +1655,12 @@ std::vector RouteHandler::createMapSegments( return route_sections; } + route_sections.reserve(main_path.size()); for (const auto & main_llt : main_path) { HADMapSegment route_section_msg; - lanelet::ConstLanelets route_section_lanelets = getNeighborsWithinRoute(main_llt); + const lanelet::ConstLanelets route_section_lanelets = getNeighborsWithinRoute(main_llt); route_section_msg.preferred_primitive_id = main_llt.id(); + route_section_msg.primitives.reserve(route_section_lanelets.size()); for (const auto & section_llt : route_section_lanelets) { MapPrimitive p; p.id = section_llt.id(); From c7698fc5d6b54932816077539b01c224e60861c2 Mon Sep 17 00:00:00 2001 From: alanmengg <104343391+alanmengg@users.noreply.github.com> Date: Mon, 3 Oct 2022 20:26:36 +0800 Subject: [PATCH 02/28] fix(freespace_planner): can't stop before blocking obstacle in parking#980 (#1872) * fix(tier4_perception_rviz_plugin): modify build error in rolling (#791) * fix(tier4_perception_rviz_plugin): modify build error in rolling Signed-off-by: wep21 * fix(tier4_perception_rviz_plugin): add target compile definitions Signed-off-by: wep21 Signed-off-by: guiping meng * fix(had_map_utils): modify build error in rolling (#782) Signed-off-by: wep21 Signed-off-by: guiping meng * fix: modify build error of ndt related packages in rolling (#793) * fix(ndt_pcl_modified): modify build error in rolling Signed-off-by: wep21 * fix(ndt): modify build error in rolling Signed-off-by: wep21 * fix(ndt_scan_matcher): modify build error in rolling Signed-off-by: wep21 * ci(pre-commit): autofix * remove unused find_package * fix(ndt): remove memory.h Signed-off-by: wep21 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: guiping meng * fix(freespace_planner): Can't stop before blocking obstacle in parking #980 Signed-off-by: guiping meng * ci(pre-commit): autofix Signed-off-by: guiping meng * Update planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp Co-authored-by: Kosuke Takeuchi Signed-off-by: guiping meng * Revert "fix(had_map_utils): modify build error in rolling (#782)" This reverts commit 7075fca358203b7e60f5ee08cf20763fd095246c. Signed-off-by: guiping meng * Revert "fix: modify build error of ndt related packages in rolling (#793)" This reverts commit a235363d3c52e3df8fbb2f8f490f311cc7deaa82. Signed-off-by: guiping meng * Update planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp Co-authored-by: Kosuke Takeuchi Signed-off-by: guiping meng Signed-off-by: guiping meng * revert some changes Co-authored-by: Kosuke Takeuchi Signed-off-by: guiping meng * revert some changes Co-authored-by: Kosuke Takeuchi Signed-off-by: guiping meng * ci(pre-commit): autofix Signed-off-by: guiping meng * revert some changes Signed-off-by: guiping meng * fix mistakes Signed-off-by: guiping meng * Revert "fix(tier4_perception_rviz_plugin): modify build error in rolling (#791)" This reverts commit eac57fbf1d4e75f9bd0221b03d261fa60ca99a17. Signed-off-by: guiping meng Signed-off-by: wep21 Signed-off-by: guiping meng Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi --- .../freespace_planner_node.cpp | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp index ce87a7281d49c..4c08be4d4b1ac 100644 --- a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp +++ b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp @@ -191,6 +191,15 @@ Trajectory createStopTrajectory(const PoseStamped & current_pose) return createTrajectory(current_pose, waypoints, 0.0); } +Trajectory createStopTrajectory(const Trajectory & trajectory) +{ + Trajectory stop_trajectory = trajectory; + for (size_t i = 0; i < trajectory.points.size(); ++i) { + stop_trajectory.points.at(i).longitudinal_velocity_mps = 0.0; + } + return stop_trajectory; +} + bool isStopped( const std::deque & odom_buffer, const double th_stopped_velocity_mps) { @@ -432,14 +441,16 @@ void FreespacePlannerNode::onTimer() initializePlanningAlgorithm(); if (isPlanRequired()) { - reset(); - // Stop before planning new trajectory - const auto stop_trajectory = createStopTrajectory(current_pose_); + const auto stop_trajectory = partial_trajectory_.points.empty() + ? createStopTrajectory(current_pose_) + : createStopTrajectory(partial_trajectory_); trajectory_pub_->publish(stop_trajectory); debug_pose_array_pub_->publish(trajectory2PoseArray(stop_trajectory)); debug_partial_pose_array_pub_->publish(trajectory2PoseArray(stop_trajectory)); + reset(); + // Plan new trajectory planTrajectory(); } From 1c227dc03a1867a2b932b6c5f3c09678804f2cca Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 4 Oct 2022 14:26:49 +0900 Subject: [PATCH 03/28] fix(behavior_path_planner): pull out on lane boundary (#2004) * fix(behavior_path_planner): pull out on lane boundary Signed-off-by: kosuke55 * use getExtendedCurrentLanes for pull over Signed-off-by: kosuke55 Signed-off-by: kosuke55 Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> --- .../scene_module/pull_out/pull_out_module.hpp | 1 - .../pull_out/geometric_pull_out.cpp | 2 +- .../scene_module/pull_out/pull_out_module.cpp | 56 ++++++++----------- .../scene_module/pull_out/shift_pull_out.cpp | 2 +- .../pull_over/geometric_pull_over.cpp | 2 +- .../pull_over/shift_pull_over.cpp | 2 +- .../behavior_path_planner/src/utilities.cpp | 15 ++--- .../include/route_handler/route_handler.hpp | 1 + planning/route_handler/src/route_handler.cpp | 6 ++ 9 files changed, 41 insertions(+), 46 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp index 41f49cf9dd43d..b7134413d0597 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp @@ -94,7 +94,6 @@ class PullOutModule : public SceneModuleInterface std::unique_ptr last_approved_pose_; std::shared_ptr getCurrentPlanner() const; - lanelet::ConstLanelets getCurrentLanes() const; PathWithLaneId getFullPath() const; ParallelParkingParameters getGeometricPullOutParameters() const; std::vector searchBackedPoses(); diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/geometric_pull_out.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/geometric_pull_out.cpp index a668deaac9023..b8dde0300de16 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/geometric_pull_out.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/geometric_pull_out.cpp @@ -37,7 +37,7 @@ boost::optional GeometricPullOut::plan(Pose start_pose, Pose goal_p PullOutPath output; // combine road lane and shoulder lane - const auto road_lanes = util::getCurrentLanes(planner_data_); + const auto road_lanes = util::getExtendedCurrentLanes(planner_data_); const auto shoulder_lanes = getPullOutLanes(road_lanes, planner_data_); auto lanes = road_lanes; lanes.insert(lanes.end(), shoulder_lanes.begin(), shoulder_lanes.end()); diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp index 05d0ffe532833..271e1f576b767 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp @@ -124,7 +124,7 @@ bool PullOutModule::isExecutionRequested() const const auto vehicle_footprint = transformVector( local_vehicle_footprint, tier4_autoware_utils::pose2transform(planner_data_->self_pose->pose)); - const auto road_lanes = getCurrentLanes(); + const auto road_lanes = util::getExtendedCurrentLanes(planner_data_); // check if goal pose is in shoulder lane and distance is long enough for pull out if (isInLane(closest_shoulder_lanelet, vehicle_footprint)) { @@ -263,7 +263,7 @@ BehaviorModuleOutput PullOutModule::planWaitingApproval() waitApproval(); BehaviorModuleOutput output; - const auto current_lanes = getCurrentLanes(); + const auto current_lanes = util::getExtendedCurrentLanes(planner_data_); const auto pull_out_lanes = pull_out_utils::getPullOutLanes(current_lanes, planner_data_); auto lanes = current_lanes; lanes.insert(lanes.end(), pull_out_lanes.begin(), pull_out_lanes.end()); @@ -353,9 +353,14 @@ void PullOutModule::planWithPriorityOnEfficientPath( { status_.is_safe = false; + // plan with each planner for (const auto & planner : pull_out_planners_) { - for (const auto & pull_out_start_pose : start_pose_candidates) { - // plan with each planner + for (size_t i = 0; i < start_pose_candidates.size(); ++i) { + // pull out start pose is current_pose + if (i == 0) { + status_.back_finished = true; + } + const auto & pull_out_start_pose = start_pose_candidates.at(i); planner->setPlannerData(planner_data_); const auto pull_out_path = planner->plan(pull_out_start_pose, goal_pose); if (pull_out_path) { // found safe path @@ -379,7 +384,12 @@ void PullOutModule::planWithPriorityOnShortBackDistance( { status_.is_safe = false; - for (const auto & pull_out_start_pose : start_pose_candidates) { + for (size_t i = 0; i < start_pose_candidates.size(); ++i) { + // pull out start pose is current_pose + if (i == 0) { + status_.back_finished = true; + } + const auto & pull_out_start_pose = start_pose_candidates.at(i); // plan with each planner for (const auto & planner : pull_out_planners_) { planner->setPlannerData(planner_data_); @@ -406,16 +416,17 @@ void PullOutModule::updatePullOutStatus() const auto & current_pose = planner_data_->self_pose->pose; const auto & goal_pose = planner_data_->route_handler->getGoalPose(); - const auto current_lanes = getCurrentLanes(); - status_.current_lanes = current_lanes; + status_.current_lanes = util::getExtendedCurrentLanes(planner_data_); + status_.pull_out_lanes = pull_out_utils::getPullOutLanes(status_.current_lanes, planner_data_); // Get pull_out lanes - const auto pull_out_lanes = pull_out_utils::getPullOutLanes(current_lanes, planner_data_); + const auto pull_out_lanes = pull_out_utils::getPullOutLanes(status_.current_lanes, planner_data_); status_.pull_out_lanes = pull_out_lanes; // combine road and shoulder lanes - status_.lanes = current_lanes; - status_.lanes.insert(status_.lanes.end(), pull_out_lanes.begin(), pull_out_lanes.end()); + status_.lanes = status_.current_lanes; + status_.lanes.insert( + status_.lanes.end(), status_.pull_out_lanes.begin(), status_.pull_out_lanes.end()); // search pull out start candidates backward std::vector start_pose_candidates; @@ -449,32 +460,13 @@ void PullOutModule::updatePullOutStatus() checkBackFinished(); if (!status_.back_finished) { status_.backward_path = pull_out_utils::getBackwardPath( - *route_handler, pull_out_lanes, current_pose, status_.pull_out_start_pose, + *route_handler, status_.pull_out_lanes, current_pose, status_.pull_out_start_pose, parameters_.backward_velocity); } // Update status - status_.lane_follow_lane_ids = util::getIds(current_lanes); - status_.pull_out_lane_ids = util::getIds(pull_out_lanes); -} - -lanelet::ConstLanelets PullOutModule::getCurrentLanes() const -{ - const auto & route_handler = planner_data_->route_handler; - const auto current_pose = planner_data_->self_pose->pose; - const auto common_parameters = planner_data_->parameters; - - lanelet::ConstLanelet current_lane; - if (!route_handler->getClosestLaneletWithinRoute(current_pose, ¤t_lane)) { - RCLCPP_ERROR_THROTTLE( - getLogger(), *clock_, 5000, "failed to find closest lanelet within route!!!"); - return {}; // TODO(Horibe) what should be returned? - } - - // For current_lanes with desired length - return route_handler->getLaneletSequence( - current_lane, current_pose, common_parameters.backward_path_length, - common_parameters.forward_path_length); + status_.lane_follow_lane_ids = util::getIds(status_.current_lanes); + status_.pull_out_lane_ids = util::getIds(status_.pull_out_lanes); } // make this class? diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp index 50de3ba11cb97..88642b7c431b2 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp @@ -41,7 +41,7 @@ boost::optional ShiftPullOut::plan(Pose start_pose, Pose goal_pose) const auto & route_handler = planner_data_->route_handler; const auto & common_parameters = planner_data_->parameters; const auto & dynamic_objects = planner_data_->dynamic_object; - const auto & road_lanes = util::getCurrentLanes(planner_data_); + const auto & road_lanes = util::getExtendedCurrentLanes(planner_data_); const auto & current_pose = planner_data_->self_pose->pose; const auto & shoulder_lanes = getPullOutLanes(road_lanes, planner_data_); if (shoulder_lanes.empty()) { diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/geometric_pull_over.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/geometric_pull_over.cpp index d9d5ef4060b50..73f7c6fb79749 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/geometric_pull_over.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_over/geometric_pull_over.cpp @@ -41,7 +41,7 @@ boost::optional GeometricPullOver::plan(const Pose & goal_pose) { const auto & route_handler = planner_data_->route_handler; - const auto road_lanes = util::getCurrentLanes(planner_data_); + const auto road_lanes = util::getExtendedCurrentLanes(planner_data_); const auto shoulder_lanes = pull_over_utils::getPullOverLanes(*route_handler); if (road_lanes.empty() || shoulder_lanes.empty()) { return {}; diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/shift_pull_over.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/shift_pull_over.cpp index 46d0cef7bada2..05d59a3f6f6ad 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/shift_pull_over.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_over/shift_pull_over.cpp @@ -39,7 +39,7 @@ boost::optional ShiftPullOver::plan(const Pose & goal_pose) { const auto & route_handler = planner_data_->route_handler; - const auto road_lanes = util::getCurrentLanes(planner_data_); + const auto road_lanes = util::getExtendedCurrentLanes(planner_data_); const auto shoulder_lanes = pull_over_utils::getPullOverLanes(*route_handler); if (road_lanes.empty() || shoulder_lanes.empty()) { return {}; diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index 1d8ef3d98fe07..9a6105d7940ba 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -1986,6 +1986,7 @@ lanelet::ConstLanelets getExtendedCurrentLanes( const auto & route_handler = planner_data->route_handler; const auto current_pose = planner_data->self_pose->pose; const auto common_parameters = planner_data->parameters; + const auto routing_graph_ptr = route_handler->getRoutingGraphPtr(); lanelet::ConstLanelet current_lane; if (!route_handler->getClosestLaneletWithinRoute(current_pose, ¤t_lane)) { @@ -2001,17 +2002,13 @@ lanelet::ConstLanelets getExtendedCurrentLanes( common_parameters.forward_path_length); // Add next_lanes - const auto next_lanes = route_handler->getNextLanelets(current_lanes.back()); - if (!next_lanes.empty()) { - // TODO(kosuke55) which lane should be added? - current_lanes.push_back(next_lanes.front()); + for (const auto & next_lane : route_handler->getNextLanelets(current_lanes.back())) { + current_lanes.push_back(next_lane); } - // Add prev_lane - lanelet::ConstLanelets prev_lanes; - if (route_handler->getPreviousLaneletsWithinRoute(current_lanes.front(), &prev_lanes)) { - // TODO(kosuke55) which lane should be added? - current_lanes.insert(current_lanes.begin(), 0, prev_lanes.front()); + // Add previous lanes + for (const auto & prev_lane : route_handler->getPreviousLanelets(current_lanes.front())) { + current_lanes.insert(current_lanes.begin(), prev_lane); } return current_lanes; diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp index c91f9d93ad9cb..bf980137585fe 100644 --- a/planning/route_handler/include/route_handler/route_handler.hpp +++ b/planning/route_handler/include/route_handler/route_handler.hpp @@ -123,6 +123,7 @@ class RouteHandler boost::optional getLeftLanelet( const lanelet::ConstLanelet & lanelet) const; lanelet::ConstLanelets getNextLanelets(const lanelet::ConstLanelet & lanelet) const; + lanelet::ConstLanelets getPreviousLanelets(const lanelet::ConstLanelet & lanelet) const; /** * @brief Check if opposite-direction lane is available at the right side of the lanelet diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index 62b02dc3f1df4..a124beb045307 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -748,6 +748,12 @@ bool RouteHandler::getPreviousLaneletsWithinRoute( return !(prev_lanelets->empty()); } +lanelet::ConstLanelets RouteHandler::getPreviousLanelets( + const lanelet::ConstLanelet & lanelet) const +{ + return routing_graph_ptr_->previous(lanelet); +} + lanelet::ConstLanelets RouteHandler::getLaneletsFromPoint(const lanelet::ConstPoint3d & point) const { return lanelet::utils::findUsagesInLanelets(*lanelet_map_ptr_, point); From c953392bebb150e76e461ef689f86313672f0382 Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Tue, 4 Oct 2022 19:29:15 +0900 Subject: [PATCH 04/28] feat(object_merger): add distance_threshold_list (#1902) * feat(object_merger): add distance threshold Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(object_merger): remove param from declare_parameter Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(object_merger): add distance_threshold_list Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(object_merger): use map instead of list, and use yaml for param Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(object_merger): add function converting list to map Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(object_merge): added extended scale and tuned parameter Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(perception_utils): add generalized IoU Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(object_merger): use generalized IoU threshold instead of extended_scale Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * fix(perception_utils): move 2 functions to anonymous namespace and use MinMax instead of MaxMin Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * ci(pre-commit): autofix * refactor(perception_utils): use convex hull instead of convex rectangle Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../perception_utils/perception_utils.hpp | 44 ++++++++++++++ .../test/src/test_perception_utils.cpp | 60 +++++++++++++++++++ perception/object_merger/README.md | 28 ++++++--- .../config/overlapped_judge.param.yaml | 5 ++ .../object_association_merger/node.hpp | 4 ++ .../object_association_merger.launch.xml | 4 ++ .../src/object_association_merger/node.cpp | 41 +++++++++++-- 7 files changed, 173 insertions(+), 13 deletions(-) create mode 100644 perception/object_merger/config/overlapped_judge.param.yaml diff --git a/common/perception_utils/include/perception_utils/perception_utils.hpp b/common/perception_utils/include/perception_utils/perception_utils.hpp index 70171a95d19ea..eec280ce6c6c8 100644 --- a/common/perception_utils/include/perception_utils/perception_utils.hpp +++ b/common/perception_utils/include/perception_utils/perception_utils.hpp @@ -29,7 +29,9 @@ #include #include +#include #include +#include #include #ifdef ROS_DISTRO_GALACTIC @@ -54,6 +56,19 @@ namespace return boost::none; } } + +inline double getConvexShapeArea( + const tier4_autoware_utils::Polygon2d & source_polygon, + const tier4_autoware_utils::Polygon2d & target_polygon) +{ + boost::geometry::model::multi_polygon union_polygons; + boost::geometry::union_(source_polygon, target_polygon, union_polygons); + + tier4_autoware_utils::Polygon2d hull; + boost::geometry::convex_hull(union_polygons, hull); + return boost::geometry::area(hull); +} + } // namespace namespace perception_utils @@ -102,6 +117,35 @@ inline double get2dIoU(const T1 source_object, const T2 target_object) return iou; } +template +inline double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object) +{ + const auto & source_pose = getPose(source_object); + const auto & target_pose = getPose(target_object); + + const auto & source_polygon = tier4_autoware_utils::toPolygon2d(source_pose, source_object.shape); + const auto & target_polygon = tier4_autoware_utils::toPolygon2d(target_pose, target_object.shape); + + std::vector union_polygons; + std::vector intersection_polygons; + boost::geometry::union_(source_polygon, target_polygon, union_polygons); + boost::geometry::intersection(source_polygon, target_polygon, intersection_polygons); + + double intersection_area = 0.0; + double union_area = 0.0; + for (const auto & intersection_polygon : intersection_polygons) { + intersection_area += boost::geometry::area(intersection_polygon); + } + + for (const auto & union_polygon : union_polygons) { + union_area += boost::geometry::area(union_polygon); + } + + const double iou = union_area < 0.01 ? 0.0 : std::min(1.0, intersection_area / union_area); + const double convex_shape_area = getConvexShapeArea(source_polygon, target_polygon); + return iou - (convex_shape_area - union_area) / convex_shape_area; +} + template inline double get2dPrecision(const T1 source_object, const T2 target_object) { diff --git a/common/perception_utils/test/src/test_perception_utils.cpp b/common/perception_utils/test/src/test_perception_utils.cpp index 889f92994b37a..767ba82cc0460 100644 --- a/common/perception_utils/test/src/test_perception_utils.cpp +++ b/common/perception_utils/test/src/test_perception_utils.cpp @@ -375,6 +375,66 @@ TEST(perception_utils, test_get2dIoU) } } +TEST(perception_utils, test_get2dGeneralizedIoU) +{ + using perception_utils::get2dGeneralizedIoU; + // TODO(Shin-kyoto): + // get2dGeneralizedIoU uses outer points of each polygon. + // But these points contain an sampling error of outer line, + // so get2dGeneralizedIoU icludes an error of about 0.03. + // Threfore, in this test, epsilon is set to 0.04. + constexpr double epsilon_giou = 4 * 1e-02; + const double quart_circle = 0.16237976320958225; + + { // non overlapped + autoware_auto_perception_msgs::msg::DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 0.0, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + autoware_auto_perception_msgs::msg::DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double giou = get2dGeneralizedIoU(source_obj, target_obj); + EXPECT_NEAR(giou, (2 * quart_circle - 1) / (2 * quart_circle + 2), epsilon_giou); // not 0 + } + + { // partially overlapped + autoware_auto_perception_msgs::msg::DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.0, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + autoware_auto_perception_msgs::msg::DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double giou = get2dGeneralizedIoU(source_obj, target_obj); + EXPECT_NEAR(giou, 2 * quart_circle / (2 * quart_circle + 1), epsilon_giou); + } + + { // fully overlapped + autoware_auto_perception_msgs::msg::DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + autoware_auto_perception_msgs::msg::DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double giou = get2dGeneralizedIoU(source_obj, target_obj); + EXPECT_NEAR(giou, quart_circle * 4, epsilon_giou); // giou equals iou + } +} + TEST(perception_utils, test_get2dPrecision) { using perception_utils::get2dPrecision; diff --git a/perception/object_merger/README.md b/perception/object_merger/README.md index 6993bb57b4f80..62a95ada62b09 100644 --- a/perception/object_merger/README.md +++ b/perception/object_merger/README.md @@ -25,14 +25,26 @@ The successive shortest path algorithm is used to solve the data association pro ## Parameters -| Name | Type | Description | -| -------------------- | ------ | ------------------------------------------- | -| `can_assign_matrix` | double | Assignment table for data association | -| `max_dist_matrix` | double | Maximum distance table for data association | -| `max_area_matrix` | double | Maximum area table for data association | -| `min_area_matrix` | double | Minimum area table for data association | -| `max_rad_matrix` | double | Maximum angle table for data association | -| `base_link_frame_id` | double | association frame | +| Name | Type | Description | +| --------------------------- | --------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `can_assign_matrix` | double | Assignment table for data association | +| `max_dist_matrix` | double | Maximum distance table for data association | +| `max_area_matrix` | double | Maximum area table for data association | +| `min_area_matrix` | double | Minimum area table for data association | +| `max_rad_matrix` | double | Maximum angle table for data association | +| `base_link_frame_id` | double | association frame | +| `distance_threshold_list` | `std::vector` | Distance threshold for each class used in judging overlap. The class order depends on [ObjectClassification](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/ObjectClassification.idl). | +| `generalized_iou_threshold` | double | Generalized IoU threshold | + +## Tips + +- False Positive Unknown object detected by clustering method sometimes raises the risk of sudden stop and interferes with Planning module. If ML based detector rarely misses objects, you can tune the parameter of object_merger and make Perception module ignore unknown objects. + - If you want to remove unknown object close to large vehicle, + - use HIGH `distance_threshold_list` + - However, this causes high computational load + - use LOW `precision_threshold_to_judge_overlapped` + - use LOW `generalized_iou_threshold` + - However, these 2 params raise the risk of overlooking object close to known object. ## Assumptions / Known limits diff --git a/perception/object_merger/config/overlapped_judge.param.yaml b/perception/object_merger/config/overlapped_judge.param.yaml new file mode 100644 index 0000000000000..94882fae4f282 --- /dev/null +++ b/perception/object_merger/config/overlapped_judge.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + distance_threshold_list: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN + [9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0] #UNKNOWN diff --git a/perception/object_merger/include/object_association_merger/node.hpp b/perception/object_merger/include/object_association_merger/node.hpp index db4f0511abba8..943a17138ce1b 100644 --- a/perception/object_merger/include/object_association_merger/node.hpp +++ b/perception/object_merger/include/object_association_merger/node.hpp @@ -37,8 +37,10 @@ #include #include +#include #include #include +#include namespace object_association { @@ -71,6 +73,8 @@ class ObjectAssociationMergerNode : public rclcpp::Node { double precision_threshold; double recall_threshold; + double generalized_iou_threshold; + std::map distance_threshold_map; } overlapped_judge_param_; }; } // namespace object_association diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml index 85b9eff90d25e..43d3c71d2b78c 100644 --- a/perception/object_merger/launch/object_association_merger.launch.xml +++ b/perception/object_merger/launch/object_association_merger.launch.xml @@ -4,11 +4,15 @@ + + + + diff --git a/perception/object_merger/src/object_association_merger/node.cpp b/perception/object_merger/src/object_association_merger/node.cpp index 0dc030d733294..280f7875a66d6 100644 --- a/perception/object_merger/src/object_association_merger/node.cpp +++ b/perception/object_merger/src/object_association_merger/node.cpp @@ -34,16 +34,35 @@ namespace bool isUnknownObjectOverlapped( const autoware_auto_perception_msgs::msg::DetectedObject & unknown_object, const autoware_auto_perception_msgs::msg::DetectedObject & known_object, - const double precision_threshold, const double recall_threshold) + const double precision_threshold, const double recall_threshold, + std::map distance_threshold_map, const double generalized_iou_threshold) { - constexpr double sq_distance_threshold = std::pow(5.0, 2.0); + const double distance_threshold = + distance_threshold_map.at(perception_utils::getHighestProbLabel(known_object.classification)); + const double sq_distance_threshold = std::pow(distance_threshold, 2.0); const double sq_distance = tier4_autoware_utils::calcSquaredDistance2d( unknown_object.kinematics.pose_with_covariance.pose, known_object.kinematics.pose_with_covariance.pose); if (sq_distance_threshold < sq_distance) return false; const auto precision = perception_utils::get2dPrecision(unknown_object, known_object); const auto recall = perception_utils::get2dRecall(unknown_object, known_object); - return precision > precision_threshold || recall > recall_threshold; + const auto generalized_iou = perception_utils::get2dGeneralizedIoU(unknown_object, known_object); + return precision > precision_threshold || recall > recall_threshold || + generalized_iou > generalized_iou_threshold; +} +} // namespace + +namespace +{ +std::map convertListToClassMap(const std::vector & distance_threshold_list) +{ + std::map distance_threshold_map; + int class_label = 0; + for (const auto & distance_threshold : distance_threshold_list) { + distance_threshold_map.insert(std::make_pair(class_label, distance_threshold)); + class_label++; + } + return distance_threshold_map; } } // namespace @@ -69,9 +88,19 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio remove_overlapped_unknown_objects_ = declare_parameter("remove_overlapped_unknown_objects", true); overlapped_judge_param_.precision_threshold = - declare_parameter("precision_threshold_to_judge_overlapped", 0.4); + declare_parameter("precision_threshold_to_judge_overlapped"); overlapped_judge_param_.recall_threshold = declare_parameter("recall_threshold_to_judge_overlapped", 0.5); + overlapped_judge_param_.generalized_iou_threshold = + declare_parameter("generalized_iou_threshold"); + + // get distance_threshold_map from distance_threshold_list + /** TODO(Shin-kyoto): + * this implementation assumes index of vector shows class_label. + * if param supports map, refactor this code. + */ + overlapped_judge_param_.distance_threshold_map = + convertListToClassMap(declare_parameter>("distance_threshold_list")); const auto tmp = this->declare_parameter>("can_assign_matrix"); const std::vector can_assign_matrix(tmp.begin(), tmp.end()); @@ -152,7 +181,9 @@ void ObjectAssociationMergerNode::objectsCallback( for (const auto & known_object : known_objects) { if (isUnknownObjectOverlapped( unknown_object, known_object, overlapped_judge_param_.precision_threshold, - overlapped_judge_param_.recall_threshold)) { + overlapped_judge_param_.recall_threshold, + overlapped_judge_param_.distance_threshold_map, + overlapped_judge_param_.generalized_iou_threshold)) { is_overlapped = true; break; } From 80082deada2b7f32eff227f996b0491885e3ed32 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Tue, 4 Oct 2022 19:42:56 +0900 Subject: [PATCH 05/28] feat(rtc_manager_panel): add rtc all approval (#2009) * feat(rtc_manager_panel): add rtc all approval Signed-off-by: taikitanaka3 * chore: cosmetic change Signed-off-by: taikitanaka3 * fix: static cast Signed-off-by: tanaka3 * chore: update text Co-authored-by: Fumiya Watanabe * chore: update text Co-authored-by: Fumiya Watanabe * doc: update documents Signed-off-by: tanaka3 * doc: update Signed-off-by: tanaka3 * doc: small update Signed-off-by: tanaka3 Signed-off-by: taikitanaka3 Signed-off-by: tanaka3 Co-authored-by: Fumiya Watanabe --- common/rtc_manager_rviz_plugin/README.md | 22 +++- .../images/rtc_manager_panel.png | Bin 0 -> 714694 bytes .../images/rtc_selection.png | Bin 0 -> 43862 bytes .../src/rtc_manager_panel.cpp | 109 +++++++++--------- .../src/rtc_manager_panel.hpp | 12 +- 5 files changed, 83 insertions(+), 60 deletions(-) create mode 100644 common/rtc_manager_rviz_plugin/images/rtc_manager_panel.png create mode 100644 common/rtc_manager_rviz_plugin/images/rtc_selection.png diff --git a/common/rtc_manager_rviz_plugin/README.md b/common/rtc_manager_rviz_plugin/README.md index a4542849e4ce5..7a15d56fe235a 100644 --- a/common/rtc_manager_rviz_plugin/README.md +++ b/common/rtc_manager_rviz_plugin/README.md @@ -2,19 +2,35 @@ ## Purpose -This plugin displays each content of RTC status and switches each module of RTC auto mode. +The purpose of this Rviz plugin is + +1. To display each content of RTC status. + +2. To switch each module of RTC auto mode. + +3. To change RTC cooperate commands by button. + +![rtc_manager_panel](./images/rtc_manager_panel.png) ## Inputs / Outputs ### Input -tbd. +| Name | Type | Description | +| ------------------------------ | ------------------------------------------- | --------------------------------------- | +| `/api/external/get/rtc_status` | `tier4_rtc_msgs::msg::CooperateStatusArray` | The statuses of each Cooperate Commands | ### Output -tbd. +| Name | Type | Description | +| -------------------------------- | ---------------------------------------- | ---------------------------------------------------- | +| `/api/external/set/rtc_commands` | `tier4_rtc_msgs::src::CooperateCommands` | The Cooperate Commands for each planning | +| `/planning/enable_auto_mode/*` | `tier4_rtc_msgs::src::AutoMode` | The Cooperate Commands mode for each planning module | ## HowToUse 1. 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z8SccEy;&rPsd9oK{7Z_yu0?%*h3u0%QS6+^IlTuP7at0fW64iAiLGCCtOYsf9o>)= z14v-bN&yYbSxMNq6ot2Q3U78p>0LZ}mT6&i7~3j-PV2Z*ob&w!eq z46Po3qfR3`C!eF|lUb*LWTV3#mHf+U!0fmL-oGNSn?}A_1%rZv1ZNJNW~@t9o^KSw zS9UU*#Y#qQK7W?k)LqP)&8!t?af&+^ML$SUVKEhTeo+IWJQZ7R{T zV+4b3z+|$JnwHJ^>pf~;LFK^KBRrp9iRWuqVtfMyoyAOSLL$far-KzN@ritP$dRFq zE79rHA-)wO-vvSVmq>noewxwNmR&n{-q4OW8V`N+L8qI|kU}4lF_?(V=c%7O-1kIfh9j1Yfc)TE&En<5$+u}?o5298ulA^ zGxT8DtrLPE2zQI=P1L(99(qbj3W0&;?IpcGIM-+ifLr}eSG{LnrFPK|ng){e_rF3p zNK_8?roOI#bJ-Tmih;`=m_YEsMwjQR}){4%DAPB;LkCKp(fS;e= u9ZzV_h^BWu4M7kDLHM_9-FkODo%|n51*mU?XL{BE0000(0) ? false : true; } using std::placeholders::_1; using std::placeholders::_2; -Module getModuleType(const std::string & module_name) -{ - Module module; - if (module_name == "blind_spot") { - module.type = Module::BLIND_SPOT; - } else if (module_name == "crosswalk") { - module.type = Module::CROSSWALK; - } else if (module_name == "detection_area") { - module.type = Module::DETECTION_AREA; - } else if (module_name == "intersection") { - module.type = Module::INTERSECTION; - } else if (module_name == "no_stopping_area") { - module.type = Module::NO_STOPPING_AREA; - } else if (module_name == "occlusion_spot") { - module.type = Module::OCCLUSION_SPOT; - } else if (module_name == "stop_line") { - module.type = Module::NONE; - } else if (module_name == "traffic_light") { - module.type = Module::TRAFFIC_LIGHT; - } else if (module_name == "virtual_traffic_light") { - module.type = Module::TRAFFIC_LIGHT; - } else if (module_name == "lane_change_left") { - module.type = Module::LANE_CHANGE_LEFT; - } else if (module_name == "lane_change_right") { - module.type = Module::LANE_CHANGE_RIGHT; - } else if (module_name == "avoidance_left") { - module.type = Module::AVOIDANCE_LEFT; - } else if (module_name == "avoidance_right") { - module.type = Module::AVOIDANCE_RIGHT; - } else if (module_name == "pull_over") { - module.type = Module::PULL_OVER; - } else if (module_name == "pull_out") { - module.type = Module::PULL_OUT; - } - return module; -} std::string getModuleName(const uint8_t module_type) { @@ -171,6 +136,20 @@ RTCManagerPanel::RTCManagerPanel(QWidget * parent) : rviz_common::Panel(parent) } v_layout->addWidget(auto_mode_table_); + // execution + auto * rtc_exe_layout = new QHBoxLayout; + { + exec_button_ptr_ = new QPushButton("Execute"); + exec_button_ptr_->setCheckable(false); + connect(exec_button_ptr_, &QPushButton::clicked, this, &RTCManagerPanel::onClickExecution); + rtc_exe_layout->addWidget(exec_button_ptr_); + wait_button_ptr_ = new QPushButton("Wait"); + wait_button_ptr_->setCheckable(false); + connect(wait_button_ptr_, &QPushButton::clicked, this, &RTCManagerPanel::onClickWait); + rtc_exe_layout->addWidget(wait_button_ptr_); + } + v_layout->addLayout(rtc_exe_layout); + // statuses auto * rtc_table_layout = new QHBoxLayout; { @@ -194,9 +173,6 @@ void RTCManagerPanel::onInitialize() { raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - sub_rtc_status_ = raw_node_->create_subscription( - "/api/external/get/rtc_status", 1, std::bind(&RTCManagerPanel::onRTCStatus, this, _1)); - client_rtc_commands_ = raw_node_->create_client( "/api/external/set/rtc_commands", rmw_qos_profile_services_default); @@ -206,6 +182,9 @@ void RTCManagerPanel::onInitialize() a->enable_auto_mode_cli = raw_node_->create_client( enable_auto_mode_namespace_ + "/" + a->module_name, rmw_qos_profile_services_default); } + + sub_rtc_status_ = raw_node_->create_subscription( + "/api/external/get/rtc_status", 1, std::bind(&RTCManagerPanel::onRTCStatus, this, _1)); } void RTCAutoMode::onChangeToAutoMode() @@ -230,22 +209,41 @@ void RTCAutoMode::onChangeToManualMode() auto_module_button_ptr->setChecked(false); } +void RTCManagerPanel::onClickCommandRequest(const uint8_t command) +{ + if (!cooperate_statuses_ptr_) return; + if (cooperate_statuses_ptr_->statuses.empty()) return; + auto executable_cooperate_commands_request = std::make_shared(); + executable_cooperate_commands_request->stamp = cooperate_statuses_ptr_->stamp; + // send coop request + for (auto status : cooperate_statuses_ptr_->statuses) { + CooperateCommand cooperate_command; + cooperate_command.uuid = status.uuid; + cooperate_command.module = status.module; + cooperate_command.command.type = command; + executable_cooperate_commands_request->commands.emplace_back(cooperate_command); + } + client_rtc_commands_->async_send_request(executable_cooperate_commands_request); +} + +void RTCManagerPanel::onClickExecution() { onClickCommandRequest(Command::ACTIVATE); } + +void RTCManagerPanel::onClickWait() { onClickCommandRequest(Command::DEACTIVATE); } + void RTCManagerPanel::onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg) { + cooperate_statuses_ptr_ = std::make_shared(*msg); rtc_table_->clearContents(); if (msg->statuses.empty()) return; - std::vector coop_vec; - std::copy(msg->statuses.cbegin(), msg->statuses.cend(), std::back_inserter(coop_vec)); - std::sort( - coop_vec.begin(), coop_vec.end(), [](const CooperateStatus & c1, const CooperateStatus & c2) { - return c1.start_distance < c2.start_distance; - }); // this is to stable rtc display not to occupy too much size_t min_display_size{5}; size_t max_display_size{10}; - rtc_table_->setRowCount(std::max(min_display_size, std::min(coop_vec.size(), max_display_size))); + // rtc messages are already sorted by distance + rtc_table_->setRowCount( + std::max(min_display_size, std::min(msg->statuses.size(), max_display_size))); int cnt = 0; for (auto status : msg->statuses) { + if (static_cast(cnt) > max_display_size) return; // uuid { std::stringstream uuid; @@ -276,7 +274,7 @@ void RTCManagerPanel::onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg } // is operator safe - const bool is_execute = status.command_status.type; + const bool is_execute = uint2bool(status.command_status.type); { std::string text = is_execute ? "EXECUTE" : "WAIT"; if (status.auto_mode) text = "NONE"; @@ -313,16 +311,15 @@ void RTCManagerPanel::onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg label->setText(QString::fromStdString(finish_distance)); rtc_table_->setCellWidget(cnt, 6, label); } - for (size_t i = 0; i < column_size_; i++) { - if (is_rtc_auto_mode || (is_aw_safe && is_execute)) { - rtc_table_->cellWidget(cnt, i)->setStyleSheet("background-color: #00FF00;"); - } else if (is_aw_safe || is_execute) { - rtc_table_->cellWidget(cnt, i)->setStyleSheet("background-color: #FFFF00;"); - } else { - rtc_table_->cellWidget(cnt, i)->setStyleSheet("background-color: #FF0000;"); - } - } + // add color for recognition + if (is_rtc_auto_mode || (is_aw_safe && is_execute)) { + rtc_table_->cellWidget(cnt, 1)->setStyleSheet("background-color: #00FF00;"); + } else if (is_aw_safe || is_execute) { + rtc_table_->cellWidget(cnt, 1)->setStyleSheet("background-color: #FFFF00;"); + } else { + rtc_table_->cellWidget(cnt, 1)->setStyleSheet("background-color: #FF0000;"); + } cnt++; } } diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp index 59f1bd945f0a6..50f6f10ebfc15 100644 --- a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp +++ b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp @@ -75,6 +75,10 @@ public Q_SLOTS: class RTCManagerPanel : public rviz_common::Panel { Q_OBJECT +public Q_SLOTS: + void onClickExecution(); + void onClickWait(); + public: explicit RTCManagerPanel(QWidget * parent = nullptr); void onInitialize() override; @@ -83,16 +87,22 @@ class RTCManagerPanel : public rviz_common::Panel void onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg); void onEnableService( const AutoMode::Request::SharedPtr request, const AutoMode::Response::SharedPtr response) const; + void onClickCommandRequest(const uint8_t command); +private: rclcpp::Node::SharedPtr raw_node_; rclcpp::Subscription::SharedPtr sub_rtc_status_; rclcpp::Client::SharedPtr client_rtc_commands_; rclcpp::Client::SharedPtr enable_auto_mode_cli_; std::vector auto_modes_; - std::string enable_auto_mode_namespace_ = "/planning/enable_auto_mode"; + + std::shared_ptr cooperate_statuses_ptr_; QTableWidget * rtc_table_; QTableWidget * auto_mode_table_; + QPushButton * exec_button_ptr_ = {nullptr}; + QPushButton * wait_button_ptr_ = {nullptr}; size_t column_size_ = {7}; + std::string enable_auto_mode_namespace_ = "/planning/enable_auto_mode"; }; } // namespace rviz_plugins From ee4f381ddc02d8b551a84a00eb7edafd75673381 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 4 Oct 2022 20:34:31 +0900 Subject: [PATCH 06/28] fix(avoidance): fix avoidance path chattering (#2012) Signed-off-by: satoshi-ota Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 11d5661ccabc4..5d1bf1dd510a2 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -42,6 +42,7 @@ namespace behavior_path_planner { using motion_utils::calcSignedArcLength; using motion_utils::findNearestIndex; +using motion_utils::findNearestSegmentIndex; using tier4_autoware_utils::calcDistance2d; using tier4_autoware_utils::calcLateralDeviation; using tier4_planning_msgs::msg::AvoidanceDebugFactor; @@ -140,8 +141,11 @@ AvoidancePlanningData AvoidanceModule::calcAvoidancePlanningData(DebugData & deb // if the resampled path has only 1 point, use original path. data.reference_path = center_path; } + + const size_t nearest_segment_index = + findNearestSegmentIndex(data.reference_path.points, data.reference_pose.position); data.ego_closest_path_index = - findNearestIndex(data.reference_path.points, data.reference_pose.position); + std::min(nearest_segment_index + 1, data.reference_path.points.size() - 1); // arclength from ego pose (used in many functions) data.arclength_from_ego = util::calcPathArcLengthArray( From a6cf5fc99c84e7ce6d5edcc9ee7bddc66b41e37a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 5 Oct 2022 12:00:30 +0900 Subject: [PATCH 07/28] feat(motion_utils): add new resmaple path (#2015) * feat(motion_utils): add new resmaple path Signed-off-by: Takayuki Murooka * add test Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka --- .../motion_utils/resample/resample.hpp | 23 + common/motion_utils/src/resample/resample.cpp | 59 +++ .../test/src/resample/test_resample.cpp | 460 +++++++++++++++++- 3 files changed, 541 insertions(+), 1 deletion(-) diff --git a/common/motion_utils/include/motion_utils/resample/resample.hpp b/common/motion_utils/include/motion_utils/resample/resample.hpp index 0accce28499c0..5eb42bb2eb91f 100644 --- a/common/motion_utils/include/motion_utils/resample/resample.hpp +++ b/common/motion_utils/include/motion_utils/resample/resample.hpp @@ -126,6 +126,29 @@ autoware_auto_planning_msgs::msg::Path resamplePath( const std::vector & resampled_arclength, const bool use_lerp_for_xy = false, const bool use_lerp_for_z = true, const bool use_zero_order_hold_for_v = true); +/** + * @brief A resampling function for a path. Note that in a default setting, position xy + * are resampled by spline interpolation, position z are resampled by linear interpolation, + * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is resampled + * by linear interpolation. Orientation of the resampled path are calculated by a forward difference + * method based on the interpolated position x and y. + * @param input_path input path to resample + * @param resampled_interval resampling interval + * point + * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and + * y. Otherwise, it uses spline interpolation + * @param use_lerp_for_z If true, it uses linear interpolation to resample position z. + * Otherwise, it uses spline interpolation + * @param use_zero_order_hold_for_v If true, it uses zero_order_hold to resample + * longitudinal and lateral velocity. Otherwise, it uses linear interpolation + * @param resample_input_path_stop_point If true, resample closest stop point in input path + * @return resampled path + */ +autoware_auto_planning_msgs::msg::Path resamplePath( + const autoware_auto_planning_msgs::msg::Path & input_path, const double resample_interval, + const bool use_lerp_for_xy = false, const bool use_lerp_for_z = true, + const bool use_zero_order_hold_for_v = true, const bool resample_input_path_stop_point = true); + /** * @brief A resampling function for a trajectory. Note that in a default setting, position xy are * resampled by spline interpolation, position z are resampled by linear interpolation, twist diff --git a/common/motion_utils/src/resample/resample.cpp b/common/motion_utils/src/resample/resample.cpp index fd9e8d46e9e39..79c03cf0081c5 100644 --- a/common/motion_utils/src/resample/resample.cpp +++ b/common/motion_utils/src/resample/resample.cpp @@ -335,6 +335,65 @@ autoware_auto_planning_msgs::msg::Path resamplePath( return resampled_path; } +autoware_auto_planning_msgs::msg::Path resamplePath( + const autoware_auto_planning_msgs::msg::Path & input_path, const double resample_interval, + const bool use_lerp_for_xy, const bool use_lerp_for_z, const bool use_zero_order_hold_for_twist, + const bool resample_input_path_stop_point) +{ + // validate arguments + if (!resample_utils::validate_arguments(input_path.points, resample_interval)) { + return input_path; + } + + const double input_path_len = motion_utils::calcArcLength(input_path.points); + + std::vector resampling_arclength; + for (double s = 0.0; s < input_path_len; s += resample_interval) { + resampling_arclength.push_back(s); + } + if (resampling_arclength.empty()) { + std::cerr << "[motion_utils]: resampling arclength is empty" << std::endl; + return input_path; + } + + // Insert terminal point + if (input_path_len - resampling_arclength.back() < motion_utils::overlap_threshold) { + resampling_arclength.back() = input_path_len; + } else { + resampling_arclength.push_back(input_path_len); + } + + // Insert stop point + if (resample_input_path_stop_point) { + const auto distance_to_stop_point = + motion_utils::calcDistanceToForwardStopPoint(input_path.points, 0); + if (distance_to_stop_point && !resampling_arclength.empty()) { + for (size_t i = 1; i < resampling_arclength.size(); ++i) { + if ( + resampling_arclength.at(i - 1) <= *distance_to_stop_point && + *distance_to_stop_point < resampling_arclength.at(i)) { + const double dist_to_prev_point = + std::fabs(*distance_to_stop_point - resampling_arclength.at(i - 1)); + const double dist_to_following_point = + std::fabs(resampling_arclength.at(i) - *distance_to_stop_point); + if (dist_to_prev_point < motion_utils::overlap_threshold) { + resampling_arclength.at(i - 1) = *distance_to_stop_point; + } else if (dist_to_following_point < motion_utils::overlap_threshold) { + resampling_arclength.at(i) = *distance_to_stop_point; + } else { + resampling_arclength.insert(resampling_arclength.begin() + i, *distance_to_stop_point); + } + break; + } + } + } + } + + return resamplePath( + input_path, resampling_arclength, use_lerp_for_xy, use_lerp_for_z, + use_zero_order_hold_for_twist); +} + autoware_auto_planning_msgs::msg::Trajectory resampleTrajectory( const autoware_auto_planning_msgs::msg::Trajectory & input_trajectory, const std::vector & resampled_arclength, const bool use_lerp_for_xy, diff --git a/common/motion_utils/test/src/resample/test_resample.cpp b/common/motion_utils/test/src/resample/test_resample.cpp index 798a4dc8356cb..bc89645bfad01 100644 --- a/common/motion_utils/test/src/resample/test_resample.cpp +++ b/common/motion_utils/test/src/resample/test_resample.cpp @@ -2129,7 +2129,465 @@ TEST(resample_path, resample_path_by_vector_non_default) } } -TEST(resample_path, resample_trajectory_by_vector) +TEST(resample_path, resample_path_by_same_interval) +{ + using motion_utils::resamplePath; + + // Same point resampling + { + autoware_auto_planning_msgs::msg::Path path; + path.points.resize(10); + for (size_t i = 0; i < 10; ++i) { + path.points.at(i) = generateTestPathPoint(i * 1.0, 0.0, 0.0, 0.0, i * 1.0, i * 0.5, i * 0.1); + } + + { + const auto resampled_path = resamplePath(path, 1.0); + for (size_t i = 0; i < resampled_path.points.size(); ++i) { + const auto p = resampled_path.points.at(i); + const auto ans_p = path.points.at(i); + EXPECT_NEAR(p.pose.position.x, ans_p.pose.position.x, epsilon); + EXPECT_NEAR(p.pose.position.y, ans_p.pose.position.y, epsilon); + EXPECT_NEAR(p.pose.position.z, ans_p.pose.position.z, epsilon); + EXPECT_NEAR(p.pose.orientation.x, ans_p.pose.orientation.x, epsilon); + EXPECT_NEAR(p.pose.orientation.y, ans_p.pose.orientation.y, epsilon); + EXPECT_NEAR(p.pose.orientation.z, ans_p.pose.orientation.z, epsilon); + EXPECT_NEAR(p.pose.orientation.w, ans_p.pose.orientation.w, epsilon); + EXPECT_NEAR(p.longitudinal_velocity_mps, ans_p.longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, ans_p.lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, ans_p.heading_rate_rps, epsilon); + } + } + + // Change the last point orientation + path.points.back() = + generateTestPathPoint(9.0, 0.0, 0.0, tier4_autoware_utils::pi / 3.0, 3.0, 1.0, 0.01); + { + const auto resampled_path = resamplePath(path, 1.0); + for (size_t i = 0; i < resampled_path.points.size() - 1; ++i) { + const auto p = resampled_path.points.at(i); + const auto ans_p = path.points.at(i); + EXPECT_NEAR(p.pose.position.x, ans_p.pose.position.x, epsilon); + EXPECT_NEAR(p.pose.position.y, ans_p.pose.position.y, epsilon); + EXPECT_NEAR(p.pose.position.z, ans_p.pose.position.z, epsilon); + EXPECT_NEAR(p.pose.orientation.x, ans_p.pose.orientation.x, epsilon); + EXPECT_NEAR(p.pose.orientation.y, ans_p.pose.orientation.y, epsilon); + EXPECT_NEAR(p.pose.orientation.z, ans_p.pose.orientation.z, epsilon); + EXPECT_NEAR(p.pose.orientation.w, ans_p.pose.orientation.w, epsilon); + EXPECT_NEAR(p.longitudinal_velocity_mps, ans_p.longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, ans_p.lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, ans_p.heading_rate_rps, epsilon); + } + + const auto p = resampled_path.points.back(); + const auto ans_p = path.points.back(); + const auto ans_quat = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); + EXPECT_NEAR(p.pose.position.x, ans_p.pose.position.x, epsilon); + EXPECT_NEAR(p.pose.position.y, ans_p.pose.position.y, epsilon); + EXPECT_NEAR(p.pose.position.z, ans_p.pose.position.z, epsilon); + EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon); + EXPECT_NEAR(p.pose.orientation.y, ans_quat.y, epsilon); + EXPECT_NEAR(p.pose.orientation.z, ans_quat.z, epsilon); + EXPECT_NEAR(p.pose.orientation.w, ans_quat.w, epsilon); + EXPECT_NEAR(p.longitudinal_velocity_mps, ans_p.longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, ans_p.lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, ans_p.heading_rate_rps, epsilon); + } + } + + // Normal Case without zero point + { + autoware_auto_planning_msgs::msg::Path path; + path.points.resize(10); + for (size_t i = 0; i < 10; ++i) { + path.points.at(i) = generateTestPathPoint(i * 1.0, 0.0, 0.0, 0.0, i * 1.0, i * 0.5, i * 0.1); + } + path.points.at(0).longitudinal_velocity_mps = 5.0; + + const auto resampled_path = resamplePath(path, 0.1); + for (size_t i = 0; i < resampled_path.points.size(); ++i) { + const auto p = resampled_path.points.at(i); + EXPECT_NEAR(p.pose.position.x, 0.1 * i, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + const size_t idx = i / 10; + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(idx).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(idx).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.01 * i, epsilon); + } + } + + // Normal Case without stop point but with terminal point + { + autoware_auto_planning_msgs::msg::Path path; + path.points.resize(10); + for (size_t i = 0; i < 10; ++i) { + path.points.at(i) = generateTestPathPoint(i * 1.0, 0.0, 0.0, 0.0, i * 1.0, i * 0.5, i * 0.1); + } + path.points.at(0).longitudinal_velocity_mps = 5.0; + + const auto resampled_path = resamplePath(path, 0.4); + for (size_t i = 0; i < resampled_path.points.size() - 1; ++i) { + const auto p = resampled_path.points.at(i); + EXPECT_NEAR(p.pose.position.x, 0.4 * i, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + const size_t idx = i / 2.5; + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(idx).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(idx).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.04 * i, epsilon); + } + + { + const auto p = resampled_path.points.at(23); + EXPECT_NEAR(p.pose.position.x, 9.0, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + const size_t idx = 9; + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(idx).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(idx).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.9, epsilon); + } + } + + // Normal Case without stop point but with terminal point (Boundary Condition) + { + autoware_auto_planning_msgs::msg::Path path; + path.points.resize(10); + for (size_t i = 0; i < 10; ++i) { + path.points.at(i) = generateTestPathPoint(i * 1.0, 0.0, 0.0, 0.0, i * 1.0, i * 0.5, i * 0.1); + } + path.points.at(0).longitudinal_velocity_mps = 5.0; + + const double ds = 1.0 - motion_utils::overlap_threshold; + const auto resampled_path = resamplePath(path, ds); + for (size_t i = 0; i < resampled_path.points.size() - 1; ++i) { + const auto p = resampled_path.points.at(i); + EXPECT_NEAR(p.pose.position.x, ds * i, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + const size_t idx = i == 0 ? 0 : i - 1; + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(idx).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(idx).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, ds / 10.0 * i, epsilon); + } + + { + const auto p = resampled_path.points.at(10); + EXPECT_NEAR(p.pose.position.x, 9.0, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + const size_t idx = 9; + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(idx).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(idx).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.9, epsilon); + } + } + + // Normal Case with duplicated zero point + { + autoware_auto_planning_msgs::msg::Path path; + path.points.resize(10); + for (size_t i = 0; i < 10; ++i) { + path.points.at(i) = generateTestPathPoint(i * 1.0, 0.0, 0.0, 0.0, i * 1.0, i * 0.5, i * 0.1); + } + path.points.at(0).longitudinal_velocity_mps = 5.0; + path.points.at(5).longitudinal_velocity_mps = 0.0; + + const auto resampled_path = resamplePath(path, 0.1); + EXPECT_EQ(resampled_path.points.size(), static_cast(91)); + for (size_t i = 0; i < resampled_path.points.size(); ++i) { + const auto p = resampled_path.points.at(i); + EXPECT_NEAR(p.pose.position.x, 0.1 * i, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + const size_t idx = i / 10; + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(idx).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(idx).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.01 * i, epsilon); + } + } + + // Normal Case with zero point + { + autoware_auto_planning_msgs::msg::Path path; + path.points.resize(10); + for (size_t i = 0; i < 10; ++i) { + path.points.at(i) = generateTestPathPoint(i * 1.0, 0.0, 0.0, 0.0, i * 1.0, i * 0.5, i * 0.1); + } + path.points.at(0).longitudinal_velocity_mps = 8.0; + path.points.at(5).longitudinal_velocity_mps = 0.0; + + const auto resampled_path = resamplePath(path, 1.5); + EXPECT_EQ(resampled_path.points.size(), static_cast(8)); + { + const auto p = resampled_path.points.at(0); + EXPECT_NEAR(p.pose.position.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(0).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(0).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.0, epsilon); + } + + { + const auto p = resampled_path.points.at(1); + EXPECT_NEAR(p.pose.position.x, 1.5, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(1).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(1).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.15, epsilon); + } + + { + const auto p = resampled_path.points.at(2); + EXPECT_NEAR(p.pose.position.x, 3.0, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(3).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(3).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.30, epsilon); + } + + { + const auto p = resampled_path.points.at(3); + EXPECT_NEAR(p.pose.position.x, 4.5, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(4).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(4).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.45, epsilon); + } + + { + const auto p = resampled_path.points.at(4); + EXPECT_NEAR(p.pose.position.x, 5.0, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + EXPECT_NEAR(p.longitudinal_velocity_mps, 0.0, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(5).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.50, epsilon); + } + + { + const auto p = resampled_path.points.at(5); + EXPECT_NEAR(p.pose.position.x, 6.0, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(6).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(6).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.60, epsilon); + } + + { + const auto p = resampled_path.points.at(6); + EXPECT_NEAR(p.pose.position.x, 7.5, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(7).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(7).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.75, epsilon); + } + + { + const auto p = resampled_path.points.at(7); + EXPECT_NEAR(p.pose.position.x, 9.0, epsilon); + EXPECT_NEAR(p.pose.position.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.position.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.x, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.y, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.z, 0.0, epsilon); + EXPECT_NEAR(p.pose.orientation.w, 1.0, epsilon); + + EXPECT_NEAR( + p.longitudinal_velocity_mps, path.points.at(9).longitudinal_velocity_mps, epsilon); + EXPECT_NEAR(p.lateral_velocity_mps, path.points.at(9).lateral_velocity_mps, epsilon); + EXPECT_NEAR(p.heading_rate_rps, 0.90, epsilon); + } + } + + // No Resample + { + // Input path size is not enough for resample + { + autoware_auto_planning_msgs::msg::Path path; + path.points.resize(1); + for (size_t i = 0; i < 1; ++i) { + path.points.at(i) = + generateTestPathPoint(i * 1.0, 0.0, 0.0, 0.0, i * 1.0, i * 0.5, i * 0.1); + } + + const auto resampled_path = resamplePath(path, 1.0); + EXPECT_EQ(resampled_path.points.size(), path.points.size()); + for (size_t i = 0; i < resampled_path.points.size(); ++i) { + EXPECT_NEAR( + resampled_path.points.at(i).pose.position.x, path.points.at(i).pose.position.x, epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.position.y, path.points.at(i).pose.position.y, epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.position.z, path.points.at(i).pose.position.z, epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.x, path.points.at(i).pose.orientation.x, + epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.y, path.points.at(i).pose.orientation.y, + epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.z, path.points.at(i).pose.orientation.z, + epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.w, path.points.at(i).pose.orientation.w, + epsilon); + } + } + + // Resample interval is invalid + { + autoware_auto_planning_msgs::msg::Path path; + path.points.resize(10); + for (size_t i = 0; i < 10; ++i) { + path.points.at(i) = + generateTestPathPoint(i * 1.0, 0.0, 0.0, 0.0, i * 1.0, i * 0.5, i * 0.1); + } + + const auto resampled_path = resamplePath(path, 1e-4); + EXPECT_EQ(resampled_path.points.size(), path.points.size()); + for (size_t i = 0; i < resampled_path.points.size(); ++i) { + EXPECT_NEAR( + resampled_path.points.at(i).pose.position.x, path.points.at(i).pose.position.x, epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.position.y, path.points.at(i).pose.position.y, epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.position.z, path.points.at(i).pose.position.z, epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.x, path.points.at(i).pose.orientation.x, + epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.y, path.points.at(i).pose.orientation.y, + epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.z, path.points.at(i).pose.orientation.z, + epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.w, path.points.at(i).pose.orientation.w, + epsilon); + } + } + + // Resample interval is invalid (Negative value) + { + autoware_auto_planning_msgs::msg::Path path; + path.points.resize(10); + for (size_t i = 0; i < 10; ++i) { + path.points.at(i) = + generateTestPathPoint(i * 1.0, 0.0, 0.0, 0.0, i * 1.0, i * 0.5, i * 0.1); + } + + const auto resampled_path = resamplePath(path, -5.0); + EXPECT_EQ(resampled_path.points.size(), path.points.size()); + for (size_t i = 0; i < resampled_path.points.size(); ++i) { + EXPECT_NEAR( + resampled_path.points.at(i).pose.position.x, path.points.at(i).pose.position.x, epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.position.y, path.points.at(i).pose.position.y, epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.position.z, path.points.at(i).pose.position.z, epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.x, path.points.at(i).pose.orientation.x, + epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.y, path.points.at(i).pose.orientation.y, + epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.z, path.points.at(i).pose.orientation.z, + epsilon); + EXPECT_NEAR( + resampled_path.points.at(i).pose.orientation.w, path.points.at(i).pose.orientation.w, + epsilon); + } + } + } +} + +TEST(resample_trajectory, resample_trajectory_by_vector) { using motion_utils::resampleTrajectory; // Output is same as input From a6b4a8699885c7ca853def10aeb699d9d5925673 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 5 Oct 2022 12:20:29 +0900 Subject: [PATCH 08/28] feat(map_loader): make some functions static (#2014) * feat(map_loader): make some functions static Signed-off-by: Takayuki Murooka * make publisher alive after constructor Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka --- .../map_loader/lanelet2_map_loader_node.hpp | 12 +++++++----- .../lanelet2_map_loader_node.cpp | 19 ++++++++++--------- 2 files changed, 17 insertions(+), 14 deletions(-) diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp index 72408f4af8185..82a90dd5c4ab4 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp @@ -31,13 +31,15 @@ class Lanelet2MapLoaderNode : public rclcpp::Node public: explicit Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options); + static lanelet::LaneletMapPtr load_map( + rclcpp::Node & node, const std::string & lanelet2_filename, + const std::string & lanelet2_map_projector_type); + static HADMapBin create_map_bin_msg( + const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, + const rclcpp::Time & now); + private: rclcpp::Publisher::SharedPtr pub_map_bin_; - - lanelet::LaneletMapPtr load_map( - const std::string & lanelet2_filename, const std::string & lanelet2_map_projector_type); - HADMapBin create_map_bin_msg( - const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename); }; #endif // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index dc5d560b98e8e..da35f74eaa59c 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -54,7 +54,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options const auto center_line_resolution = declare_parameter("center_line_resolution", 5.0); // load map from file - const auto map = load_map(lanelet2_filename, lanelet2_map_projector_type); + const auto map = load_map(*this, lanelet2_filename, lanelet2_map_projector_type); if (!map) { return; } @@ -63,7 +63,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution, false); // create map bin msg - const auto map_bin_msg = create_map_bin_msg(map, lanelet2_filename); + const auto map_bin_msg = create_map_bin_msg(map, lanelet2_filename, now()); // create publisher and publish pub_map_bin_ = @@ -72,7 +72,8 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options } lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( - const std::string & lanelet2_filename, const std::string & lanelet2_map_projector_type) + rclcpp::Node & node, const std::string & lanelet2_filename, + const std::string & lanelet2_map_projector_type) { lanelet::ErrorMessages errors{}; if (lanelet2_map_projector_type == "MGRS") { @@ -82,8 +83,8 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( return map; } } else if (lanelet2_map_projector_type == "UTM") { - const double map_origin_lat = declare_parameter("latitude", 0.0); - const double map_origin_lon = declare_parameter("longitude", 0.0); + const double map_origin_lat = node.declare_parameter("latitude", 0.0); + const double map_origin_lon = node.declare_parameter("longitude", 0.0); lanelet::GPSPoint position{map_origin_lat, map_origin_lon}; lanelet::Origin origin{position}; lanelet::projection::UtmProjector projector{origin}; @@ -93,25 +94,25 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map( return map; } } else { - RCLCPP_ERROR(get_logger(), "lanelet2_map_projector_type is not supported"); + RCLCPP_ERROR(rclcpp::get_logger("map_loader"), "lanelet2_map_projector_type is not supported"); return nullptr; } for (const auto & error : errors) { - RCLCPP_ERROR_STREAM(get_logger(), error); + RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error); } return nullptr; } HADMapBin Lanelet2MapLoaderNode::create_map_bin_msg( - const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename) + const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now) { std::string format_version{}, map_version{}; lanelet::io_handlers::AutowareOsmParser::parseVersions( lanelet2_filename, &format_version, &map_version); HADMapBin map_bin_msg; - map_bin_msg.header.stamp = now(); + map_bin_msg.header.stamp = now; map_bin_msg.header.frame_id = "map"; map_bin_msg.format_version = format_version; map_bin_msg.map_version = map_version; From b5d4e05027ac483c627080c751fd58d311706c60 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 5 Oct 2022 13:40:06 +0900 Subject: [PATCH 09/28] refactor(motion_utils): resample (#2020) * fix indent Signed-off-by: Takayuki Murooka * rename to resamplePoseVector Signed-off-by: Takayuki Murooka * fix dependant package Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka --- .../motion_utils/resample/resample.hpp | 122 +++++++++--------- common/motion_utils/src/resample/resample.cpp | 8 +- .../src/turn_signal_decider.cpp | 2 +- 3 files changed, 65 insertions(+), 67 deletions(-) diff --git a/common/motion_utils/include/motion_utils/resample/resample.hpp b/common/motion_utils/include/motion_utils/resample/resample.hpp index 5eb42bb2eb91f..88fb59550e779 100644 --- a/common/motion_utils/include/motion_utils/resample/resample.hpp +++ b/common/motion_utils/include/motion_utils/resample/resample.hpp @@ -39,39 +39,39 @@ namespace motion_utils { /** * @brief A resampling function for a path(poses). Note that in a default setting, position xy are - * resampled by spline interpolation, position z are resampled by linear interpolation, and - * orientation of the resampled path are calculated by a forward difference method - * based on the interpolated position x and y. + * resampled by spline interpolation, position z are resampled by linear interpolation, and + * orientation of the resampled path are calculated by a forward difference method + * based on the interpolated position x and y. * @param input_path input path(poses) to resample * @param resampled_arclength arclength that contains length of each resampling points from initial - * point + * point * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and - * y. Otherwise, it uses spline interpolation + * y. Otherwise, it uses spline interpolation * @param use_lerp_for_z If true, it uses linear interpolation to resample position z. - * Otherwise, it uses spline interpolation + * Otherwise, it uses spline interpolation * @return resampled path(poses) */ -std::vector resamplePath( +std::vector resamplePoseVector( const std::vector & points, const std::vector & resampled_arclength, const bool use_lerp_for_xy = false, const bool use_lerp_for_z = true); /** * @brief A resampling function for a path with lane id. Note that in a default setting, position xy - * are resampled by spline interpolation, position z are resampled by linear interpolation, - * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is resampled - * by linear interpolation. Orientation of the resampled path are calculated by a forward difference - * method based on the interpolated position x and y. Moreover, lane_ids and is_final are also - * interpolated by zero order hold + * are resampled by spline interpolation, position z are resampled by linear interpolation, + * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is + * resampled by linear interpolation. Orientation of the resampled path are calculated by a + * forward difference method based on the interpolated position x and y. Moreover, lane_ids + * and is_final are also interpolated by zero order hold * @param input_path input path to resample * @param resampled_arclength arclength that contains length of each resampling points from initial - * point + * point * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and - * y. Otherwise, it uses spline interpolation + * y. Otherwise, it uses spline interpolation * @param use_lerp_for_z If true, it uses linear interpolation to resample position z. - * Otherwise, it uses spline interpolation + * Otherwise, it uses spline interpolation * @param use_zero_order_hold_for_v If true, it uses zero_order_hold to resample - * longitudinal and lateral velocity. Otherwise, it uses linear interpolation + * longitudinal and lateral velocity. Otherwise, it uses linear interpolation * @return resampled path */ autoware_auto_planning_msgs::msg::PathWithLaneId resamplePath( @@ -81,20 +81,19 @@ autoware_auto_planning_msgs::msg::PathWithLaneId resamplePath( /** * @brief A resampling function for a path with lane id. Note that in a default setting, position xy - * are resampled by spline interpolation, position z are resampled by linear interpolation, - * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is resampled - * by linear interpolation. Orientation of the resampled path are calculated by a forward difference - * method based on the interpolated position x and y. Moreover, lane_ids and is_final are also - * interpolated by zero order hold + * are resampled by spline interpolation, position z are resampled by linear interpolation, + * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is + * resampled by linear interpolation. Orientation of the resampled path are calculated by a + * forward difference method based on the interpolated position x and y. Moreover, lane_ids + * and is_final are also interpolated by zero order hold * @param input_path input path to resample - * @param resampled_interval resampling interval - * point + * @param resampled_interval resampling interval point * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and - * y. Otherwise, it uses spline interpolation + * y. Otherwise, it uses spline interpolation * @param use_lerp_for_z If true, it uses linear interpolation to resample position z. - * Otherwise, it uses spline interpolation + * Otherwise, it uses spline interpolation * @param use_zero_order_hold_for_v If true, it uses zero_order_hold to resample - * longitudinal and lateral velocity. Otherwise, it uses linear interpolation + * longitudinal and lateral velocity. Otherwise, it uses linear interpolation * @param resample_input_path_stop_point If true, resample closest stop point in input path * @return resampled path */ @@ -106,19 +105,19 @@ autoware_auto_planning_msgs::msg::PathWithLaneId resamplePath( /** * @brief A resampling function for a path. Note that in a default setting, position xy are - * resampled by spline interpolation, position z are resampled by linear interpolation, longitudinal - * and lateral velocity are resampled by zero_order_hold, and heading rate is resampled by linear - * interpolation. Orientation of the resampled path are calculated by a forward difference method - * based on the interpolated position x and y. + * resampled by spline interpolation, position z are resampled by linear interpolation, + * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is + * resampled by linear interpolation. Orientation of the resampled path are calculated by a + * forward difference method based on the interpolated position x and y. * @param input_path input path to resample * @param resampled_arclength arclength that contains length of each resampling points from initial - * point + * point * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and - * y. Otherwise, it uses spline interpolation + * y. Otherwise, it uses spline interpolation * @param use_lerp_for_z If true, it uses linear interpolation to resample position z. - * Otherwise, it uses spline interpolation + * Otherwise, it uses spline interpolation * @param use_zero_order_hold_for_v If true, it uses zero_order_hold to resample - * longitudinal and lateral velocity. Otherwise, it uses linear interpolation + * longitudinal and lateral velocity. Otherwise, it uses linear interpolation * @return resampled path */ autoware_auto_planning_msgs::msg::Path resamplePath( @@ -128,19 +127,18 @@ autoware_auto_planning_msgs::msg::Path resamplePath( /** * @brief A resampling function for a path. Note that in a default setting, position xy - * are resampled by spline interpolation, position z are resampled by linear interpolation, - * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is resampled - * by linear interpolation. Orientation of the resampled path are calculated by a forward difference - * method based on the interpolated position x and y. + * are resampled by spline interpolation, position z are resampled by linear interpolation, + * longitudinal and lateral velocity are resampled by zero_order_hold, and heading rate is + * resampled by linear interpolation. Orientation of the resampled path are calculated by a + * forward difference method based on the interpolated position x and y. * @param input_path input path to resample - * @param resampled_interval resampling interval - * point + * @param resampled_interval resampling interval point * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and - * y. Otherwise, it uses spline interpolation + * y. Otherwise, it uses spline interpolation * @param use_lerp_for_z If true, it uses linear interpolation to resample position z. - * Otherwise, it uses spline interpolation + * Otherwise, it uses spline interpolation * @param use_zero_order_hold_for_v If true, it uses zero_order_hold to resample - * longitudinal and lateral velocity. Otherwise, it uses linear interpolation + * longitudinal and lateral velocity. Otherwise, it uses linear interpolation * @param resample_input_path_stop_point If true, resample closest stop point in input path * @return resampled path */ @@ -151,20 +149,20 @@ autoware_auto_planning_msgs::msg::Path resamplePath( /** * @brief A resampling function for a trajectory. Note that in a default setting, position xy are - * resampled by spline interpolation, position z are resampled by linear interpolation, twist - * informaiton(velocity and acceleration) are resampled by zero_order_hold, and heading rate is - * resampled by linear interpolation. The rest of the category is resampled by linear interpolation. - * Orientation of the resampled path are calculated by a forward difference method based on the - * interpolated position x and y. + * resampled by spline interpolation, position z are resampled by linear interpolation, twist + * informaiton(velocity and acceleration) are resampled by zero_order_hold, and heading rate + * is resampled by linear interpolation. The rest of the category is resampled by linear + * interpolation. Orientation of the resampled path are calculated by a forward difference + * method based on the interpolated position x and y. * @param input_trajectory input trajectory to resample * @param resampled_arclength arclength that contains length of each resampling points from initial - * point + * point * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and - * y. Otherwise, it uses spline interpolation + * y. Otherwise, it uses spline interpolation * @param use_lerp_for_z If true, it uses linear interpolation to resample position z. - * Otherwise, it uses spline interpolation + * Otherwise, it uses spline interpolation * @param use_zero_order_hold_for_twist If true, it uses zero_order_hold to resample - * longitudinal, lateral velocity and acceleration. Otherwise, it uses linear interpolation + * longitudinal, lateral velocity and acceleration. Otherwise, it uses linear interpolation * @return resampled trajectory */ autoware_auto_planning_msgs::msg::Trajectory resampleTrajectory( @@ -174,22 +172,22 @@ autoware_auto_planning_msgs::msg::Trajectory resampleTrajectory( /** * @brief A resampling function for a trajectory. This function resamples closest stop point, - * terminal point and points by resample interval. Note that in a default setting, position xy are - * resampled by spline interpolation, position z are resampled by linear interpolation, twist - * informaiton(velocity and acceleration) are resampled by zero_order_hold, and heading rate is - * resampled by linear interpolation. The rest of the category is resampled by linear interpolation. - * Orientation of the resampled path are calculated by a forward difference method based on the - * interpolated position x and y. + * terminal point and points by resample interval. Note that in a default setting, position + * xy are resampled by spline interpolation, position z are resampled by linear interpolation, twist + * informaiton(velocity and acceleration) are resampled by zero_order_hold, and heading rate + * is resampled by linear interpolation. The rest of the category is resampled by linear + * interpolation. Orientation of the resampled path are calculated by a forward difference + * method based on the interpolated position x and y. * @param input_trajectory input trajectory to resample * @param resampled_interval resampling interval * @param use_lerp_for_xy If true, it uses linear interpolation to resample position x and - * y. Otherwise, it uses spline interpolation + * y. Otherwise, it uses spline interpolation * @param use_lerp_for_z If true, it uses linear interpolation to resample position z. - * Otherwise, it uses spline interpolation + * Otherwise, it uses spline interpolation * @param use_zero_order_hold_for_twist If true, it uses zero_order_hold to resample - * longitudinal, lateral velocity and acceleration. Otherwise, it uses linear interpolation + * longitudinal, lateral velocity and acceleration. Otherwise, it uses linear interpolation * @param resample_input_trajectory_stop_point If true, resample closest stop point in input - * trajectory + * trajectory * @return resampled trajectory */ autoware_auto_planning_msgs::msg::Trajectory resampleTrajectory( diff --git a/common/motion_utils/src/resample/resample.cpp b/common/motion_utils/src/resample/resample.cpp index 79c03cf0081c5..ea2c40dc91f58 100644 --- a/common/motion_utils/src/resample/resample.cpp +++ b/common/motion_utils/src/resample/resample.cpp @@ -19,7 +19,7 @@ namespace motion_utils { -std::vector resamplePath( +std::vector resamplePoseVector( const std::vector & points, const std::vector & resampled_arclength, const bool use_lerp_for_xy, const bool use_lerp_for_z) @@ -164,7 +164,7 @@ autoware_auto_planning_msgs::msg::PathWithLaneId resamplePath( }; const auto interpolated_pose = - resamplePath(input_pose, resampled_arclength, use_lerp_for_xy, use_lerp_for_z); + resamplePoseVector(input_pose, resampled_arclength, use_lerp_for_xy, use_lerp_for_z); const auto interpolated_v_lon = use_zero_order_hold_for_v ? zoh(v_lon) : lerp(v_lon); const auto interpolated_v_lat = use_zero_order_hold_for_v ? zoh(v_lat) : lerp(v_lat); const auto interpolated_heading_rate = lerp(heading_rate); @@ -308,7 +308,7 @@ autoware_auto_planning_msgs::msg::Path resamplePath( }; const auto interpolated_pose = - resamplePath(input_pose, resampled_arclength, use_lerp_for_xy, use_lerp_for_z); + resamplePoseVector(input_pose, resampled_arclength, use_lerp_for_xy, use_lerp_for_z); const auto interpolated_v_lon = use_zero_order_hold_for_v ? zoh(v_lon) : lerp(v_lon); const auto interpolated_v_lat = use_zero_order_hold_for_v ? zoh(v_lat) : lerp(v_lat); const auto interpolated_heading_rate = lerp(heading_rate); @@ -459,7 +459,7 @@ autoware_auto_planning_msgs::msg::Trajectory resampleTrajectory( }; const auto interpolated_pose = - resamplePath(input_pose, resampled_arclength, use_lerp_for_xy, use_lerp_for_z); + resamplePoseVector(input_pose, resampled_arclength, use_lerp_for_xy, use_lerp_for_z); const auto interpolated_v_lon = use_zero_order_hold_for_twist ? zoh(v_lon) : lerp(v_lon); const auto interpolated_v_lat = use_zero_order_hold_for_twist ? zoh(v_lat) : lerp(v_lat); const auto interpolated_heading_rate = lerp(heading_rate); diff --git a/planning/behavior_path_planner/src/turn_signal_decider.cpp b/planning/behavior_path_planner/src/turn_signal_decider.cpp index f2e295cffbc52..6ab1f7cc3cb0a 100644 --- a/planning/behavior_path_planner/src/turn_signal_decider.cpp +++ b/planning/behavior_path_planner/src/turn_signal_decider.cpp @@ -321,7 +321,7 @@ geometry_msgs::msg::Point TurnSignalDecider::get_required_end_point( } const auto resampled_centerline = - motion_utils::resamplePath(converted_centerline, resampling_arclength); + motion_utils::resamplePoseVector(converted_centerline, resampling_arclength); const double terminal_yaw = tf2::getYaw(resampled_centerline.back().orientation); for (size_t i = 0; i < resampled_centerline.size(); ++i) { From ce93396d7b17dbb37666a7251d148fa1dc26aa4d Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 5 Oct 2022 17:14:57 +0900 Subject: [PATCH 10/28] refactor(ndt_scan_matcher): modularize get_transform function (#1984) * refactor(ndt_scan_matcher): modularize get_transform function Signed-off-by: kminoda * ci(pre-commit): autofix * add explicit Signed-off-by: kminoda * resolve precommit issue * ci(pre-commit): autofix Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- localization/ndt_scan_matcher/CMakeLists.txt | 1 + .../ndt_scan_matcher_core.hpp | 11 +--- .../ndt_scan_matcher/tf2_listener_module.hpp | 43 +++++++++++++ .../src/ndt_scan_matcher_core.cpp | 52 +++------------- .../src/tf2_listener_module.cpp | 60 +++++++++++++++++++ 5 files changed, 115 insertions(+), 52 deletions(-) create mode 100644 localization/ndt_scan_matcher/include/ndt_scan_matcher/tf2_listener_module.hpp create mode 100644 localization/ndt_scan_matcher/src/tf2_listener_module.cpp diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt index df79a2cfc0dfd..d2d5568e265a9 100644 --- a/localization/ndt_scan_matcher/CMakeLists.txt +++ b/localization/ndt_scan_matcher/CMakeLists.txt @@ -28,6 +28,7 @@ ament_auto_add_executable(ndt_scan_matcher src/ndt_scan_matcher_core.cpp src/util_func.cpp src/pose_array_interpolator.cpp + src/tf2_listener_module.cpp ) ament_auto_package( diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index 2be9c8084be81..4545a3ff36225 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -18,6 +18,7 @@ #define FMT_HEADER_ONLY #include "ndt_scan_matcher/particle.hpp" +#include "ndt_scan_matcher/tf2_listener_module.hpp" #include #include @@ -43,9 +44,7 @@ #include #endif -#include #include -#include #ifdef ROS_DISTRO_GALACTIC #include @@ -154,10 +153,6 @@ class NDTScanMatcher : public rclcpp::Node const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_old_msg, const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_new_msg); - bool get_transform( - const std::string & target_frame, const std::string & source_frame, - const geometry_msgs::msg::TransformStamped::SharedPtr & transform_stamped_ptr); - bool validate_num_iteration(const int iter_num, const int max_iter_num); bool validate_score( const double score, const double score_threshold, const std::string score_name); @@ -200,8 +195,6 @@ class NDTScanMatcher : public rclcpp::Node rclcpp::Service::SharedPtr service_; - tf2_ros::Buffer tf2_buffer_; - tf2_ros::TransformListener tf2_listener_; tf2_ros::TransformBroadcaster tf2_broadcaster_; NDTImplementType ndt_implement_type_; @@ -238,6 +231,8 @@ class NDTScanMatcher : public rclcpp::Node const float regularization_scale_factor_; std::deque regularization_pose_msg_ptr_array_; + + std::shared_ptr tf2_listener_module_; }; #endif // NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_ diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/tf2_listener_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/tf2_listener_module.hpp new file mode 100644 index 0000000000000..159acbd75ce3d --- /dev/null +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/tf2_listener_module.hpp @@ -0,0 +1,43 @@ +// Copyright 2015-2019 Autoware Foundation +// +// 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 NDT_SCAN_MATCHER__TF2_LISTENER_MODULE_HPP_ +#define NDT_SCAN_MATCHER__TF2_LISTENER_MODULE_HPP_ + +#include + +#include +#include +#include + +#include + +class Tf2ListenerModule +{ + using TransformStamped = geometry_msgs::msg::TransformStamped; + +public: + explicit Tf2ListenerModule(rclcpp::Node * node); + bool get_transform( + const builtin_interfaces::msg::Time & timestamp, const std::string & target_frame, + const std::string & source_frame, + const geometry_msgs::msg::TransformStamped::SharedPtr & transform_stamped_ptr) const; + +private: + rclcpp::Logger logger_; + tf2_ros::Buffer tf2_buffer_; + tf2_ros::TransformListener tf2_listener_; +}; + +#endif // NDT_SCAN_MATCHER__TF2_LISTENER_MODULE_HPP_ diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index 684a723754a08..53e2e8c199dbb 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -51,19 +51,6 @@ tier4_debug_msgs::msg::Int32Stamped make_int32_stamped( return tier4_debug_msgs::build().stamp(stamp).data(data); } -geometry_msgs::msg::TransformStamped identity_transform_stamped( - const builtin_interfaces::msg::Time & timestamp, const std::string & header_frame_id, - const std::string & child_frame_id) -{ - geometry_msgs::msg::TransformStamped transform; - transform.header.stamp = timestamp; - transform.header.frame_id = header_frame_id; - transform.child_frame_id = child_frame_id; - transform.transform.rotation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); - transform.transform.translation = tier4_autoware_utils::createTranslation(0.0, 0.0, 0.0); - return transform; -} - bool validate_local_optimal_solution_oscillation( const std::vector & result_pose_msg_array, const float oscillation_threshold, const float inversion_vector_threshold) @@ -94,8 +81,6 @@ bool validate_local_optimal_solution_oscillation( NDTScanMatcher::NDTScanMatcher() : Node("ndt_scan_matcher"), - tf2_buffer_(this->get_clock()), - tf2_listener_(tf2_buffer_), tf2_broadcaster_(*this), ndt_implement_type_(NDTImplementType::PCL_GENERIC), base_frame_("base_link"), @@ -272,6 +257,8 @@ NDTScanMatcher::NDTScanMatcher() diagnostic_thread_ = std::thread(&NDTScanMatcher::timer_diagnostic, this); diagnostic_thread_.detach(); + + tf2_listener_module_ = std::make_shared(this); } void NDTScanMatcher::timer_diagnostic() @@ -331,7 +318,8 @@ void NDTScanMatcher::service_ndt_align( { // get TF from pose_frame to map_frame auto TF_pose_to_map_ptr = std::make_shared(); - get_transform(map_frame_, req->pose_with_covariance.header.frame_id, TF_pose_to_map_ptr); + tf2_listener_module_->get_transform( + this->now(), map_frame_, req->pose_with_covariance.header.frame_id, TF_pose_to_map_ptr); // transform pose_frame to map_frame const auto mapTF_initial_pose_msg = transform(req->pose_with_covariance, *TF_pose_to_map_ptr); @@ -378,7 +366,8 @@ void NDTScanMatcher::callback_initial_pose( } else { // get TF from pose_frame to map_frame auto TF_pose_to_map_ptr = std::make_shared(); - get_transform(map_frame_, initial_pose_msg_ptr->header.frame_id, TF_pose_to_map_ptr); + tf2_listener_module_->get_transform( + this->now(), map_frame_, initial_pose_msg_ptr->header.frame_id, TF_pose_to_map_ptr); // transform pose_frame to map_frame auto mapTF_initial_pose_msg_ptr = @@ -558,7 +547,8 @@ void NDTScanMatcher::transform_sensor_measurement( pcl::shared_ptr> sensor_points_output_ptr) { auto TF_target_to_source_ptr = std::make_shared(); - get_transform(target_frame, source_frame, TF_target_to_source_ptr); + tf2_listener_module_->get_transform( + this->now(), target_frame, source_frame, TF_target_to_source_ptr); const geometry_msgs::msg::PoseStamped target_to_source_pose_stamped = tier4_autoware_utils::transform2pose(*TF_target_to_source_ptr); const Eigen::Matrix4f base_to_sensor_matrix = @@ -733,32 +723,6 @@ void NDTScanMatcher::publish_initial_to_result_distances( make_float32_stamped(sensor_ros_time, initial_to_result_distance_new)); } -bool NDTScanMatcher::get_transform( - const std::string & target_frame, const std::string & source_frame, - const geometry_msgs::msg::TransformStamped::SharedPtr & transform_stamped_ptr) -{ - const geometry_msgs::msg::TransformStamped identity = - identity_transform_stamped(this->now(), target_frame, source_frame); - - if (target_frame == source_frame) { - *transform_stamped_ptr = identity; - return true; - } - - try { - *transform_stamped_ptr = - tf2_buffer_.lookupTransform(target_frame, source_frame, tf2::TimePointZero); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN(get_logger(), "%s", ex.what()); - RCLCPP_ERROR( - get_logger(), "Please publish TF %s to %s", target_frame.c_str(), source_frame.c_str()); - - *transform_stamped_ptr = identity; - return false; - } - return true; -} - bool NDTScanMatcher::validate_num_iteration(const int iter_num, const int max_iter_num) { bool is_ok_iter_num = iter_num < max_iter_num; diff --git a/localization/ndt_scan_matcher/src/tf2_listener_module.cpp b/localization/ndt_scan_matcher/src/tf2_listener_module.cpp new file mode 100644 index 0000000000000..364952a631f06 --- /dev/null +++ b/localization/ndt_scan_matcher/src/tf2_listener_module.cpp @@ -0,0 +1,60 @@ +// Copyright 2015-2019 Autoware Foundation +// +// 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. + +#include "ndt_scan_matcher/tf2_listener_module.hpp" + +#include + +geometry_msgs::msg::TransformStamped identity_transform_stamped( + const builtin_interfaces::msg::Time & timestamp, const std::string & header_frame_id, + const std::string & child_frame_id) +{ + geometry_msgs::msg::TransformStamped transform; + transform.header.stamp = timestamp; + transform.header.frame_id = header_frame_id; + transform.child_frame_id = child_frame_id; + transform.transform.rotation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); + transform.transform.translation = tier4_autoware_utils::createTranslation(0.0, 0.0, 0.0); + return transform; +} + +Tf2ListenerModule::Tf2ListenerModule(rclcpp::Node * node) +: logger_(node->get_logger()), tf2_buffer_(node->get_clock()), tf2_listener_(tf2_buffer_) +{ +} + +bool Tf2ListenerModule::get_transform( + const builtin_interfaces::msg::Time & timestamp, const std::string & target_frame, + const std::string & source_frame, const TransformStamped::SharedPtr & transform_stamped_ptr) const +{ + const TransformStamped identity = + identity_transform_stamped(timestamp, target_frame, source_frame); + + if (target_frame == source_frame) { + *transform_stamped_ptr = identity; + return true; + } + + try { + *transform_stamped_ptr = + tf2_buffer_.lookupTransform(target_frame, source_frame, tf2::TimePointZero); + } catch (tf2::TransformException & ex) { + RCLCPP_WARN(logger_, "%s", ex.what()); + RCLCPP_ERROR(logger_, "Please publish TF %s to %s", target_frame.c_str(), source_frame.c_str()); + + *transform_stamped_ptr = identity; + return false; + } + return true; +} From 28a3ccc1387effc706aafd6d572d580cff52577b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 5 Oct 2022 18:51:59 +0900 Subject: [PATCH 11/28] fix(behavior_path_planner): not run pull out if out of lane (#2008) Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../lane_departure_checker.hpp | 6 +-- .../scene_module/pull_out/pull_out_module.hpp | 2 +- .../scene_module/pull_out/pull_out_module.cpp | 45 +++++++++++-------- .../scene_module/pull_out/shift_pull_out.cpp | 15 +++---- 4 files changed, 38 insertions(+), 30 deletions(-) diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp index c90ced556912f..c377109744578 100644 --- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp +++ b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp @@ -107,6 +107,9 @@ class LaneDepartureChecker bool checkPathWillLeaveLane( const lanelet::ConstLanelets & lanelets, const PathWithLaneId & path) const; + static bool isOutOfLane( + const lanelet::ConstLanelets & candidate_lanelets, const LinearRing2d & vehicle_footprint); + private: Param param_; std::shared_ptr vehicle_info_ptr_; @@ -131,9 +134,6 @@ class LaneDepartureChecker static bool willLeaveLane( const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints); - - static bool isOutOfLane( - const lanelet::ConstLanelets & candidate_lanelets, const LinearRing2d & vehicle_footprint); }; } // namespace lane_departure_checker diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp index b7134413d0597..87b3ef00a6ebf 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp @@ -110,7 +110,7 @@ class PullOutModule : public SceneModuleInterface void planWithPriorityOnShortBackDistance( const std::vector & start_pose_candidates, const Pose & goal_pose); void updatePullOutStatus(); - static bool isInLane( + static bool isOverlappedWithLane( const lanelet::ConstLanelet & candidate_lanelet, const tier4_autoware_utils::LinearRing2d & vehicle_footprint); bool hasFinishedPullOut() const; diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp index 271e1f576b767..04d4fb714ed8e 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp @@ -112,27 +112,36 @@ bool PullOutModule::isExecutionRequested() const const bool is_stopped = util::l2Norm(planner_data_->self_odometry->twist.twist.linear) < parameters_.th_arrived_distance; + if (!is_stopped) { + return false; + } + + // Create vehicle footprint + const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_); + const auto vehicle_footprint = transformVector( + local_vehicle_footprint, tier4_autoware_utils::pose2transform(planner_data_->self_pose->pose)); + + // Check if ego is not out of lanes + const auto current_lanes = util::getExtendedCurrentLanes(planner_data_); + const auto pull_out_lanes = pull_out_utils::getPullOutLanes(current_lanes, planner_data_); + auto lanes = current_lanes; + lanes.insert(lanes.end(), pull_out_lanes.begin(), pull_out_lanes.end()); + if (LaneDepartureChecker::isOutOfLane(lanes, vehicle_footprint)) { + return false; + } + // Check if any of the footprint points are in the shoulder lane lanelet::Lanelet closest_shoulder_lanelet; - if ( - lanelet::utils::query::getClosestLanelet( - planner_data_->route_handler->getShoulderLanelets(), planner_data_->self_pose->pose, - &closest_shoulder_lanelet) && - is_stopped) { - // Create vehicle footprint - const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_); - const auto vehicle_footprint = transformVector( - local_vehicle_footprint, - tier4_autoware_utils::pose2transform(planner_data_->self_pose->pose)); - const auto road_lanes = util::getExtendedCurrentLanes(planner_data_); - - // check if goal pose is in shoulder lane and distance is long enough for pull out - if (isInLane(closest_shoulder_lanelet, vehicle_footprint)) { - return true; - } + if (!lanelet::utils::query::getClosestLanelet( + planner_data_->route_handler->getShoulderLanelets(), planner_data_->self_pose->pose, + &closest_shoulder_lanelet)) { + return false; + } + if (!isOverlappedWithLane(closest_shoulder_lanelet, vehicle_footprint)) { + return false; } - return false; + return true; } bool PullOutModule::isExecutionReady() const { return true; } @@ -510,7 +519,7 @@ std::vector PullOutModule::searchBackedPoses() return backed_poses; } -bool PullOutModule::isInLane( +bool PullOutModule::isOverlappedWithLane( const lanelet::ConstLanelet & candidate_lanelet, const tier4_autoware_utils::LinearRing2d & vehicle_footprint) { diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp index 88642b7c431b2..9aa8feda2670f 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp @@ -42,7 +42,6 @@ boost::optional ShiftPullOut::plan(Pose start_pose, Pose goal_pose) const auto & common_parameters = planner_data_->parameters; const auto & dynamic_objects = planner_data_->dynamic_object; const auto & road_lanes = util::getExtendedCurrentLanes(planner_data_); - const auto & current_pose = planner_data_->self_pose->pose; const auto & shoulder_lanes = getPullOutLanes(road_lanes, planner_data_); if (shoulder_lanes.empty()) { return boost::none; @@ -69,24 +68,24 @@ boost::optional ShiftPullOut::plan(Pose start_pose, Pose goal_pose) auto & shift_path = pull_out_path.partial_paths.front(); // shift path is not separate but only one. - // check lane_departure and collision with path between current to pull_out_end - PathWithLaneId path_current_to_shift_end; + // check lane_departure and collision with path between pull_out_start to pull_out_end + PathWithLaneId path_start_to_end{}; { - const auto current_idx = findNearestIndex(shift_path.points, current_pose); + const auto pull_out_start_idx = findNearestIndex(shift_path.points, start_pose); const auto pull_out_end_idx = findNearestIndex(shift_path.points, pull_out_path.end_pose); - path_current_to_shift_end.points.insert( - path_current_to_shift_end.points.begin(), shift_path.points.begin() + *current_idx, + path_start_to_end.points.insert( + path_start_to_end.points.begin(), shift_path.points.begin() + *pull_out_start_idx, shift_path.points.begin() + *pull_out_end_idx + 1); } // check lane departure - if (lane_departure_checker_->checkPathWillLeaveLane(lanes, path_current_to_shift_end)) { + if (lane_departure_checker_->checkPathWillLeaveLane(lanes, path_start_to_end)) { continue; } // check collision if (util::checkCollisionBetweenPathFootprintsAndObjects( - vehicle_footprint_, path_current_to_shift_end, shoulder_lane_objects, + vehicle_footprint_, path_start_to_end, shoulder_lane_objects, parameters_.collision_check_margin)) { continue; } From c2d5b4fcc9603e791e5c825fcac9f00665303e89 Mon Sep 17 00:00:00 2001 From: Azumi Suzuki <38061530+s-azumi@users.noreply.github.com> Date: Thu, 6 Oct 2022 09:50:32 +0900 Subject: [PATCH 12/28] fix: modified to reflect the argument "initial_selector_mode" in control_launch (#1961) --- launch/tier4_control_launch/launch/control.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index 044c5e3a8136a..d9ed65fd9f80c 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -239,7 +239,7 @@ def launch_setup(context, *args, **kwargs): launch_arguments=[ ("use_intra_process", LaunchConfiguration("use_intra_process")), ("target_container", "/control/control_container"), - ("initial_selector_mode", "remote"), + ("initial_selector_mode", LaunchConfiguration("initial_selector_mode")), ], ) From 5695431cba03794159acbf539960328b116df9eb Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 6 Oct 2022 10:11:44 +0900 Subject: [PATCH 13/28] fix(ground segmentation): add elevation grid ground filter (#1899) * fix: add grid elevation scan ground filter Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen * fix: merge with scan ground filter Signed-off-by: badai-nguyen * ci(pre-commit): autofix * chore: update docs Signed-off-by: badai-nguyen * chore: remove debug variables Signed-off-by: badai-nguyen * chore: add switchable param for grid scan mode Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen * chore: refactoring Signed-off-by: badai-nguyen * ci(pre-commit): autofix * chore: refactoring Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen * chore: refactoring Signed-off-by: badai-nguyen * chore: refactoring Signed-off-by: badai-nguyen * chore: refactoring Signed-off-by: badai-nguyen * chore: refactoring Signed-off-by: badai-nguyen * chore: refactoring Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen * docs: update docs Signed-off-by: badai-nguyen * ci(pre-commit): autofix * chore: typo Signed-off-by: badai-nguyen * chores: typo Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen * docs: update Signed-off-by: badai-nguyen Signed-off-by: badai-nguyen Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../ground_segmentation.param.yaml | 12 +- .../ground_segmentation.launch.py | 6 - launch/tier4_perception_launch/package.xml | 1 + perception/ground_segmentation/CMakeLists.txt | 1 + .../docs/scan-ground-filter.md | 43 ++- .../scan_ground_filter_nodelet.hpp | 53 ++- .../src/scan_ground_filter_nodelet.cpp | 312 +++++++++++++++++- 7 files changed, 396 insertions(+), 32 deletions(-) diff --git a/launch/tier4_perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/launch/tier4_perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index e3bef09e52b47..bde1b024d757e 100644 --- a/launch/tier4_perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/launch/tier4_perception_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -11,13 +11,21 @@ max_x: 100.0 min_y: -50.0 max_y: 50.0 + max_z: 10.7 # recommended 2.5 for non elevation_grid_mode + min_z: -8.7 # recommended 0.0 for non elevation_grid_mode negative: False common_ground_filter: plugin: "ground_segmentation::ScanGroundFilterComponent" parameters: global_slope_max_angle_deg: 10.0 - local_slope_max_angle_deg: 30.0 + local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode split_points_distance_tolerance: 0.2 - split_height_distance: 0.3 use_virtual_ground_point: True + split_height_distance: 0.2 + non_ground_height_threshold: 0.20 + grid_size_m: 0.1 + grid_mode_switch_radius: 20.0 + gnd_grid_buffer_size: 4 + detection_range_z_max: 2.5 + elevation_grid_mode: true diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py index 42278ec4f09e1..a748b1b1aff34 100644 --- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py +++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py @@ -56,8 +56,6 @@ def get_vehicle_info(self): p["max_longitudinal_offset"] = p["front_overhang"] + p["wheel_base"] p["min_lateral_offset"] = -(p["wheel_tread"] / 2.0 + p["right_overhang"]) p["max_lateral_offset"] = p["wheel_tread"] / 2.0 + p["left_overhang"] - p["min_height_offset"] = 0.0 - p["max_height_offset"] = p["vehicle_height"] return p def get_vehicle_mirror_info(self): @@ -81,8 +79,6 @@ def create_additional_pipeline(self, lidar_name): { "input_frame": LaunchConfiguration("base_frame"), "output_frame": LaunchConfiguration("base_frame"), - "min_z": self.vehicle_info["min_height_offset"], - "max_z": self.vehicle_info["max_height_offset"], }, self.ground_segmentation_param[f"{lidar_name}_crop_box_filter"]["parameters"], ], @@ -215,8 +211,6 @@ def create_common_pipeline(self, input_topic, output_topic): { "input_frame": LaunchConfiguration("base_frame"), "output_frame": LaunchConfiguration("base_frame"), - "min_z": self.vehicle_info["min_height_offset"], - "max_z": self.vehicle_info["max_height_offset"], }, self.ground_segmentation_param["common_crop_box_filter"]["parameters"], ], diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 3253c1db4d1d6..ae5c5df34af0d 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -5,6 +5,7 @@ 0.1.0 The tier4_perception_launch package Yukihiro Saito + Shunsuke Miura Apache License 2.0 ament_cmake_auto diff --git a/perception/ground_segmentation/CMakeLists.txt b/perception/ground_segmentation/CMakeLists.txt index d2711bc59ecca..08bf60c8bdd08 100644 --- a/perception/ground_segmentation/CMakeLists.txt +++ b/perception/ground_segmentation/CMakeLists.txt @@ -56,6 +56,7 @@ rclcpp_components_register_node(ground_segmentation PLUGIN "ground_segmentation::ScanGroundFilterComponent" EXECUTABLE scan_ground_filter_node) + ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/ground_segmentation/docs/scan-ground-filter.md b/perception/ground_segmentation/docs/scan-ground-filter.md index 03723fee4423c..75dd290bffb05 100644 --- a/perception/ground_segmentation/docs/scan-ground-filter.md +++ b/perception/ground_segmentation/docs/scan-ground-filter.md @@ -9,12 +9,13 @@ The purpose of this node is that remove the ground points from the input pointcl This algorithm works by following steps, 1. Divide whole pointclouds into groups by horizontal angle and sort by xy-distance. -2. Check the distance and vertical angle of the point one by one. -3. Set a center of the ground contact point of the rear or front wheels as the initial point. -4. Check vertical angle between the points. If the angle from the initial point is larger than "global_slope_max", the point is classified as "no ground". -5. If the angle from the previous point is larger than "local_max_slope", the point is classified as "no ground". -6. Otherwise the point is labeled as "ground point". -7. If the distance from the last checked point is close, ignore any vertical angle and set current point attribute to the same as the last point. +2. Divide sorted pointclouds of each ray into grids +3. Check the xy distance to previous pointcloud, if the distance is large and previous pointcloud is "no ground" and the height level of current point greater than previous point, the current pointcloud is classified as no ground. +4. Check vertical angle of the point compared with previous ground grid +5. Check the height of the point compared with predicted ground level +6. If vertical angle is greater than local_slope_max and related height to predicted ground level is greater than "non ground height threshold", the point is classified as "non ground" +7. If the vertical angle is in range of [-local_slope_max, local_slope_max] or related height to predicted ground level is smaller than non_ground_height_threshold, the point is classified as "ground" +8. If the vertical angle is lower than -local_slope_max or the related height to ground level is greater than detection_range_z_max, the point will be classified as out of range ## Inputs / Outputs @@ -28,16 +29,24 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref #### Core Parameters -| Name | Type | Default Value | Description | -| --------------------------------- | ------ | ------------- | ----------------------------------------------------------------------------- | -| `input_frame` | string | "base_link" | frame id of input pointcloud | -| `output_frame` | string | "base_link" | frame id of output pointcloud | -| `global_slope_max` | double | 8.0 | The global angle to classify as the ground or object [deg] | -| `local_max_slope` | double | 6.0 | The local angle to classify as the ground or object [deg] | -| `radial_divider_angle` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | -| `split_points_distance_tolerance` | double | 0.2 | The xy-distance threshold to to distinguishing far and near [m] | -| `split_height_distance` | double | 0.2 | The height threshold to distinguishing far and near [m] | -| `use_virtual_ground_point` | bool | true | whether to use the ground center of front wheels as the virtual ground point. | +| Name | Type | Default Value | Description | +| --------------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- | +| `input_frame` | string | "base_link" | frame id of input pointcloud | +| `output_frame` | string | "base_link" | frame id of output pointcloud | +| `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg] | +| `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] | +| `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | +| `split_points_distance_tolerance` | double | 0.2 | The xy-distance threshold to to distinguishing far and near [m] | +| `split_height_distance` | double | 0.2 | The height threshold to distinguishing far and near [m] | +| `use_virtual_ground_point` | bool | true | whether to use the ground center of front wheels as the virtual ground point. | +| `detection_range_z_max` | float | 2.5 | Maximum height of detection range [m], applied only for elevation_grid_mode | +| `center_pcl_shift` | float | 0.0 | The x-axis offset of addition LiDARs from vehicle center of mass [m],
recommended to use only for additional LiDARs in elevation_grid_mode | +| `non_ground_height_threshold` | float | 0.2 | Height threshold of non ground objects [m], applied only for elevation_grid_mode | +| `grid_mode_switch_radius` | float | 20.0 | The distance where grid division mode change from by distance to by vertical angle [m],
applied only for elevation_grid_mode | +| `grid_size_m` | float | 0.5 | The first grid size [m], applied only for elevation_grid_mode | +| `gnd_grid_buffer_size` | uint16 | 4 | Number of grids using to estimate local ground slope,
applied only for elevation_grid_mode | +| `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] | +| `elevation_grid_mode` | bool | true | Elevation grid scan mode option | ## Assumptions / Known limits @@ -49,6 +58,8 @@ The input_frame is set as parameter but it must be fixed as base_link for the cu ## (Optional) References/External links +The elevation grid idea is referred from "Shen Z, Liang H, Lin L, Wang Z, Huang W, Yu J. Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process. Remote Sensing. 2021; 13(16):3239. " + ## (Optional) Future extensions / Unimplemented parts - Horizontal check for classification is not implemented yet. diff --git a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp index 1aa0bc01f25e7..9625507b5398f 100644 --- a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp +++ b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp @@ -54,9 +54,12 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter POINT_FOLLOW, UNKNOWN, VIRTUAL_GROUND, + OUT_OF_RANGE }; struct PointRef { + float grid_size; // radius of grid + uint16_t grid_id; // id of grid in vertical float radius; // cylindrical coords on XY Plane float theta; // angle deg on XY plane size_t radial_div; // index of the radial division to which this point belongs to @@ -67,13 +70,23 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter }; using PointCloudRefVector = std::vector; + struct GridCenter + { + float radius; + float avg_height; + float max_height; + uint16_t grid_id; + }; + struct PointsCentroid { float radius_sum; float height_sum; float radius_avg; float height_avg; + float height_max; uint32_t point_num; + uint16_t grid_id; PointsCentroid() : radius_sum(0.0f), height_sum(0.0f), radius_avg(0.0f), height_avg(0.0f), point_num(0) @@ -86,7 +99,9 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter height_sum = 0.0f; radius_avg = 0.0f; height_avg = 0.0f; + height_max = 0.0f; point_num = 0; + grid_id = 0; } void addPoint(const float radius, const float height) @@ -96,6 +111,7 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter ++point_num; radius_avg = radius_sum / point_num; height_avg = height_sum / point_num; + height_max = height_max < height ? height : height_max; } float getAverageSlope() { return std::atan2(height_avg, radius_avg); } @@ -103,6 +119,10 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter float getAverageHeight() { return height_avg; } float getAverageRadius() { return radius_avg; } + + float getMaxHeight() { return height_max; } + + uint16_t getGridId() { return grid_id; } }; void filter( @@ -111,8 +131,19 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter tf2_ros::Buffer tf_buffer_{get_clock()}; tf2_ros::TransformListener tf_listener_{tf_buffer_}; - std::string base_frame_; - std::string sensor_frame_; + const uint16_t gnd_grid_continual_thresh_ = 3; + bool elevation_grid_mode_; + float non_ground_height_threshold_; + float grid_size_rad_; + float grid_size_m_; + float low_priority_region_x_; + uint16_t gnd_grid_buffer_size_; + float grid_mode_switch_grid_id_; + float grid_mode_switch_angle_rad_; + float virtual_lidar_z_; + float detection_range_z_max_; + float center_pcl_shift_; // virtual center of pcl to center mass + float grid_mode_switch_radius_; // non linear grid size switching distance double global_slope_max_angle_rad_; // radians double local_slope_max_angle_rad_; // radians double radial_divider_angle_rad_; // distance in rads between dividers @@ -141,7 +172,9 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter void convertPointcloud( const pcl::PointCloud::Ptr in_cloud, std::vector & out_radial_ordered_points_manager); - + void convertPointcloudGridScan( + const pcl::PointCloud::Ptr in_cloud, + std::vector & out_radial_ordered_points_manager); /*! * Output ground center of front wheels as the virtual ground point * @param[out] point Virtual ground origin point @@ -155,10 +188,22 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter * @param out_no_ground_indices Returns the indices of the points * classified as not ground in the original PointCloud */ + + void initializeFirstGndGrids( + const float h, const float r, const uint16_t id, std::vector & gnd_grids); + + void checkContinuousGndGrid( + PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster); + void checkDiscontinuousGndGrid( + PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster); + void checkBreakGndGrid( + PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster); void classifyPointCloud( std::vector & in_radial_ordered_clouds, pcl::PointIndices & out_no_ground_indices); - + void classifyPointCloudGridScan( + std::vector & in_radial_ordered_clouds, + pcl::PointIndices & out_no_ground_indices); /*! * Returns the resulting complementary PointCloud, one with the points kept * and the other removed as indicated in the indices diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp index 77738a831197b..1ea0e47223bd7 100644 --- a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp @@ -37,14 +37,30 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & { // set initial parameters { + low_priority_region_x_ = static_cast(declare_parameter("low_priority_region_x", -20.0f)); + detection_range_z_max_ = static_cast(declare_parameter("detection_range_z_max", 2.5f)); + center_pcl_shift_ = static_cast(declare_parameter("center_pcl_shift", 0.0)); + non_ground_height_threshold_ = + static_cast(declare_parameter("non_ground_height_threshold", 0.20)); + grid_mode_switch_radius_ = + static_cast(declare_parameter("grid_mode_switch_radius", 20.0)); + + grid_size_m_ = static_cast(declare_parameter("grid_size_m", 0.5)); + gnd_grid_buffer_size_ = static_cast(declare_parameter("gnd_grid_buffer_size", 4)); + elevation_grid_mode_ = static_cast(declare_parameter("elevation_grid_mode", true)); global_slope_max_angle_rad_ = deg2rad(declare_parameter("global_slope_max_angle_deg", 8.0)); - local_slope_max_angle_rad_ = deg2rad(declare_parameter("local_slope_max_angle_deg", 6.0)); + local_slope_max_angle_rad_ = deg2rad(declare_parameter("local_slope_max_angle_deg", 10.0)); radial_divider_angle_rad_ = deg2rad(declare_parameter("radial_divider_angle_deg", 1.0)); split_points_distance_tolerance_ = declare_parameter("split_points_distance_tolerance", 0.2); split_height_distance_ = declare_parameter("split_height_distance", 0.2); use_virtual_ground_point_ = declare_parameter("use_virtual_ground_point", true); radial_dividers_num_ = std::ceil(2.0 * M_PI / radial_divider_angle_rad_); vehicle_info_ = VehicleInfoUtil(*this).getVehicleInfo(); + + grid_mode_switch_grid_id_ = + grid_mode_switch_radius_ / grid_size_m_; // changing the mode of grid division + virtual_lidar_z_ = vehicle_info_.vehicle_height_m; + grid_mode_switch_angle_rad_ = std::atan2(grid_mode_switch_radius_, virtual_lidar_z_); } using std::placeholders::_1; @@ -52,6 +68,63 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & std::bind(&ScanGroundFilterComponent::onParameter, this, _1)); } +void ScanGroundFilterComponent::convertPointcloudGridScan( + const pcl::PointCloud::Ptr in_cloud, + std::vector & out_radial_ordered_points) +{ + out_radial_ordered_points.resize(radial_dividers_num_); + PointRef current_point; + uint16_t back_steps_num = 1; + + grid_size_rad_ = + normalizeRadian(std::atan2(grid_mode_switch_radius_ + grid_size_m_, virtual_lidar_z_)) - + normalizeRadian(std::atan2(grid_mode_switch_radius_, virtual_lidar_z_)); + for (size_t i = 0; i < in_cloud->points.size(); ++i) { + auto x{ + in_cloud->points[i].x - vehicle_info_.wheel_base_m / 2.0f - + center_pcl_shift_}; // base on front wheel center + // auto y{in_cloud->points[i].y}; + auto radius{static_cast(std::hypot(x, in_cloud->points[i].y))}; + auto theta{normalizeRadian(std::atan2(x, in_cloud->points[i].y), 0.0)}; + + // divide by vertical angle + auto gamma{normalizeRadian(std::atan2(radius, virtual_lidar_z_), 0.0f)}; + auto radial_div{ + static_cast(std::floor(normalizeDegree(theta / radial_divider_angle_rad_, 0.0)))}; + uint16_t grid_id = 0; + float curr_grid_size = 0.0f; + if (radius <= grid_mode_switch_radius_) { + grid_id = static_cast(radius / grid_size_m_); + curr_grid_size = grid_size_m_; + } else { + grid_id = grid_mode_switch_grid_id_ + (gamma - grid_mode_switch_angle_rad_) / grid_size_rad_; + if (grid_id <= grid_mode_switch_grid_id_ + back_steps_num) { + curr_grid_size = grid_size_m_; + } else { + curr_grid_size = std::tan(gamma) - std::tan(gamma - grid_size_rad_); + curr_grid_size *= virtual_lidar_z_; + } + } + current_point.grid_id = grid_id; + current_point.grid_size = curr_grid_size; + current_point.radius = radius; + current_point.theta = theta; + current_point.radial_div = radial_div; + current_point.point_state = PointLabel::INIT; + current_point.orig_index = i; + current_point.orig_point = &in_cloud->points[i]; + + // radial divisions + out_radial_ordered_points[radial_div].emplace_back(current_point); + } + + // sort by distance + for (size_t i = 0; i < radial_dividers_num_; ++i) { + std::sort( + out_radial_ordered_points[i].begin(), out_radial_ordered_points[i].end(), + [](const PointRef & a, const PointRef & b) { return a.radius < b.radius; }); + } +} void ScanGroundFilterComponent::convertPointcloud( const pcl::PointCloud::Ptr in_cloud, std::vector & out_radial_ordered_points) @@ -91,6 +164,233 @@ void ScanGroundFilterComponent::calcVirtualGroundOrigin(pcl::PointXYZ & point) point.z = 0; } +void ScanGroundFilterComponent::initializeFirstGndGrids( + const float h, const float r, const uint16_t id, std::vector & gnd_grids) +{ + GridCenter curr_gnd_grid; + for (int ind_grid = id - 1 - gnd_grid_buffer_size_; ind_grid < id - 1; ind_grid++) { + float ind_gnd_z = ind_grid - id + 1 + gnd_grid_buffer_size_; + ind_gnd_z *= h / static_cast(gnd_grid_buffer_size_); + + float ind_gnd_radius = ind_grid - id + 1 + gnd_grid_buffer_size_; + ind_gnd_radius *= r / static_cast(gnd_grid_buffer_size_); + + curr_gnd_grid.radius = ind_gnd_radius; + curr_gnd_grid.avg_height = ind_gnd_z; + curr_gnd_grid.max_height = ind_gnd_z; + curr_gnd_grid.grid_id = ind_grid; + gnd_grids.push_back(curr_gnd_grid); + } +} + +void ScanGroundFilterComponent::checkContinuousGndGrid( + PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster) +{ + float next_gnd_z = 0.0f; + float curr_gnd_slope_rad = 0.0f; + float gnd_buff_z_mean = 0.0f; + float gnd_buff_z_max = 0.0f; + float gnd_buff_radius = 0.0f; + + for (auto it = gnd_grids_list.end() - gnd_grid_buffer_size_ - 1; it < gnd_grids_list.end() - 1; + it++) { + gnd_buff_radius += it->radius; + gnd_buff_z_mean += it->avg_height; + gnd_buff_z_max += it->max_height; + } + + gnd_buff_radius /= static_cast(gnd_grid_buffer_size_ - 1); + gnd_buff_z_max /= static_cast(gnd_grid_buffer_size_ - 1); + gnd_buff_z_mean /= static_cast(gnd_grid_buffer_size_ - 1); + + float tmp_delta_mean_z = gnd_grids_list.back().avg_height - gnd_buff_z_mean; + float tmp_delta_radius = gnd_grids_list.back().radius - gnd_buff_radius; + + curr_gnd_slope_rad = std::atan(tmp_delta_mean_z / tmp_delta_radius); + curr_gnd_slope_rad = curr_gnd_slope_rad < -global_slope_max_angle_rad_ + ? -global_slope_max_angle_rad_ + : curr_gnd_slope_rad; + curr_gnd_slope_rad = curr_gnd_slope_rad > global_slope_max_angle_rad_ + ? global_slope_max_angle_rad_ + : curr_gnd_slope_rad; + + next_gnd_z = std::tan(curr_gnd_slope_rad) * (p.radius - gnd_buff_radius) + gnd_buff_z_mean; + + float gnd_z_local_thresh = std::tan(DEG2RAD(5.0)) * (p.radius - gnd_grids_list.back().radius); + + tmp_delta_mean_z = p.orig_point->z - (gnd_grids_list.end() - 2)->avg_height; + tmp_delta_radius = p.radius - (gnd_grids_list.end() - 2)->radius; + float local_slope = std::atan(tmp_delta_mean_z / tmp_delta_radius); + if ( + abs(p.orig_point->z - next_gnd_z) <= non_ground_height_threshold_ + gnd_z_local_thresh || + abs(local_slope) <= local_slope_max_angle_rad_) { + gnd_cluster.addPoint(p.radius, p.orig_point->z); + p.point_state = PointLabel::GROUND; + } else if (p.orig_point->z - next_gnd_z > non_ground_height_threshold_ + gnd_z_local_thresh) { + p.point_state = PointLabel::NON_GROUND; + } +} +void ScanGroundFilterComponent::checkDiscontinuousGndGrid( + PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster) +{ + float tmp_delta_max_z = p.orig_point->z - gnd_grids_list.back().max_height; + float tmp_delta_avg_z = p.orig_point->z - gnd_grids_list.back().avg_height; + float tmp_delta_radius = p.radius - gnd_grids_list.back().radius; + float local_slope = std::atan(tmp_delta_avg_z / tmp_delta_radius); + + if ( + abs(local_slope) < local_slope_max_angle_rad_ || + abs(tmp_delta_avg_z) < non_ground_height_threshold_ || + abs(tmp_delta_max_z) < non_ground_height_threshold_) { + gnd_cluster.addPoint(p.radius, p.orig_point->z); + p.point_state = PointLabel::GROUND; + } else if (local_slope > global_slope_max_angle_rad_) { + p.point_state = PointLabel::NON_GROUND; + } +} + +void ScanGroundFilterComponent::checkBreakGndGrid( + PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster) +{ + float tmp_delta_avg_z = p.orig_point->z - gnd_grids_list.back().avg_height; + float tmp_delta_radius = p.radius - gnd_grids_list.back().radius; + float local_slope = std::atan(tmp_delta_avg_z / tmp_delta_radius); + if (abs(local_slope) < global_slope_max_angle_rad_) { + gnd_cluster.addPoint(p.radius, p.orig_point->z); + p.point_state = PointLabel::GROUND; + } else if (local_slope > global_slope_max_angle_rad_) { + p.point_state = PointLabel::NON_GROUND; + } +} +void ScanGroundFilterComponent::classifyPointCloudGridScan( + std::vector & in_radial_ordered_clouds, + pcl::PointIndices & out_no_ground_indices) +{ + out_no_ground_indices.indices.clear(); + for (size_t i = 0; i < in_radial_ordered_clouds.size(); i++) { + PointsCentroid ground_cluster; + ground_cluster.initialize(); + std::vector gnd_grids; + GridCenter curr_gnd_grid; + + // check empty ray + if (in_radial_ordered_clouds[i].size() == 0) { + continue; + } + + // check the first point in ray + auto * p = &in_radial_ordered_clouds[i][0]; + PointRef * prev_p; + prev_p = &in_radial_ordered_clouds[i][0]; // for checking the distance to prev point + + bool initialized_first_gnd_grid = false; + bool prev_list_init = false; + + for (size_t j = 0; j < in_radial_ordered_clouds[i].size(); j++) { + p = &in_radial_ordered_clouds[i][j]; + float global_slope_p = std::atan(p->orig_point->z / p->radius); + float non_ground_height_threshold_local = non_ground_height_threshold_; + if (p->orig_point->x < low_priority_region_x_) { + non_ground_height_threshold_local = + non_ground_height_threshold_ * abs(p->orig_point->x / low_priority_region_x_); + } + // classify first grid's point cloud + if ( + !initialized_first_gnd_grid && global_slope_p >= global_slope_max_angle_rad_ && + p->orig_point->z > non_ground_height_threshold_local) { + out_no_ground_indices.indices.push_back(p->orig_index); + p->point_state = PointLabel::NON_GROUND; + prev_p = p; + continue; + } + + if ( + !initialized_first_gnd_grid && abs(global_slope_p) < global_slope_max_angle_rad_ && + abs(p->orig_point->z) < non_ground_height_threshold_local) { + ground_cluster.addPoint(p->radius, p->orig_point->z); + p->point_state = PointLabel::GROUND; + initialized_first_gnd_grid = static_cast(p->grid_id - prev_p->grid_id); + prev_p = p; + continue; + } + + if ( + !initialized_first_gnd_grid && global_slope_p < -global_slope_max_angle_rad_ && + p->orig_point->z < -non_ground_height_threshold_local) { + prev_p = p; + continue; + } + + // initialize lists of previous gnd grids + if (prev_list_init == false && initialized_first_gnd_grid == true) { + float h = ground_cluster.getAverageHeight(); + float r = ground_cluster.getAverageRadius(); + initializeFirstGndGrids(h, r, p->grid_id, gnd_grids); + prev_list_init = true; + } + + if (prev_list_init == false && initialized_first_gnd_grid == false) { + // assume first gnd grid is zero + initializeFirstGndGrids(0.0f, p->radius, p->grid_id, gnd_grids); + prev_list_init = true; + } + + // move to new grid + if (p->grid_id > prev_p->grid_id && ground_cluster.getAverageRadius() > 0.0) { + // check if the prev grid have ground point cloud + curr_gnd_grid.radius = ground_cluster.getAverageRadius(); + curr_gnd_grid.avg_height = ground_cluster.getAverageHeight(); + curr_gnd_grid.max_height = ground_cluster.getMaxHeight(); + curr_gnd_grid.grid_id = prev_p->grid_id; + gnd_grids.push_back(curr_gnd_grid); + ground_cluster.initialize(); + } + // classify + if (p->orig_point->z - gnd_grids.back().avg_height > detection_range_z_max_) { + p->point_state = PointLabel::OUT_OF_RANGE; + prev_p = p; + continue; + } + float points_xy_distance = std::hypot( + p->orig_point->x - prev_p->orig_point->x, p->orig_point->y - prev_p->orig_point->y); + if ( + prev_p->point_state == PointLabel::NON_GROUND && + points_xy_distance < split_points_distance_tolerance_ && + p->orig_point->z > prev_p->orig_point->z) { + p->point_state = PointLabel::NON_GROUND; + out_no_ground_indices.indices.push_back(p->orig_index); + prev_p = p; + continue; + } + + if (global_slope_p > global_slope_max_angle_rad_) { + out_no_ground_indices.indices.push_back(p->orig_index); + prev_p = p; + continue; + } + // gnd grid is continuous, the last gnd grid is close + uint16_t next_gnd_grid_id_thresh = (gnd_grids.end() - gnd_grid_buffer_size_)->grid_id + + gnd_grid_buffer_size_ + gnd_grid_continual_thresh_; + if ( + p->grid_id < next_gnd_grid_id_thresh && + p->radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * p->grid_size) { + checkContinuousGndGrid(*p, gnd_grids, ground_cluster); + + } else if ( + p->radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * p->grid_size || + p->radius < grid_mode_switch_radius_ * 2.0f) { + checkDiscontinuousGndGrid(*p, gnd_grids, ground_cluster); + } else { + checkBreakGndGrid(*p, gnd_grids, ground_cluster); + } + if (p->point_state == PointLabel::NON_GROUND) { + out_no_ground_indices.indices.push_back(p->orig_index); + } + prev_p = p; + } + } +} + void ScanGroundFilterComponent::classifyPointCloud( std::vector & in_radial_ordered_clouds, pcl::PointIndices & out_no_ground_indices) @@ -224,13 +524,17 @@ void ScanGroundFilterComponent::filter( std::vector radial_ordered_points; - convertPointcloud(current_sensor_cloud_ptr, radial_ordered_points); - pcl::PointIndices no_ground_indices; pcl::PointCloud::Ptr no_ground_cloud_ptr(new pcl::PointCloud); no_ground_cloud_ptr->points.reserve(current_sensor_cloud_ptr->points.size()); - classifyPointCloud(radial_ordered_points, no_ground_indices); + if (elevation_grid_mode_) { + convertPointcloudGridScan(current_sensor_cloud_ptr, radial_ordered_points); + classifyPointCloudGridScan(radial_ordered_points, no_ground_indices); + } else { + convertPointcloud(current_sensor_cloud_ptr, radial_ordered_points); + classifyPointCloud(radial_ordered_points, no_ground_indices); + } extractObjectPoints(current_sensor_cloud_ptr, no_ground_indices, no_ground_cloud_ptr); From 5549db4fac767ece528169b2b867aff93153a6b6 Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Thu, 6 Oct 2022 11:33:09 +0900 Subject: [PATCH 14/28] refactor(perception_utils): refactor perception_utils (#1954) * add inline Signed-off-by: scepter914 * divide file Signed-off-by: scepter914 * add matching.hpp Signed-off-by: scepter914 * add transform.hpp Signed-off-by: scepter914 * delete from perception_util.hpp Signed-off-by: scepter914 * fix include file Signed-off-by: scepter914 * fix include file Signed-off-by: scepter914 * fix CmakeLists Signed-off-by: scepter914 * divide test files Signed-off-by: scepter914 * fix include files Signed-off-by: scepter914 * fix file name Signed-off-by: scepter914 * fix test name Signed-off-by: scepter914 * fix copyright Signed-off-by: scepter914 * fix input arg of object classification function Signed-off-by: scepter914 * add unit label function to classification library Signed-off-by: scepter914 * fix compile error Signed-off-by: scepter914 * ci(pre-commit): autofix * fix include path Signed-off-by: scepter914 * delete inline from template function Signed-off-by: scepter914 * delete inline function Signed-off-by: scepter914 * add TODO Signed-off-by: scepter914 * change to build function Signed-off-by: scepter914 * apply pre-commit Signed-off-by: scepter914 * fix conflict Signed-off-by: scepter914 * add getConvexShapeArea function Signed-off-by: scepter914 * fix unnamed namespace Signed-off-by: scepter914 Signed-off-by: scepter914 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- common/perception_utils/CMakeLists.txt | 2 +- .../include/perception_utils/conversion.hpp | 34 ++ .../include/perception_utils/matching.hpp | 151 +++++++++ .../object_classification.hpp | 51 ++- .../perception_utils/perception_utils.hpp | 215 +------------ .../perception_utils/predicted_path_utils.hpp | 7 - .../include/perception_utils/transform.hpp | 85 +++++ .../{perception_utils.cpp => conversion.cpp} | 37 +-- .../src/predicted_path_utils.cpp | 6 + ...rception_utils.cpp => test_conversion.cpp} | 303 +----------------- .../test/src/test_geometry.cpp | 2 +- .../test/src/test_matching.cpp | 286 +++++++++++++++++ .../test/src/test_object_classification.cpp | 63 ++++ .../test/src/test_predicted_path_utils.cpp | 2 +- 14 files changed, 697 insertions(+), 547 deletions(-) create mode 100644 common/perception_utils/include/perception_utils/conversion.hpp create mode 100644 common/perception_utils/include/perception_utils/matching.hpp create mode 100644 common/perception_utils/include/perception_utils/transform.hpp rename common/perception_utils/src/{perception_utils.cpp => conversion.cpp} (65%) rename common/perception_utils/test/src/{test_perception_utils.cpp => test_conversion.cpp} (51%) create mode 100644 common/perception_utils/test/src/test_matching.cpp create mode 100644 common/perception_utils/test/src/test_object_classification.cpp diff --git a/common/perception_utils/CMakeLists.txt b/common/perception_utils/CMakeLists.txt index b6d9376a790ae..338874a41a3f7 100644 --- a/common/perception_utils/CMakeLists.txt +++ b/common/perception_utils/CMakeLists.txt @@ -7,8 +7,8 @@ autoware_package() find_package(Boost REQUIRED) ament_auto_add_library(perception_utils SHARED - src/perception_utils.cpp src/predicted_path_utils.cpp + src/conversion.cpp ) if(BUILD_TESTING) diff --git a/common/perception_utils/include/perception_utils/conversion.hpp b/common/perception_utils/include/perception_utils/conversion.hpp new file mode 100644 index 0000000000000..1497114eee532 --- /dev/null +++ b/common/perception_utils/include/perception_utils/conversion.hpp @@ -0,0 +1,34 @@ +// 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 PERCEPTION_UTILS__CONVERSION_HPP_ +#define PERCEPTION_UTILS__CONVERSION_HPP_ + +#include "autoware_auto_perception_msgs/msg/detected_objects.hpp" +#include "autoware_auto_perception_msgs/msg/tracked_objects.hpp" + +namespace perception_utils +{ +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_auto_perception_msgs::msg::TrackedObject; +using autoware_auto_perception_msgs::msg::TrackedObjects; + +DetectedObject toDetectedObject(const TrackedObject & tracked_object); +DetectedObjects toDetectedObjects(const TrackedObjects & tracked_objects); +TrackedObject toTrackedObject(const DetectedObject & detected_object); +TrackedObjects toTrackedObjects(const DetectedObjects & detected_objects); +} // namespace perception_utils + +#endif // PERCEPTION_UTILS__CONVERSION_HPP_ diff --git a/common/perception_utils/include/perception_utils/matching.hpp b/common/perception_utils/include/perception_utils/matching.hpp new file mode 100644 index 0000000000000..e8aac78e32cb2 --- /dev/null +++ b/common/perception_utils/include/perception_utils/matching.hpp @@ -0,0 +1,151 @@ +// 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 PERCEPTION_UTILS__MATCHING_HPP_ +#define PERCEPTION_UTILS__MATCHING_HPP_ + +#include "perception_utils/geometry.hpp" +#include "tier4_autoware_utils/geometry/boost_geometry.hpp" +#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" + +#include + +#include +#include + +namespace perception_utils +{ +inline double getConvexShapeArea( + const tier4_autoware_utils::Polygon2d & source_polygon, + const tier4_autoware_utils::Polygon2d & target_polygon) +{ + boost::geometry::model::multi_polygon union_polygons; + boost::geometry::union_(source_polygon, target_polygon, union_polygons); + + tier4_autoware_utils::Polygon2d hull; + boost::geometry::convex_hull(union_polygons, hull); + return boost::geometry::area(hull); +} + +template +double get2dIoU(const T1 source_object, const T2 target_object) +{ + const auto & source_pose = getPose(source_object); + const auto & target_pose = getPose(target_object); + + const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_pose, source_object.shape); + const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_pose, target_object.shape); + + std::vector union_polygons; + std::vector intersection_polygons; + boost::geometry::union_(source_polygon, target_polygon, union_polygons); + boost::geometry::intersection(source_polygon, target_polygon, intersection_polygons); + + double intersection_area = 0.0; + double union_area = 0.0; + for (const auto & intersection_polygon : intersection_polygons) { + intersection_area += boost::geometry::area(intersection_polygon); + } + if (intersection_area == 0.0) return 0.0; + + for (const auto & union_polygon : union_polygons) { + union_area += boost::geometry::area(union_polygon); + } + + const double iou = union_area < 0.01 ? 0.0 : std::min(1.0, intersection_area / union_area); + return iou; +} + +template +double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object) +{ + const auto & source_pose = getPose(source_object); + const auto & target_pose = getPose(target_object); + + const auto & source_polygon = tier4_autoware_utils::toPolygon2d(source_pose, source_object.shape); + const auto & target_polygon = tier4_autoware_utils::toPolygon2d(target_pose, target_object.shape); + + std::vector union_polygons; + std::vector intersection_polygons; + boost::geometry::union_(source_polygon, target_polygon, union_polygons); + boost::geometry::intersection(source_polygon, target_polygon, intersection_polygons); + + double intersection_area = 0.0; + double union_area = 0.0; + for (const auto & intersection_polygon : intersection_polygons) { + intersection_area += boost::geometry::area(intersection_polygon); + } + + for (const auto & union_polygon : union_polygons) { + union_area += boost::geometry::area(union_polygon); + } + + const double iou = union_area < 0.01 ? 0.0 : std::min(1.0, intersection_area / union_area); + const double convex_shape_area = getConvexShapeArea(source_polygon, target_polygon); + return iou - (convex_shape_area - union_area) / convex_shape_area; +} + +template +double get2dPrecision(const T1 source_object, const T2 target_object) +{ + const auto & source_pose = getPose(source_object); + const auto & target_pose = getPose(target_object); + + const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_pose, source_object.shape); + const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_pose, target_object.shape); + + std::vector intersection_polygons; + boost::geometry::intersection(source_polygon, target_polygon, intersection_polygons); + + double intersection_area = 0.0; + double source_area = 0.0; + for (const auto & intersection_polygon : intersection_polygons) { + intersection_area += boost::geometry::area(intersection_polygon); + } + if (intersection_area == 0.0) return 0.0; + + source_area = boost::geometry::area(source_polygon); + + const double precision = std::min(1.0, intersection_area / source_area); + return precision; +} + +template +double get2dRecall(const T1 source_object, const T2 target_object) +{ + const auto & source_pose = getPose(source_object); + const auto & target_pose = getPose(target_object); + + const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_pose, source_object.shape); + const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_pose, target_object.shape); + + std::vector intersection_polygons; + boost::geometry::intersection(source_polygon, target_polygon, intersection_polygons); + + double intersection_area = 0.0; + double target_area = 0.0; + for (const auto & intersection_polygon : intersection_polygons) { + intersection_area += boost::geometry::area(intersection_polygon); + } + if (intersection_area == 0.0) return 0.0; + + target_area += boost::geometry::area(target_polygon); + + const double recall = std::min(1.0, intersection_area / target_area); + return recall; +} + +} // namespace perception_utils + +#endif // PERCEPTION_UTILS__MATCHING_HPP_ diff --git a/common/perception_utils/include/perception_utils/object_classification.hpp b/common/perception_utils/include/perception_utils/object_classification.hpp index 841466c6f8db5..a73eac253b17d 100644 --- a/common/perception_utils/include/perception_utils/object_classification.hpp +++ b/common/perception_utils/include/perception_utils/object_classification.hpp @@ -17,11 +17,28 @@ #include "autoware_auto_perception_msgs/msg/object_classification.hpp" +#include + namespace perception_utils { using autoware_auto_perception_msgs::msg::ObjectClassification; -bool isVehicle(const uint8_t object_classification) +inline std::uint8_t getHighestProbLabel( + const std::vector & object_classifications) +{ + std::uint8_t label = ObjectClassification::UNKNOWN; + float highest_prob = 0.0; + // TODO(Satoshi Tanaka): It might be simple if you use STL or range-v3. + for (const auto & object_classification : object_classifications) { + if (highest_prob < object_classification.probability) { + highest_prob = object_classification.probability; + label = object_classification.label; + } + } + return label; +} + +inline bool isVehicle(const uint8_t object_classification) { return object_classification == ObjectClassification::BICYCLE || object_classification == ObjectClassification::BUS || @@ -31,7 +48,18 @@ bool isVehicle(const uint8_t object_classification) object_classification == ObjectClassification::TRUCK; } -bool isCarLikeVehicle(const uint8_t object_classification) +inline bool isVehicle(const std::vector & object_classifications) +{ + auto highest_prob_classification = getHighestProbLabel(object_classifications); + return highest_prob_classification == ObjectClassification::BICYCLE || + highest_prob_classification == ObjectClassification::BUS || + highest_prob_classification == ObjectClassification::CAR || + highest_prob_classification == ObjectClassification::MOTORCYCLE || + highest_prob_classification == ObjectClassification::TRAILER || + highest_prob_classification == ObjectClassification::TRUCK; +} + +inline bool isCarLikeVehicle(const uint8_t object_classification) { return object_classification == ObjectClassification::BUS || object_classification == ObjectClassification::CAR || @@ -39,12 +67,29 @@ bool isCarLikeVehicle(const uint8_t object_classification) object_classification == ObjectClassification::TRUCK; } -bool isLargeVehicle(const uint8_t object_classification) +inline bool isCarLikeVehicle(const std::vector & object_classifications) +{ + auto highest_prob_classification = getHighestProbLabel(object_classifications); + return highest_prob_classification == ObjectClassification::BUS || + highest_prob_classification == ObjectClassification::CAR || + highest_prob_classification == ObjectClassification::TRAILER || + highest_prob_classification == ObjectClassification::TRUCK; +} + +inline bool isLargeVehicle(const uint8_t object_classification) { return object_classification == ObjectClassification::BUS || object_classification == ObjectClassification::TRAILER || object_classification == ObjectClassification::TRUCK; } + +inline bool isLargeVehicle(const std::vector & object_classifications) +{ + auto highest_prob_classification = getHighestProbLabel(object_classifications); + return highest_prob_classification == ObjectClassification::BUS || + highest_prob_classification == ObjectClassification::TRAILER || + highest_prob_classification == ObjectClassification::TRUCK; +} } // namespace perception_utils #endif // PERCEPTION_UTILS__OBJECT_CLASSIFICATION_HPP_ diff --git a/common/perception_utils/include/perception_utils/perception_utils.hpp b/common/perception_utils/include/perception_utils/perception_utils.hpp index eec280ce6c6c8..352ade44a783e 100644 --- a/common/perception_utils/include/perception_utils/perception_utils.hpp +++ b/common/perception_utils/include/perception_utils/perception_utils.hpp @@ -15,216 +15,11 @@ #ifndef PERCEPTION_UTILS__PERCEPTION_UTILS_HPP_ #define PERCEPTION_UTILS__PERCEPTION_UTILS_HPP_ +#include "perception_utils/conversion.hpp" #include "perception_utils/geometry.hpp" -#include "tier4_autoware_utils/geometry/boost_geometry.hpp" -#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" +#include "perception_utils/matching.hpp" +#include "perception_utils/object_classification.hpp" +#include "perception_utils/predicted_path_utils.hpp" +#include "perception_utils/transform.hpp" -#include "autoware_auto_perception_msgs/msg/detected_objects.hpp" -#include "autoware_auto_perception_msgs/msg/tracked_objects.hpp" -#include "geometry_msgs/msg/transform.hpp" - -#include - -#include -#include - -#include -#include -#include -#include -#include - -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif - -namespace -{ -[[maybe_unused]] boost::optional getTransform( - const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id, - const std::string & target_frame_id, const rclcpp::Time & time) -{ - try { - geometry_msgs::msg::TransformStamped self_transform_stamped; - self_transform_stamped = tf_buffer.lookupTransform( - target_frame_id, source_frame_id, time, rclcpp::Duration::from_seconds(0.5)); - return self_transform_stamped.transform; - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM(rclcpp::get_logger("perception_utils"), ex.what()); - return boost::none; - } -} - -inline double getConvexShapeArea( - const tier4_autoware_utils::Polygon2d & source_polygon, - const tier4_autoware_utils::Polygon2d & target_polygon) -{ - boost::geometry::model::multi_polygon union_polygons; - boost::geometry::union_(source_polygon, target_polygon, union_polygons); - - tier4_autoware_utils::Polygon2d hull; - boost::geometry::convex_hull(union_polygons, hull); - return boost::geometry::area(hull); -} - -} // namespace - -namespace perception_utils -{ -std::uint8_t getHighestProbLabel( - const std::vector & classification); - -autoware_auto_perception_msgs::msg::DetectedObject toDetectedObject( - const autoware_auto_perception_msgs::msg::TrackedObject & tracked_object); - -autoware_auto_perception_msgs::msg::DetectedObjects toDetectedObjects( - const autoware_auto_perception_msgs::msg::TrackedObjects & tracked_objects); - -autoware_auto_perception_msgs::msg::TrackedObject toTrackedObject( - const autoware_auto_perception_msgs::msg::DetectedObject & detected_object); - -autoware_auto_perception_msgs::msg::TrackedObjects toTrackedObjects( - const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects); - -template -inline double get2dIoU(const T1 source_object, const T2 target_object) -{ - const auto & source_pose = getPose(source_object); - const auto & target_pose = getPose(target_object); - - const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_pose, source_object.shape); - const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_pose, target_object.shape); - - std::vector union_polygons; - std::vector intersection_polygons; - boost::geometry::union_(source_polygon, target_polygon, union_polygons); - boost::geometry::intersection(source_polygon, target_polygon, intersection_polygons); - - double intersection_area = 0.0; - double union_area = 0.0; - for (const auto & intersection_polygon : intersection_polygons) { - intersection_area += boost::geometry::area(intersection_polygon); - } - if (intersection_area == 0.0) return 0.0; - - for (const auto & union_polygon : union_polygons) { - union_area += boost::geometry::area(union_polygon); - } - - const double iou = union_area < 0.01 ? 0.0 : std::min(1.0, intersection_area / union_area); - return iou; -} - -template -inline double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object) -{ - const auto & source_pose = getPose(source_object); - const auto & target_pose = getPose(target_object); - - const auto & source_polygon = tier4_autoware_utils::toPolygon2d(source_pose, source_object.shape); - const auto & target_polygon = tier4_autoware_utils::toPolygon2d(target_pose, target_object.shape); - - std::vector union_polygons; - std::vector intersection_polygons; - boost::geometry::union_(source_polygon, target_polygon, union_polygons); - boost::geometry::intersection(source_polygon, target_polygon, intersection_polygons); - - double intersection_area = 0.0; - double union_area = 0.0; - for (const auto & intersection_polygon : intersection_polygons) { - intersection_area += boost::geometry::area(intersection_polygon); - } - - for (const auto & union_polygon : union_polygons) { - union_area += boost::geometry::area(union_polygon); - } - - const double iou = union_area < 0.01 ? 0.0 : std::min(1.0, intersection_area / union_area); - const double convex_shape_area = getConvexShapeArea(source_polygon, target_polygon); - return iou - (convex_shape_area - union_area) / convex_shape_area; -} - -template -inline double get2dPrecision(const T1 source_object, const T2 target_object) -{ - const auto & source_pose = getPose(source_object); - const auto & target_pose = getPose(target_object); - - const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_pose, source_object.shape); - const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_pose, target_object.shape); - - std::vector intersection_polygons; - boost::geometry::intersection(source_polygon, target_polygon, intersection_polygons); - - double intersection_area = 0.0; - double source_area = 0.0; - for (const auto & intersection_polygon : intersection_polygons) { - intersection_area += boost::geometry::area(intersection_polygon); - } - if (intersection_area == 0.0) return 0.0; - - source_area = boost::geometry::area(source_polygon); - - const double precision = std::min(1.0, intersection_area / source_area); - return precision; -} - -template -inline double get2dRecall(const T1 source_object, const T2 target_object) -{ - const auto & source_pose = getPose(source_object); - const auto & target_pose = getPose(target_object); - - const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_pose, source_object.shape); - const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_pose, target_object.shape); - - std::vector intersection_polygons; - boost::geometry::intersection(source_polygon, target_polygon, intersection_polygons); - - double intersection_area = 0.0; - double target_area = 0.0; - for (const auto & intersection_polygon : intersection_polygons) { - intersection_area += boost::geometry::area(intersection_polygon); - } - if (intersection_area == 0.0) return 0.0; - - target_area += boost::geometry::area(target_polygon); - - const double recall = std::min(1.0, intersection_area / target_area); - return recall; -} - -template -bool transformObjects( - const T & input_msg, const std::string & target_frame_id, const tf2_ros::Buffer & tf_buffer, - T & output_msg) -{ - output_msg = input_msg; - - // transform to world coordinate - if (input_msg.header.frame_id != target_frame_id) { - output_msg.header.frame_id = target_frame_id; - tf2::Transform tf_target2objects_world; - tf2::Transform tf_target2objects; - tf2::Transform tf_objects_world2objects; - { - const auto ros_target2objects_world = - getTransform(tf_buffer, input_msg.header.frame_id, target_frame_id, input_msg.header.stamp); - if (!ros_target2objects_world) { - return false; - } - tf2::fromMsg(*ros_target2objects_world, tf_target2objects_world); - } - for (auto & object : output_msg.objects) { - tf2::fromMsg(object.kinematics.pose_with_covariance.pose, tf_objects_world2objects); - tf_target2objects = tf_target2objects_world * tf_objects_world2objects; - tf2::toMsg(tf_target2objects, object.kinematics.pose_with_covariance.pose); - // TODO(yukkysaito) transform covariance - } - } - return true; -} -} // namespace perception_utils #endif // PERCEPTION_UTILS__PERCEPTION_UTILS_HPP_ diff --git a/common/perception_utils/include/perception_utils/predicted_path_utils.hpp b/common/perception_utils/include/perception_utils/predicted_path_utils.hpp index 4e5593bff3412..c02282f9efeea 100644 --- a/common/perception_utils/include/perception_utils/predicted_path_utils.hpp +++ b/common/perception_utils/include/perception_utils/predicted_path_utils.hpp @@ -15,20 +15,13 @@ #ifndef PERCEPTION_UTILS__PREDICTED_PATH_UTILS_HPP_ #define PERCEPTION_UTILS__PREDICTED_PATH_UTILS_HPP_ -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spherical_linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" -#include "perception_utils/geometry.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" -#include - #include "autoware_auto_perception_msgs/msg/predicted_path.hpp" #include #include -#include #include namespace perception_utils diff --git a/common/perception_utils/include/perception_utils/transform.hpp b/common/perception_utils/include/perception_utils/transform.hpp new file mode 100644 index 0000000000000..54af7c04a006e --- /dev/null +++ b/common/perception_utils/include/perception_utils/transform.hpp @@ -0,0 +1,85 @@ +// 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 PERCEPTION_UTILS__TRANSFORM_HPP_ +#define PERCEPTION_UTILS__TRANSFORM_HPP_ + +#include "geometry_msgs/msg/transform.hpp" + +#include +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#else +#include +#endif + +#include "boost/optional.hpp" + +#include + +namespace +{ +[[maybe_unused]] boost::optional getTransform( + const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id, + const std::string & target_frame_id, const rclcpp::Time & time) +{ + try { + geometry_msgs::msg::TransformStamped self_transform_stamped; + self_transform_stamped = tf_buffer.lookupTransform( + target_frame_id, source_frame_id, time, rclcpp::Duration::from_seconds(0.5)); + return self_transform_stamped.transform; + } catch (tf2::TransformException & ex) { + RCLCPP_WARN_STREAM(rclcpp::get_logger("perception_utils"), ex.what()); + return boost::none; + } +} +} // namespace + +namespace perception_utils +{ +template +bool transformObjects( + const T & input_msg, const std::string & target_frame_id, const tf2_ros::Buffer & tf_buffer, + T & output_msg) +{ + output_msg = input_msg; + + // transform to world coordinate + if (input_msg.header.frame_id != target_frame_id) { + output_msg.header.frame_id = target_frame_id; + tf2::Transform tf_target2objects_world; + tf2::Transform tf_target2objects; + tf2::Transform tf_objects_world2objects; + { + const auto ros_target2objects_world = + getTransform(tf_buffer, input_msg.header.frame_id, target_frame_id, input_msg.header.stamp); + if (!ros_target2objects_world) { + return false; + } + tf2::fromMsg(*ros_target2objects_world, tf_target2objects_world); + } + for (auto & object : output_msg.objects) { + tf2::fromMsg(object.kinematics.pose_with_covariance.pose, tf_objects_world2objects); + tf_target2objects = tf_target2objects_world * tf_objects_world2objects; + tf2::toMsg(tf_target2objects, object.kinematics.pose_with_covariance.pose); + // TODO(yukkysaito) transform covariance + } + } + return true; +} +} // namespace perception_utils + +#endif // PERCEPTION_UTILS__TRANSFORM_HPP_ diff --git a/common/perception_utils/src/perception_utils.cpp b/common/perception_utils/src/conversion.cpp similarity index 65% rename from common/perception_utils/src/perception_utils.cpp rename to common/perception_utils/src/conversion.cpp index 2d9fa20da8458..ea42bf18739ca 100644 --- a/common/perception_utils/src/perception_utils.cpp +++ b/common/perception_utils/src/conversion.cpp @@ -12,28 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "perception_utils/perception_utils.hpp" +#include "perception_utils/conversion.hpp" namespace perception_utils { -std::uint8_t getHighestProbLabel( - const std::vector & classification) -{ - std::uint8_t label = autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN; - float highest_prob = 0.0; - for (const auto & _class : classification) { - if (highest_prob < _class.probability) { - highest_prob = _class.probability; - label = _class.label; - } - } - return label; -} +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_auto_perception_msgs::msg::TrackedObject; +using autoware_auto_perception_msgs::msg::TrackedObjects; -autoware_auto_perception_msgs::msg::DetectedObject toDetectedObject( - const autoware_auto_perception_msgs::msg::TrackedObject & tracked_object) +DetectedObject toDetectedObject(const TrackedObject & tracked_object) { - autoware_auto_perception_msgs::msg::DetectedObject detected_object; + DetectedObject detected_object; detected_object.existence_probability = tracked_object.existence_probability; detected_object.classification = tracked_object.classification; @@ -51,8 +41,7 @@ autoware_auto_perception_msgs::msg::DetectedObject toDetectedObject( return detected_object; } -autoware_auto_perception_msgs::msg::DetectedObjects toDetectedObjects( - const autoware_auto_perception_msgs::msg::TrackedObjects & tracked_objects) +DetectedObjects toDetectedObjects(const TrackedObjects & tracked_objects) { autoware_auto_perception_msgs::msg::DetectedObjects detected_objects; detected_objects.header = tracked_objects.header; @@ -63,10 +52,9 @@ autoware_auto_perception_msgs::msg::DetectedObjects toDetectedObjects( return detected_objects; } -autoware_auto_perception_msgs::msg::TrackedObject toTrackedObject( - const autoware_auto_perception_msgs::msg::DetectedObject & detected_object) +TrackedObject toTrackedObject(const DetectedObject & detected_object) { - autoware_auto_perception_msgs::msg::TrackedObject tracked_object; + TrackedObject tracked_object; tracked_object.existence_probability = detected_object.existence_probability; tracked_object.classification = detected_object.classification; @@ -81,10 +69,9 @@ autoware_auto_perception_msgs::msg::TrackedObject toTrackedObject( return tracked_object; } -autoware_auto_perception_msgs::msg::TrackedObjects toTrackedObjects( - const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects) +TrackedObjects toTrackedObjects(const DetectedObjects & detected_objects) { - autoware_auto_perception_msgs::msg::TrackedObjects tracked_objects; + TrackedObjects tracked_objects; tracked_objects.header = detected_objects.header; for (auto & detected_object : detected_objects.objects) { diff --git a/common/perception_utils/src/predicted_path_utils.cpp b/common/perception_utils/src/predicted_path_utils.cpp index 96ca74d2cb234..baabefa77aa2e 100644 --- a/common/perception_utils/src/predicted_path_utils.cpp +++ b/common/perception_utils/src/predicted_path_utils.cpp @@ -14,6 +14,12 @@ #include "perception_utils/predicted_path_utils.hpp" +#include "interpolation/linear_interpolation.hpp" +#include "interpolation/spherical_linear_interpolation.hpp" +#include "interpolation/spline_interpolation.hpp" + +#include + namespace perception_utils { boost::optional calcInterpolatedPose( diff --git a/common/perception_utils/test/src/test_perception_utils.cpp b/common/perception_utils/test/src/test_conversion.cpp similarity index 51% rename from common/perception_utils/test/src/test_perception_utils.cpp rename to common/perception_utils/test/src/test_conversion.cpp index 767ba82cc0460..95ca28ed4f110 100644 --- a/common/perception_utils/test/src/test_perception_utils.cpp +++ b/common/perception_utils/test/src/test_conversion.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 TIER IV, Inc. +// 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. @@ -12,16 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "perception_utils/perception_utils.hpp" +#include "perception_utils/conversion.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" #include -using tier4_autoware_utils::Point2d; -using tier4_autoware_utils::Point3d; - -constexpr double epsilon = 1e-06; - namespace { geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const double z) @@ -30,18 +25,6 @@ geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const p.x = x; p.y = y; p.z = z; - - return p; -} - -geometry_msgs::msg::Pose createPose(const double x, const double y, const double yaw) -{ - geometry_msgs::msg::Pose p; - p.position.x = x; - p.position.y = y; - p.position.z = 0.0; - p.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw); - return p; } @@ -56,40 +39,8 @@ autoware_auto_perception_msgs::msg::ObjectClassification createObjectClassificat } } // namespace -TEST(perception_utils, test_getHighestProbLabel) -{ - using autoware_auto_perception_msgs::msg::ObjectClassification; - using perception_utils::getHighestProbLabel; - - { // empty - std::vector classification; - std::uint8_t label = getHighestProbLabel(classification); - EXPECT_EQ(label, ObjectClassification::UNKNOWN); - } - - { // normal case - std::vector classification; - classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.5)); - classification.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8)); - classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.7)); - - std::uint8_t label = getHighestProbLabel(classification); - EXPECT_EQ(label, ObjectClassification::TRUCK); - } - - { // labels with the same probability - std::vector classification; - classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.8)); - classification.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8)); - classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.7)); - - std::uint8_t label = getHighestProbLabel(classification); - EXPECT_EQ(label, ObjectClassification::CAR); - } -} - // NOTE: covariance is not checked -TEST(perception_utils, test_toDetectedObject) +TEST(conversion, test_toDetectedObject) { using autoware_auto_perception_msgs::msg::ObjectClassification; using perception_utils::toDetectedObject; @@ -207,7 +158,7 @@ TEST(perception_utils, test_toDetectedObject) } // NOTE: covariance is not checked -TEST(perception_utils, test_toTrackedObject) +TEST(conversion, test_toTrackedObject) { using autoware_auto_perception_msgs::msg::ObjectClassification; using perception_utils::toTrackedObject; @@ -320,249 +271,3 @@ TEST(perception_utils, test_toTrackedObject) EXPECT_DOUBLE_EQ( detected_obj.shape.footprint.points.at(1).z, tracked_obj.shape.footprint.points.at(1).z); } - -TEST(perception_utils, test_get2dIoU) -{ - using perception_utils::get2dIoU; - const double quart_circle = 0.16237976320958225; - - { // non overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 1.5, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double iou = get2dIoU(source_obj, target_obj); - EXPECT_DOUBLE_EQ(iou, 0.0); - } - - { // partially overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.5, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double iou = get2dIoU(source_obj, target_obj); - EXPECT_NEAR(iou, quart_circle / (1.0 + quart_circle * 3), epsilon); - } - - { // fully overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double iou = get2dIoU(source_obj, target_obj); - EXPECT_DOUBLE_EQ(iou, quart_circle * 4); - } -} - -TEST(perception_utils, test_get2dGeneralizedIoU) -{ - using perception_utils::get2dGeneralizedIoU; - // TODO(Shin-kyoto): - // get2dGeneralizedIoU uses outer points of each polygon. - // But these points contain an sampling error of outer line, - // so get2dGeneralizedIoU icludes an error of about 0.03. - // Threfore, in this test, epsilon is set to 0.04. - constexpr double epsilon_giou = 4 * 1e-02; - const double quart_circle = 0.16237976320958225; - - { // non overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 0.0, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double giou = get2dGeneralizedIoU(source_obj, target_obj); - EXPECT_NEAR(giou, (2 * quart_circle - 1) / (2 * quart_circle + 2), epsilon_giou); // not 0 - } - - { // partially overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.0, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double giou = get2dGeneralizedIoU(source_obj, target_obj); - EXPECT_NEAR(giou, 2 * quart_circle / (2 * quart_circle + 1), epsilon_giou); - } - - { // fully overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double giou = get2dGeneralizedIoU(source_obj, target_obj); - EXPECT_NEAR(giou, quart_circle * 4, epsilon_giou); // giou equals iou - } -} - -TEST(perception_utils, test_get2dPrecision) -{ - using perception_utils::get2dPrecision; - const double quart_circle = 0.16237976320958225; - - { // non overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 1.5, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double precision = get2dPrecision(source_obj, target_obj); - EXPECT_DOUBLE_EQ(precision, 0.0); - - // reverse source and target object - const double reversed_precision = get2dPrecision(target_obj, source_obj); - EXPECT_DOUBLE_EQ(reversed_precision, 0.0); - } - - { // partially overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.5, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double precision = get2dPrecision(source_obj, target_obj); - EXPECT_NEAR(precision, quart_circle, epsilon); - - // reverse source and target object - const double reversed_precision = get2dPrecision(target_obj, source_obj); - EXPECT_NEAR(reversed_precision, 1 / 4.0, epsilon); - } - - { // fully overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double precision = get2dPrecision(source_obj, target_obj); - EXPECT_DOUBLE_EQ(precision, quart_circle * 4); - - // reverse source and target object - const double reversed_precision = get2dPrecision(target_obj, source_obj); - EXPECT_DOUBLE_EQ(reversed_precision, 1.0); - } -} - -TEST(perception_utils, test_get2dRecall) -{ - using perception_utils::get2dRecall; - const double quart_circle = 0.16237976320958225; - - { // non overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 1.5, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double recall = get2dRecall(source_obj, target_obj); - EXPECT_DOUBLE_EQ(recall, 0.0); - - // reverse source and target object - const double reversed_recall = get2dRecall(target_obj, source_obj); - EXPECT_DOUBLE_EQ(reversed_recall, 0.0); - } - - { // partially overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.5, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double recall = get2dRecall(source_obj, target_obj); - EXPECT_NEAR(recall, 1 / 4.0, epsilon); - - // reverse source and target object - const double reversed_recall = get2dRecall(target_obj, source_obj); - EXPECT_NEAR(reversed_recall, quart_circle, epsilon); - } - - { // fully overlapped - autoware_auto_perception_msgs::msg::DetectedObject source_obj; - source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI); - source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - source_obj.shape.dimensions.x = 1.0; - source_obj.shape.dimensions.y = 1.0; - - autoware_auto_perception_msgs::msg::DetectedObject target_obj; - target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); - target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; - target_obj.shape.dimensions.x = 1.0; - - const double recall = get2dRecall(source_obj, target_obj); - EXPECT_DOUBLE_EQ(recall, 1.0); - - // reverse source and target object - const double reversed_recall = get2dRecall(target_obj, source_obj); - EXPECT_DOUBLE_EQ(reversed_recall, quart_circle * 4); - } -} diff --git a/common/perception_utils/test/src/test_geometry.cpp b/common/perception_utils/test/src/test_geometry.cpp index d966b8b30aa2d..f9734f3323fbe 100644 --- a/common/perception_utils/test/src/test_geometry.cpp +++ b/common/perception_utils/test/src/test_geometry.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 TIER IV, Inc. +// 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. diff --git a/common/perception_utils/test/src/test_matching.cpp b/common/perception_utils/test/src/test_matching.cpp new file mode 100644 index 0000000000000..bffa14eafdd00 --- /dev/null +++ b/common/perception_utils/test/src/test_matching.cpp @@ -0,0 +1,286 @@ +// 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. + +#include "perception_utils/matching.hpp" +#include "tier4_autoware_utils/geometry/geometry.hpp" + +#include + +#include + +using tier4_autoware_utils::Point2d; +using tier4_autoware_utils::Point3d; + +constexpr double epsilon = 1e-06; + +namespace +{ +geometry_msgs::msg::Pose createPose(const double x, const double y, const double yaw) +{ + geometry_msgs::msg::Pose p; + p.position = geometry_msgs::build().x(x).y(y).z(0.0); + p.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw); + return p; +} +} // namespace + +TEST(matching, test_get2dIoU) +{ + using autoware_auto_perception_msgs::msg::DetectedObject; + using perception_utils::get2dIoU; + + const double quart_circle = 0.16237976320958225; + + { // non overlapped + DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 1.5, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double iou = get2dIoU(source_obj, target_obj); + EXPECT_DOUBLE_EQ(iou, 0.0); + } + + { // partially overlapped + DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.5, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double iou = get2dIoU(source_obj, target_obj); + EXPECT_NEAR(iou, quart_circle / (1.0 + quart_circle * 3), epsilon); + } + + { // fully overlapped + DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double iou = get2dIoU(source_obj, target_obj); + EXPECT_DOUBLE_EQ(iou, quart_circle * 4); + } +} + +TEST(perception_utils, test_get2dGeneralizedIoU) +{ + using perception_utils::get2dGeneralizedIoU; + // TODO(Shin-kyoto): + // get2dGeneralizedIoU uses outer points of each polygon. + // But these points contain an sampling error of outer line, + // so get2dGeneralizedIoU icludes an error of about 0.03. + // Threfore, in this test, epsilon is set to 0.04. + constexpr double epsilon_giou = 4 * 1e-02; + const double quart_circle = 0.16237976320958225; + + { // non overlapped + autoware_auto_perception_msgs::msg::DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 0.0, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + autoware_auto_perception_msgs::msg::DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double giou = get2dGeneralizedIoU(source_obj, target_obj); + EXPECT_NEAR(giou, (2 * quart_circle - 1) / (2 * quart_circle + 2), epsilon_giou); // not 0 + } + + { // partially overlapped + autoware_auto_perception_msgs::msg::DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.0, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + autoware_auto_perception_msgs::msg::DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double giou = get2dGeneralizedIoU(source_obj, target_obj); + EXPECT_NEAR(giou, 2 * quart_circle / (2 * quart_circle + 1), epsilon_giou); + } + + { // fully overlapped + autoware_auto_perception_msgs::msg::DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + autoware_auto_perception_msgs::msg::DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double giou = get2dGeneralizedIoU(source_obj, target_obj); + EXPECT_NEAR(giou, quart_circle * 4, epsilon_giou); // giou equals iou + } +} + +TEST(matching, test_get2dPrecision) +{ + using autoware_auto_perception_msgs::msg::DetectedObject; + using perception_utils::get2dPrecision; + const double quart_circle = 0.16237976320958225; + + { // non overlapped + DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 1.5, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double precision = get2dPrecision(source_obj, target_obj); + EXPECT_DOUBLE_EQ(precision, 0.0); + + // reverse source and target object + const double reversed_precision = get2dPrecision(target_obj, source_obj); + EXPECT_DOUBLE_EQ(reversed_precision, 0.0); + } + + { // partially overlapped + DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.5, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double precision = get2dPrecision(source_obj, target_obj); + EXPECT_NEAR(precision, quart_circle, epsilon); + + // reverse source and target object + const double reversed_precision = get2dPrecision(target_obj, source_obj); + EXPECT_NEAR(reversed_precision, 1 / 4.0, epsilon); + } + + { // fully overlapped + DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double precision = get2dPrecision(source_obj, target_obj); + EXPECT_DOUBLE_EQ(precision, quart_circle * 4); + + // reverse source and target object + const double reversed_precision = get2dPrecision(target_obj, source_obj); + EXPECT_DOUBLE_EQ(reversed_precision, 1.0); + } +} + +TEST(matching, test_get2dRecall) +{ + using autoware_auto_perception_msgs::msg::DetectedObject; + using perception_utils::get2dRecall; + const double quart_circle = 0.16237976320958225; + + { // non overlapped + DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 1.5, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double recall = get2dRecall(source_obj, target_obj); + EXPECT_DOUBLE_EQ(recall, 0.0); + + // reverse source and target object + const double reversed_recall = get2dRecall(target_obj, source_obj); + EXPECT_DOUBLE_EQ(reversed_recall, 0.0); + } + + { // partially overlapped + DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.5, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double recall = get2dRecall(source_obj, target_obj); + EXPECT_NEAR(recall, 1 / 4.0, epsilon); + + // reverse source and target object + const double reversed_recall = get2dRecall(target_obj, source_obj); + EXPECT_NEAR(reversed_recall, quart_circle, epsilon); + } + + { // fully overlapped + DetectedObject source_obj; + source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI); + source_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + source_obj.shape.dimensions.x = 1.0; + source_obj.shape.dimensions.y = 1.0; + + DetectedObject target_obj; + target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2); + target_obj.shape.type = autoware_auto_perception_msgs::msg::Shape::CYLINDER; + target_obj.shape.dimensions.x = 1.0; + + const double recall = get2dRecall(source_obj, target_obj); + EXPECT_DOUBLE_EQ(recall, 1.0); + + // reverse source and target object + const double reversed_recall = get2dRecall(target_obj, source_obj); + EXPECT_DOUBLE_EQ(reversed_recall, quart_circle * 4); + } +} diff --git a/common/perception_utils/test/src/test_object_classification.cpp b/common/perception_utils/test/src/test_object_classification.cpp new file mode 100644 index 0000000000000..1d89d73b7dccb --- /dev/null +++ b/common/perception_utils/test/src/test_object_classification.cpp @@ -0,0 +1,63 @@ +// 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. + +#include "perception_utils/object_classification.hpp" + +#include + +namespace +{ +autoware_auto_perception_msgs::msg::ObjectClassification createObjectClassification( + const std::uint8_t label, const double probability) +{ + autoware_auto_perception_msgs::msg::ObjectClassification classification; + classification.label = label; + classification.probability = probability; + + return classification; +} + +} // namespace + +TEST(object_classification, test_getHighestProbLabel) +{ + using autoware_auto_perception_msgs::msg::ObjectClassification; + using perception_utils::getHighestProbLabel; + + { // empty + std::vector classification; + std::uint8_t label = getHighestProbLabel(classification); + EXPECT_EQ(label, ObjectClassification::UNKNOWN); + } + + { // normal case + std::vector classification; + classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.5)); + classification.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8)); + classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.7)); + + std::uint8_t label = getHighestProbLabel(classification); + EXPECT_EQ(label, ObjectClassification::TRUCK); + } + + { // labels with the same probability + std::vector classification; + classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.8)); + classification.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8)); + classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.7)); + + std::uint8_t label = getHighestProbLabel(classification); + EXPECT_EQ(label, ObjectClassification::CAR); + } +} diff --git a/common/perception_utils/test/src/test_predicted_path_utils.cpp b/common/perception_utils/test/src/test_predicted_path_utils.cpp index a433b0a987b33..3d9e2e5790a90 100644 --- a/common/perception_utils/test/src/test_predicted_path_utils.cpp +++ b/common/perception_utils/test/src/test_predicted_path_utils.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 TIER IV, Inc. +// 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. From 5af51266407f14cb93144a1d58e599ea3398a0cd Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Thu, 6 Oct 2022 17:24:37 +0900 Subject: [PATCH 15/28] feat(rtc_manager_rviz_plugin): add_indivisual_exe (#2021) Signed-off-by: tanaka3 Signed-off-by: tanaka3 --- .../src/rtc_manager_panel.cpp | 111 ++++++++++++++++-- .../src/rtc_manager_panel.hpp | 21 ++++ 2 files changed, 119 insertions(+), 13 deletions(-) diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp index 2058942b051f7..5f23fa6ff5fbf 100644 --- a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp +++ b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp @@ -18,7 +18,6 @@ #include #include -#include #include #include @@ -77,6 +76,17 @@ std::string getModuleName(const uint8_t module_type) return "NONE"; } +bool isPathChangeModule(const uint8_t module_type) +{ + if ( + module_type == Module::LANE_CHANGE_LEFT || module_type == Module::LANE_CHANGE_RIGHT || + module_type == Module::AVOIDANCE_LEFT || module_type == Module::AVOIDANCE_RIGHT || + module_type == Module::PULL_OVER || module_type == Module::PULL_OUT) { + return true; + } + return false; +} + RTCManagerPanel::RTCManagerPanel(QWidget * parent) : rviz_common::Panel(parent) { // TODO(tanaka): replace this magic number to Module::SIZE @@ -100,11 +110,16 @@ RTCManagerPanel::RTCManagerPanel(QWidget * parent) : rviz_common::Panel(parent) rtc_auto_mode->setParent(this); // module { - rtc_auto_mode->module_name = getModuleName(static_cast(i)); + const uint8_t module_type = static_cast(i); + rtc_auto_mode->module_name = getModuleName(module_type); std::string module_name = rtc_auto_mode->module_name; auto label = new QLabel(QString::fromStdString(module_name)); label->setAlignment(Qt::AlignCenter); label->setText(QString::fromStdString(module_name)); + if (isPathChangeModule(module_type)) + label->setStyleSheet(BG_PURPLE); + else + label->setStyleSheet(BG_ORANGE); auto_mode_table_->setCellWidget(i, 0, label); } // mode button @@ -136,14 +151,54 @@ RTCManagerPanel::RTCManagerPanel(QWidget * parent) : rviz_common::Panel(parent) } v_layout->addWidget(auto_mode_table_); + // lateral execution + auto * exe_path_change_layout = new QHBoxLayout; + { + exec_path_change_button_ptr_ = new QPushButton("Execute Path Change"); + exec_path_change_button_ptr_->setCheckable(false); + exec_path_change_button_ptr_->setStyleSheet(BG_PURPLE); + connect( + exec_path_change_button_ptr_, &QPushButton::clicked, this, + &RTCManagerPanel::onClickExecutePathChange); + exe_path_change_layout->addWidget(exec_path_change_button_ptr_); + wait_path_change_button_ptr_ = new QPushButton("Wait Path Change"); + wait_path_change_button_ptr_->setCheckable(false); + wait_path_change_button_ptr_->setStyleSheet(BG_PURPLE); + connect( + wait_path_change_button_ptr_, &QPushButton::clicked, this, + &RTCManagerPanel::onClickWaitPathChange); + exe_path_change_layout->addWidget(wait_path_change_button_ptr_); + } + v_layout->addLayout(exe_path_change_layout); + + // longitudinal execution + auto * exe_vel_change_layout = new QHBoxLayout; + { + exec_vel_change_button_ptr_ = new QPushButton("Execute Velocity Change"); + exec_vel_change_button_ptr_->setCheckable(false); + exec_vel_change_button_ptr_->setStyleSheet(BG_ORANGE); + connect( + exec_vel_change_button_ptr_, &QPushButton::clicked, this, + &RTCManagerPanel::onClickExecuteVelChange); + exe_vel_change_layout->addWidget(exec_vel_change_button_ptr_); + wait_vel_change_button_ptr_ = new QPushButton("Wait Velocity Change"); + wait_vel_change_button_ptr_->setCheckable(false); + wait_vel_change_button_ptr_->setStyleSheet(BG_ORANGE); + connect( + wait_vel_change_button_ptr_, &QPushButton::clicked, this, + &RTCManagerPanel::onClickWaitVelChange); + exe_vel_change_layout->addWidget(wait_vel_change_button_ptr_); + } + v_layout->addLayout(exe_vel_change_layout); + // execution auto * rtc_exe_layout = new QHBoxLayout; { - exec_button_ptr_ = new QPushButton("Execute"); + exec_button_ptr_ = new QPushButton("Execute All"); exec_button_ptr_->setCheckable(false); connect(exec_button_ptr_, &QPushButton::clicked, this, &RTCManagerPanel::onClickExecution); rtc_exe_layout->addWidget(exec_button_ptr_); - wait_button_ptr_ = new QPushButton("Wait"); + wait_button_ptr_ = new QPushButton("Wait All"); wait_button_ptr_->setCheckable(false); connect(wait_button_ptr_, &QPushButton::clicked, this, &RTCManagerPanel::onClickWait); rtc_exe_layout->addWidget(wait_button_ptr_); @@ -193,7 +248,7 @@ void RTCAutoMode::onChangeToAutoMode() request->enable = true; enable_auto_mode_cli->async_send_request(request); auto_manual_mode_label->setText("AutoMode"); - auto_manual_mode_label->setStyleSheet("background-color: #00FFFF;"); + auto_manual_mode_label->setStyleSheet(BG_BLUE); auto_module_button_ptr->setChecked(true); manual_module_button_ptr->setChecked(false); } @@ -204,11 +259,40 @@ void RTCAutoMode::onChangeToManualMode() request->enable = false; enable_auto_mode_cli->async_send_request(request); auto_manual_mode_label->setText("ManualMode"); - auto_manual_mode_label->setStyleSheet("background-color: #FFFF00;"); + auto_manual_mode_label->setStyleSheet(BG_YELLOW); manual_module_button_ptr->setChecked(true); auto_module_button_ptr->setChecked(false); } +CooperateCommand setRTCCommandFromStatus(CooperateStatus & status) +{ + CooperateCommand cooperate_command; + cooperate_command.uuid = status.uuid; + cooperate_command.module = status.module; + cooperate_command.command = status.command_status; + return cooperate_command; +} + +void RTCManagerPanel::onClickChangeRequest(const bool is_path_change, const uint8_t command) +{ + if (!cooperate_statuses_ptr_) return; + if (cooperate_statuses_ptr_->statuses.empty()) return; + auto executable_cooperate_commands_request = std::make_shared(); + executable_cooperate_commands_request->stamp = cooperate_statuses_ptr_->stamp; + // send coop request + for (auto status : cooperate_statuses_ptr_->statuses) { + if (is_path_change ^ isPathChangeModule(status.module.type)) continue; + CooperateCommand cooperate_command = setRTCCommandFromStatus(status); + cooperate_command.command.type = command; + executable_cooperate_commands_request->commands.emplace_back(cooperate_command); + // To consider needs to change path step by step + if (is_path_change && !status.auto_mode && status.command_status.type ^ command) { + break; + } + } + client_rtc_commands_->async_send_request(executable_cooperate_commands_request); +} + void RTCManagerPanel::onClickCommandRequest(const uint8_t command) { if (!cooperate_statuses_ptr_) return; @@ -217,17 +301,18 @@ void RTCManagerPanel::onClickCommandRequest(const uint8_t command) executable_cooperate_commands_request->stamp = cooperate_statuses_ptr_->stamp; // send coop request for (auto status : cooperate_statuses_ptr_->statuses) { - CooperateCommand cooperate_command; - cooperate_command.uuid = status.uuid; - cooperate_command.module = status.module; + CooperateCommand cooperate_command = setRTCCommandFromStatus(status); cooperate_command.command.type = command; executable_cooperate_commands_request->commands.emplace_back(cooperate_command); } client_rtc_commands_->async_send_request(executable_cooperate_commands_request); } +void RTCManagerPanel::onClickExecuteVelChange() { onClickChangeRequest(false, Command::ACTIVATE); } +void RTCManagerPanel::onClickWaitVelChange() { onClickChangeRequest(false, Command::DEACTIVATE); } +void RTCManagerPanel::onClickExecutePathChange() { onClickChangeRequest(true, Command::ACTIVATE); } +void RTCManagerPanel::onClickWaitPathChange() { onClickChangeRequest(true, Command::DEACTIVATE); } void RTCManagerPanel::onClickExecution() { onClickCommandRequest(Command::ACTIVATE); } - void RTCManagerPanel::onClickWait() { onClickCommandRequest(Command::DEACTIVATE); } void RTCManagerPanel::onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg) @@ -314,11 +399,11 @@ void RTCManagerPanel::onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg // add color for recognition if (is_rtc_auto_mode || (is_aw_safe && is_execute)) { - rtc_table_->cellWidget(cnt, 1)->setStyleSheet("background-color: #00FF00;"); + rtc_table_->cellWidget(cnt, 1)->setStyleSheet(BG_GREEN); } else if (is_aw_safe || is_execute) { - rtc_table_->cellWidget(cnt, 1)->setStyleSheet("background-color: #FFFF00;"); + rtc_table_->cellWidget(cnt, 1)->setStyleSheet(BG_YELLOW); } else { - rtc_table_->cellWidget(cnt, 1)->setStyleSheet("background-color: #FF0000;"); + rtc_table_->cellWidget(cnt, 1)->setStyleSheet(BG_RED); } cnt++; } diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp index 50f6f10ebfc15..0a16a84b38ca4 100644 --- a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp +++ b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #ifndef Q_MOC_RUN @@ -56,6 +57,13 @@ using tier4_rtc_msgs::srv::AutoMode; using tier4_rtc_msgs::srv::CooperateCommands; using unique_identifier_msgs::msg::UUID; +static const QString BG_BLUE = "background-color: #3dffff;"; +static const QString BG_YELLOW = "background-color: #ffff3d;"; +static const QString BG_PURPLE = "background-color: #9e3dff;"; +static const QString BG_ORANGE = "background-color: #ff7f00;"; +static const QString BG_GREEN = "background-color: #3dff3d;"; +static const QString BG_RED = "background-color: #ff3d3d;"; + struct RTCAutoMode : public QObject { Q_OBJECT @@ -78,6 +86,11 @@ class RTCManagerPanel : public rviz_common::Panel public Q_SLOTS: void onClickExecution(); void onClickWait(); + void onClickVelocityChangeRequest(); + void onClickExecutePathChange(); + void onClickWaitPathChange(); + void onClickExecuteVelChange(); + void onClickWaitVelChange(); public: explicit RTCManagerPanel(QWidget * parent = nullptr); @@ -88,6 +101,7 @@ public Q_SLOTS: void onEnableService( const AutoMode::Request::SharedPtr request, const AutoMode::Response::SharedPtr response) const; void onClickCommandRequest(const uint8_t command); + void onClickChangeRequest(const bool is_path_change, const uint8_t command); private: rclcpp::Node::SharedPtr raw_node_; @@ -99,8 +113,15 @@ public Q_SLOTS: std::shared_ptr cooperate_statuses_ptr_; QTableWidget * rtc_table_; QTableWidget * auto_mode_table_; + QPushButton * path_change_button_ptr_ = {nullptr}; + QPushButton * velocity_change_button_ptr_ = {nullptr}; + QPushButton * exec_path_change_button_ptr_ = {nullptr}; + QPushButton * wait_path_change_button_ptr_ = {nullptr}; + QPushButton * exec_vel_change_button_ptr_ = {nullptr}; + QPushButton * wait_vel_change_button_ptr_ = {nullptr}; QPushButton * exec_button_ptr_ = {nullptr}; QPushButton * wait_button_ptr_ = {nullptr}; + size_t column_size_ = {7}; std::string enable_auto_mode_namespace_ = "/planning/enable_auto_mode"; }; From 7b63dec5d2b6c824e13bbbe5dc9e7cdf90d30e04 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 6 Oct 2022 17:49:46 +0900 Subject: [PATCH 16/28] feat(behavior_path_planner): add turn signal document (#2023) * feat(behavior_path_planner): add turn signal decider document Signed-off-by: yutaka * fix format Signed-off-by: yutaka * fix format Signed-off-by: yutaka * fix picture Signed-off-by: yutaka * fix spell Signed-off-by: yutaka * Update README.md * Update planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md Co-authored-by: Fumiya Watanabe * Update planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md Co-authored-by: Fumiya Watanabe * Update planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md Co-authored-by: Fumiya Watanabe * Update planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md Co-authored-by: Fumiya Watanabe * Update planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md Co-authored-by: Fumiya Watanabe * Update planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md Signed-off-by: yutaka Co-authored-by: Fumiya Watanabe --- planning/behavior_path_planner/README.md | 32 +--- ...ehavior_path_planner_turn_signal-design.md | 176 ++++++++++++++++++ .../avoidance_and_turn.drawio.svg | 4 + .../avoidance_and_turn2.drawio.svg | 4 + .../avoidance_first_section.drawio.svg | 4 + .../avoidance_second_section.drawio.svg | 4 + .../continuous_turns.drawio.svg | 4 + .../lane_change.drawio.svg | 4 + .../lane_change_and_turn.drawio.svg | 4 + .../left_right_turn.drawio.svg | 4 + .../turn_signal_decider/pattern1.drawio.svg | 4 + .../turn_signal_decider/pattern2.drawio.svg | 4 + .../turn_signal_decider/pattern3.drawio.svg | 4 + .../turn_signal_decider/pattern4.drawio.svg | 4 + .../turn_signal_decider/pattern5.drawio.svg | 4 + .../turn_signal_decider/pull_out.drawio.svg | 4 + .../turn_signal_decider/pull_over.drawio.svg | 4 + .../sections_definition.drawio.svg | 4 + .../image/turn_signal_fig1.drawio.svg | 1 - 19 files changed, 242 insertions(+), 31 deletions(-) create mode 100644 planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/avoidance_and_turn.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/avoidance_and_turn2.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/avoidance_first_section.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/avoidance_second_section.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/continuous_turns.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/lane_change.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/lane_change_and_turn.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/left_right_turn.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/pattern1.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/pattern2.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/pattern3.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/pattern4.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/pattern5.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/pull_out.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/pull_over.drawio.svg create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/sections_definition.drawio.svg delete mode 100644 planning/behavior_path_planner/image/turn_signal_fig1.drawio.svg diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md index ba8b01f27e1fb..8380ece58826b 100644 --- a/planning/behavior_path_planner/README.md +++ b/planning/behavior_path_planner/README.md @@ -491,40 +491,12 @@ If the target path contains a goal, modify the points of the path so that the pa ![path_goal_refinement](./image/path_goal_refinement.drawio.svg) -### Turn signal - -Turn on signal when the planned path crosses lanes or when a right or left turn is required. The turn signal information includes the direction of the turn signal and the distance to the point where the turn signal is needed. - -#### From planned path - -- turn signal direction - Calculate the lateral movement distance from the shift start and end point and judges whether the line is crossed or not. If the vehicle straddles the line during lateral movement, the system turns on the blinker. - ![cross_judgment](./image/turn_signal_fig1.drawio.svg) - The timing to start lighting is when the time required to reach the shift start point is 3 seconds or less, or when the distance becomes smaller than threshold (default: `10.0 m`). - The Japanese Road Traffic Law requires turn signal to be turned on `3.0 sec` before the vehicle starts moving sideways, but it also gives a condition based on distance because the turn signal may be turned off by slowing down before the shift start point. -- distance - The distance from the top of ego vehicle to the shift end point. - -#### From map information - -- turn signal direction - Determine right or left turns based on the "turn_direction" information embedded in the lanelet. - -- distance - The distance to the lane where you start to turn. - -#### Conciliation - -When multiple turn signal conditions are met, the turn signal with the smaller distance is selected. - -#### Limitation - -Currently, the algorithm of turn signal has been chagned, and the document of the turn signal will be available soon. - ## References / External links This module depends on the external [BehaviorTreeCpp](https://github.com/BehaviorTree/BehaviorTree.CPP) library. + + [[1]](https://www.sciencedirect.com/science/article/pii/S1474667015347431) H. Vorobieva, S. Glaser, N. Minoiu-Enache, and S. Mammar, “Geometric path planning for automatic parallel parking in tiny spots”, IFAC Proceedings Volumes, vol. 45, no. 24, pp. 36–42, 2012. ## Future extensions / Unimplemented parts diff --git a/planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md b/planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md new file mode 100644 index 0000000000000..14ae3cef68b8c --- /dev/null +++ b/planning/behavior_path_planner/behavior_path_planner_turn_signal-design.md @@ -0,0 +1,176 @@ +# Turn Signal Decider + +Turn Signal decider determines necessary blinkers. + +## Purpose / Role + +This module is responsible for activating a necessary blinker during driving. It uses rule-based algorithm to determine blinkers, and the details of this algorithm are described in the following sections. Note that this algorithm is strictly based on the Japanese Road Traffic Raw. + +### Limitations + +Currently, this algorithm can sometimes give unnatural (not wrong) blinkers in a complicated situations. This is because it tries to follow the road traffic raw and cannot solve `blinker conflicts` clearly in that environment. + +## Inner-workings / Algorithms + +In this algorithm, it assumes that each blinker has two sections, which are `desired section` and `required section`. The image of these two sections are depicted in the following diagram. + +![section_definition](./image/turn_signal_decider/sections_definition.drawio.svg) + +These two sections have the following meanings. + +### - Desired Section + + - This section is defined by road traffic laws. It cannot be longer or shorter than the designated length defined by the law. + - In this section, you do not have to activate the designated blinkers if it is dangerous to do so. + +### - Required Section + + - In this section, ego vehicle must activate designated blinkers. However, if there are blinker conflicts, it must solve them based on the algorithm we mention later in this document. + - Required section cannot be longer than desired section. + +For left turn, right turn, avoidance, lane change, pull over and pull out, we define these two sections, which are elaborated in the following part. + +#### 1. Left and Right turn + +Turn signal decider checks each lanelet on the map if it has `turn_direction` information. If a lanelet has this information, it activates necessary blinker based on this information. + +- desired start point + `v*3.0 + 30` meters before the start point of the intersection lanelet(depicted in gree in the following picture), where `v` is the velocity of the ego vehicle. + +- desired end point + Terminal point of the intersection lanelet. + +- required start point + Initial point of the intersection lanelet. + +- required end point + The earliest point that satisfies the following condition. $\theta - \theta_{\textrm{end}} < \delta$, where $\theta_{\textrm{end}}$ is yaw angle of the terminal point of the lanelet, $\theta$ is the angle of a required end point and $\delta$ is the threshold defined by the user. + +![section_turn_signal](./image/turn_signal_decider/left_right_turn.drawio.svg) + +#### 2. Avoidance + +Avoidance can be separated into two sections, first section and second section. The first section is from the start point of the path shift to the end of the path shift. The second section is from the end of shift point to the end of avoidance. + +First section + +- desired start point + `v*3.0` meters before the start point of the avoidance shift path. + +- desired end point + Shift complete point where the path shift is completed. + +- required start point + Avoidance start point. + +- required end point + Shift complete point same as the desired end point. + +![section_first_avoidance](./image/turn_signal_decider/avoidance_first_section.drawio.svg) + +Second section + +- desired start point + Shift complete point. + +- desired end point + Avoidance terminal point + +- required start point + Shift complete point. + +- required end point + Avoidance terminal point. + +![section_second_avoidance](./image/turn_signal_decider/avoidance_second_section.drawio.svg) + +#### 3. Lane Change + +- desired start point + `v*3.0` meters before the start point of the lane change path. + +- desired end point + Terminal point of the lane change path. + +- required start point + Initial point of the lane change path. + +- required end point + Cross point with lane change path and boundary line of the adjacent lane. + +![section_lane_change](./image/turn_signal_decider/lane_change.drawio.svg) + +#### 4. Pull out + +- desired start point + Start point of the path of pull out. + +- desired end point + Terminal point of the path of pull out. + +- required start point + Start point of the path pull out. + +- required end point + Terminal point of the path of pull out. + +![section_pull_out](./image/turn_signal_decider/pull_out.drawio.svg) + +#### 5. Pull over + +- desired start point + `v*3.0` meters before the start point of the pull over path. + +- desired end point + Terminal point of the path of pull over. + +- required start point + Start point of the path of pull over. + +- required end point + Terminal point of the path of pull over. + +![section_pull_over](./image/turn_signal_decider/pull_over.drawio.svg) + +When it comes to handle several blinkers, it gives priority to the first blinker that comes first. However, this rule sometimes activate unnatural blinkers, so turn signal decider uses the following five rules to decide the necessary turn signal. + +- pattern1 + ![pattern1](./image/turn_signal_decider/pattern1.drawio.svg) + +- pattern2 + ![pattern2](./image/turn_signal_decider/pattern2.drawio.svg) + +- pattern3 + ![pattern3](./image/turn_signal_decider/pattern3.drawio.svg) + +- pattern4 + ![pattern4](./image/turn_signal_decider/pattern4.drawio.svg) + +- pattern5 + ![pattern5](./image/turn_signal_decider/pattern5.drawio.svg) + +Based on these five rules, turn signal decider can solve `blinker conflicts`. The following pictures show some examples of this kind of conflicts. + +#### - Several right and left turns on short sections + +In this scenario, ego vehicle has to pass several turns that are close each other. Since this pattern can be solved by the pattern1 rule, the overall result is depicted in the following picture. + +![continuous_turns](./image/turn_signal_decider/continuous_turns.drawio.svg) + +#### - Avoidance with left turn (1) + +In this scene, ego vehicle has to deal with the obstacle that is on its original path as well as make a left turn. The overall result can be varied by the position of the obstacle, but the image of the result is described in the following picture. + +![avoidance_and_turn](./image/turn_signal_decider/avoidance_and_turn.drawio.svg) + +#### - Avoidance with left turn (2) + +Same as the previous scenario, ego vehicle has to avoid the obstacle as well as make a turn left. However, in this scene, the obstacle is parked after the intersection. Similar to the previous one, the overall result can be varied by the position of the obstacle, but the image of the result is described in the following picture. + +![avoidance_and_turn](./image/turn_signal_decider/avoidance_and_turn2.drawio.svg) + +#### - Lane change and left turn + +In this scenario, ego vehicle has to do lane change before making a left turn. In the following example, ego vehicle does not activate left turn signal until it reaches the end point of the lane change path. + +![avoidance_and_turn](./image/turn_signal_decider/lane_change_and_turn.drawio.svg) diff --git a/planning/behavior_path_planner/image/turn_signal_decider/avoidance_and_turn.drawio.svg b/planning/behavior_path_planner/image/turn_signal_decider/avoidance_and_turn.drawio.svg new file mode 100644 index 0000000000000..719da920f52d7 --- /dev/null +++ b/planning/behavior_path_planner/image/turn_signal_decider/avoidance_and_turn.drawio.svg @@ -0,0 +1,4 @@ + + + +
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 \ No newline at end of file From 84a66fec2348e51a0400f0b561471aff51b15573 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Thu, 6 Oct 2022 17:51:38 +0900 Subject: [PATCH 17/28] feat(rtc_reaplyer): add rtc_replayer (#1993) * feat(rtc_replayer): add rtc_reaplayer Signed-off-by: tanaka3 * chore: small fix Signed-off-by: tanaka3 * doc: update Signed-off-by: taikitanaka3 * chore: add debug print Signed-off-by: tanaka3 * fix: fix * fix: build fail * style: spell check Signed-off-by: tanaka3 Signed-off-by: tanaka3 Signed-off-by: taikitanaka3 --- planning/rtc_replayer/CMakeLists.txt | 27 ++++ planning/rtc_replayer/README.md | 49 +++++++ .../rtc_replayer/rtc_replayer_node.hpp | 59 ++++++++ .../launch/rtc_replayer.launch.xml | 7 + planning/rtc_replayer/package.xml | 29 ++++ .../rtc_replayer/src/rtc_replayer_node.cpp | 131 ++++++++++++++++++ 6 files changed, 302 insertions(+) create mode 100644 planning/rtc_replayer/CMakeLists.txt create mode 100644 planning/rtc_replayer/README.md create mode 100644 planning/rtc_replayer/include/rtc_replayer/rtc_replayer_node.hpp create mode 100644 planning/rtc_replayer/launch/rtc_replayer.launch.xml create mode 100644 planning/rtc_replayer/package.xml create mode 100644 planning/rtc_replayer/src/rtc_replayer_node.cpp diff --git a/planning/rtc_replayer/CMakeLists.txt b/planning/rtc_replayer/CMakeLists.txt new file mode 100644 index 0000000000000..877c283b41ea9 --- /dev/null +++ b/planning/rtc_replayer/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 3.5) +project(rtc_replayer) + +### Compile options +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Werror) +endif() + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/${PROJECT_NAME}_node.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "rtc_replayer::RTCReplayerNode" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package( + INSTALL_TO_SHARE + launch +) diff --git a/planning/rtc_replayer/README.md b/planning/rtc_replayer/README.md new file mode 100644 index 0000000000000..e758edfdb38b1 --- /dev/null +++ b/planning/rtc_replayer/README.md @@ -0,0 +1,49 @@ +# rtc_replayer + +## Purpose + +The current issue for RTC commands is that service is not recorded to rosbag, so it's very hard to analyze what was happened exactly. +So this package makes it possible to replay rtc commands service from rosbag rtc status topic to resolve that issue. + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| ------------------- | ----------------------------------------- | ----------------------------------------------- | +| `/debug/rtc_status` | tier4_rtc_msgs::msg::CooperateStatusArray | CooperateStatusArray that is recorded in rosbag | + +### Output + +| Name | Type | Description | +| -------------------------------- | -------------------------------------- | -------------------------------------------------- | +| `/api/external/set/rtc_commands` | tier4_rtc_msgs::msg::CooperateCommands | CooperateCommands that is replayed by this package | + +## Inner-workings / Algorithms + +```plantuml + +@startuml +title rtc replayer +start + +:rosbag; + +:rtc_replayer; + +:rtc_interface; + +end + +@enduml + +``` + +## Assumptions / Known limits + +This package can't replay CooperateCommands correctly if CooperateStatusArray is not stable. +And this replay is always later one step than actual however it will not affect much for behavior. + +## Future extensions / Unimplemented parts + +tbd. diff --git a/planning/rtc_replayer/include/rtc_replayer/rtc_replayer_node.hpp b/planning/rtc_replayer/include/rtc_replayer/rtc_replayer_node.hpp new file mode 100644 index 0000000000000..49d0d9d60c93a --- /dev/null +++ b/planning/rtc_replayer/include/rtc_replayer/rtc_replayer_node.hpp @@ -0,0 +1,59 @@ +// 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 RTC_REPLAYER__RTC_REPLAYER_NODE_HPP_ +#define RTC_REPLAYER__RTC_REPLAYER_NODE_HPP_ + +#include "rclcpp/rclcpp.hpp" + +#include "tier4_rtc_msgs/msg/command.hpp" +#include "tier4_rtc_msgs/msg/cooperate_command.hpp" +#include "tier4_rtc_msgs/msg/cooperate_status.hpp" +#include "tier4_rtc_msgs/msg/cooperate_status_array.hpp" +#include "tier4_rtc_msgs/msg/module.hpp" +#include "tier4_rtc_msgs/srv/cooperate_commands.hpp" +#include + +#include +#include +#include +#include + +namespace rtc_replayer +{ +using std::placeholders::_1; +using std::placeholders::_2; +using tier4_rtc_msgs::msg::Command; +using tier4_rtc_msgs::msg::CooperateCommand; +using tier4_rtc_msgs::msg::CooperateStatus; +using tier4_rtc_msgs::msg::CooperateStatusArray; +using tier4_rtc_msgs::msg::Module; +using tier4_rtc_msgs::srv::CooperateCommands; +using unique_identifier_msgs::msg::UUID; +class RTCReplayerNode : public rclcpp::Node +{ +public: + explicit RTCReplayerNode(const rclcpp::NodeOptions & node_options); + +private: + void onCooperateStatus(const CooperateStatusArray::ConstSharedPtr msg); + + rclcpp::Subscription::SharedPtr sub_statuses_; + rclcpp::Client::SharedPtr client_rtc_commands_; + std::map prev_cmd_status_; +}; + +} // namespace rtc_replayer + +#endif // RTC_REPLAYER__RTC_REPLAYER_NODE_HPP_ diff --git a/planning/rtc_replayer/launch/rtc_replayer.launch.xml b/planning/rtc_replayer/launch/rtc_replayer.launch.xml new file mode 100644 index 0000000000000..9b832b369c77c --- /dev/null +++ b/planning/rtc_replayer/launch/rtc_replayer.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/planning/rtc_replayer/package.xml b/planning/rtc_replayer/package.xml new file mode 100644 index 0000000000000..9101a1e86633a --- /dev/null +++ b/planning/rtc_replayer/package.xml @@ -0,0 +1,29 @@ + + + + rtc_replayer + 0.1.0 + The rtc_replayer package + + Fumiya Watanabe + Taiki Tanaka + + Apache License 2.0 + + Fumiya Watanabe + + ament_cmake_auto + + autoware_cmake + + rclcpp + rclcpp_components + tier4_rtc_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/planning/rtc_replayer/src/rtc_replayer_node.cpp b/planning/rtc_replayer/src/rtc_replayer_node.cpp new file mode 100644 index 0000000000000..08f037fbfc390 --- /dev/null +++ b/planning/rtc_replayer/src/rtc_replayer_node.cpp @@ -0,0 +1,131 @@ +// 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. + +#include "rtc_replayer/rtc_replayer_node.hpp" + +#include + +namespace rtc_replayer +{ + +std::string getModuleStatus(const uint8_t module_status) +{ + switch (module_status) { + case Command::ACTIVATE: { + return "execute"; + } + case Command::DEACTIVATE: { + return "wait"; + } + } + return "none"; +} + +std::string getModuleName(const uint8_t module_type) +{ + switch (module_type) { + case Module::LANE_CHANGE_LEFT: { + return "lane_change_left"; + } + case Module::LANE_CHANGE_RIGHT: { + return "lane_change_right"; + } + case Module::AVOIDANCE_LEFT: { + return "avoidance_left"; + } + case Module::AVOIDANCE_RIGHT: { + return "avoidance_right"; + } + case Module::PULL_OVER: { + return "pull_over"; + } + case Module::PULL_OUT: { + return "pull_out"; + } + case Module::TRAFFIC_LIGHT: { + return "traffic_light"; + } + case Module::INTERSECTION: { + return "intersection"; + } + case Module::CROSSWALK: { + return "crosswalk"; + } + case Module::BLIND_SPOT: { + return "blind_spot"; + } + case Module::DETECTION_AREA: { + return "detection_area"; + } + case Module::NO_STOPPING_AREA: { + return "no_stopping_area"; + } + case Module::OCCLUSION_SPOT: { + return "occlusion_spot"; + } + } + return "NONE"; +} + +std::string to_string(const unique_identifier_msgs::msg::UUID & uuid) +{ + std::stringstream ss; + for (auto i = 0; i < 16; ++i) { + ss << std::hex << std::setfill('0') << std::setw(2) << +uuid.uuid[i]; + } + return ss.str(); +} + +RTCReplayerNode::RTCReplayerNode(const rclcpp::NodeOptions & node_options) +: Node("rtc_replayer_node", node_options) +{ + sub_statuses_ = create_subscription( + "/debug/rtc_status", 1, std::bind(&RTCReplayerNode::onCooperateStatus, this, _1)); + client_rtc_commands_ = create_client( + "/api/external/set/rtc_commands", rmw_qos_profile_services_default); +} + +void RTCReplayerNode::onCooperateStatus(const CooperateStatusArray::ConstSharedPtr msg) +{ + if (msg->statuses.empty()) return; + CooperateCommands::Request::SharedPtr request = std::make_shared(); + for (auto status : msg->statuses) { + const auto cmd_status = status.command_status.type; + const auto uuid_string = to_string(status.uuid); + // add command which has change from previous status and command is already registered + if ( + prev_cmd_status_.find(uuid_string) != prev_cmd_status_.end() && + cmd_status != prev_cmd_status_[uuid_string]) { + CooperateCommand cc; + // send previous command status + cc.command.type = cmd_status; + cc.uuid = status.uuid; + cc.module = status.module; + request->stamp = status.stamp; + request->commands.emplace_back(cc); + std::cerr << "uuid: " << uuid_string << " module: " << getModuleName(cc.module.type) + << " status: " << getModuleStatus(cmd_status) << std::endl; + } + // post process + prev_cmd_status_[uuid_string] = cmd_status; + } + if (!request->commands.empty()) { + client_rtc_commands_->async_send_request(request); + } +} + +} // namespace rtc_replayer + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(rtc_replayer::RTCReplayerNode) From a07358a3c4451af567ddc8e5e0979608f5308db3 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 6 Oct 2022 18:25:42 +0900 Subject: [PATCH 18/28] feat(autoware_ad_api_specs): define operation mode interface (#1570) * feat(autoware_ad_api_msgs): define operation mode interface Signed-off-by: Takagi, Isamu * fix: add message Signed-off-by: Takagi, Isamu * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * feat: move adapi message Signed-off-by: Takagi, Isamu * feat: change message type Signed-off-by: Takagi, Isamu Signed-off-by: Takagi, Isamu Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .../autoware_ad_api_specs/operation_mode.hpp | 73 +++++++++++++++++++ .../component_interface_specs/system.hpp | 50 +++++++++++++ 2 files changed, 123 insertions(+) create mode 100644 common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp create mode 100644 common/component_interface_specs/include/component_interface_specs/system.hpp diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp new file mode 100644 index 0000000000000..f52b66cc88d2a --- /dev/null +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp @@ -0,0 +1,73 @@ +// 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 AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ + +#include + +#include +#include + +namespace autoware_ad_api::operation_mode +{ + +struct ChangeToStop +{ + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/change_to_stop"; +}; + +struct ChangeToAutonomous +{ + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/change_to_autonomous"; +}; + +struct ChangeToLocal +{ + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/change_to_local"; +}; + +struct ChangeToRemote +{ + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/change_to_remote"; +}; + +struct EnableAutowareControl +{ + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/enable_autoware_control"; +}; + +struct DisableAutowareControl +{ + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/disable_autoware_control"; +}; + +struct OperationModeState +{ + using Message = autoware_adapi_v1_msgs::msg::OperationModeState; + static constexpr char name[] = "/api/operation_mode/state"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; +}; + +} // namespace autoware_ad_api::operation_mode + +#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/system.hpp b/common/component_interface_specs/include/component_interface_specs/system.hpp new file mode 100644 index 0000000000000..e7143d64fa05a --- /dev/null +++ b/common/component_interface_specs/include/component_interface_specs/system.hpp @@ -0,0 +1,50 @@ +// 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 COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ + +#include + +#include +#include +#include + +namespace system_interface +{ + +struct ChangeAutowareControl +{ + using Service = tier4_system_msgs::srv::ChangeAutowareControl; + static constexpr char name[] = "/system/operation_mode/change_autoware_control"; +}; + +struct ChangeOperationMode +{ + using Service = tier4_system_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/system/operation_mode/change_operation_mode"; +}; + +struct OperationModeState +{ + using Message = autoware_adapi_v1_msgs::msg::OperationModeState; + static constexpr char name[] = "/system/operation_mode/state"; + static constexpr size_t depth = 1; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; +}; + +} // namespace system_interface + +#endif // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ From b8a19b53ed0c934ec11090ccdef55ffc7917ca7e Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Thu, 6 Oct 2022 21:47:34 +0900 Subject: [PATCH 19/28] fix(detected_object_validation): apply transformation to shape.footprint.points (#1981) --- .../geometry/geometry.hpp | 13 ++++++++++++ .../test/src/geometry/test_geometry.cpp | 21 +++++++++++++++++++ .../object_lanelet_filter.hpp | 1 + .../src/object_lanelet_filter.cpp | 11 ++++++---- 4 files changed, 42 insertions(+), 4 deletions(-) diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp index 2ba61fe321cbe..b120ec4377413 100644 --- a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp @@ -29,6 +29,7 @@ #include #include +#include #include #include #include @@ -490,6 +491,18 @@ inline geometry_msgs::msg::Point transformPoint( return transformed_point; } +inline geometry_msgs::msg::Point32 transformPoint( + const geometry_msgs::msg::Point32 & point32, const geometry_msgs::msg::Pose & pose) +{ + const auto point = + geometry_msgs::build().x(point32.x).y(point32.y).z(point32.z); + const auto transformed_point = tier4_autoware_utils::transformPoint(point, pose); + return geometry_msgs::build() + .x(transformed_point.x) + .y(transformed_point.y) + .z(transformed_point.z); +} + template T transformVector(const T & points, const geometry_msgs::msg::Transform & transform) { diff --git a/common/tier4_autoware_utils/test/src/geometry/test_geometry.cpp b/common/tier4_autoware_utils/test/src/geometry/test_geometry.cpp index 70ebb8ac72dca..96f1be9de6f3f 100644 --- a/common/tier4_autoware_utils/test/src/geometry/test_geometry.cpp +++ b/common/tier4_autoware_utils/test/src/geometry/test_geometry.cpp @@ -15,6 +15,8 @@ #include "tier4_autoware_utils/geometry/geometry.hpp" #include "tier4_autoware_utils/math/unit_conversion.hpp" +#include + #include #include @@ -891,6 +893,25 @@ TEST(geometry, transformPoint) EXPECT_DOUBLE_EQ(p_transformed.y, 3.5334936490538906); EXPECT_DOUBLE_EQ(p_transformed.z, 5.6160254037844393); } + + { + geometry_msgs::msg::Point32 p; + p.x = 1.0; + p.y = 2.0; + p.z = 3.0; + + geometry_msgs::msg::Pose pose_transform; + pose_transform.position.x = 1.0; + pose_transform.position.y = 2.0; + pose_transform.position.z = 3.0; + pose_transform.orientation = createQuaternionFromRPY(deg2rad(30), deg2rad(30), deg2rad(30)); + + const geometry_msgs::msg::Point32 p_transformed = transformPoint(p, pose_transform); + + EXPECT_DOUBLE_EQ(p_transformed.x, 3.1919872760772705); + EXPECT_DOUBLE_EQ(p_transformed.y, 3.5334937572479248); + EXPECT_DOUBLE_EQ(p_transformed.z, 5.616025447845459); + } } TEST(geometry, transformPose) diff --git a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp index 1f63ff28401f6..e8413761fc2b7 100644 --- a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp +++ b/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp @@ -62,6 +62,7 @@ class ObjectLaneletFilterNode : public rclcpp::Node lanelet::LaneletMapPtr lanelet_map_ptr_; lanelet::ConstLanelets road_lanelets_; + std::string lanelet_frame_id_; tf2_ros::Buffer tf_buffer_; tf2_ros::TransformListener tf_listener_; diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp index 0c9cacf178292..ef73a76cc6489 100644 --- a/perception/detected_object_validation/src/object_lanelet_filter.cpp +++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp @@ -55,6 +55,7 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod void ObjectLaneletFilterNode::mapCallback( const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr map_msg) { + lanelet_frame_id_ = map_msg->header.frame_id; lanelet_map_ptr_ = std::make_shared(); lanelet::utils::conversion::fromBinMsg(*map_msg, lanelet_map_ptr_); const lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_); @@ -77,8 +78,9 @@ void ObjectLaneletFilterNode::objectCallback( return; } autoware_auto_perception_msgs::msg::DetectedObjects transformed_objects; - if (!perception_utils::transformObjects(*input_msg, "map", tf_buffer_, transformed_objects)) { - RCLCPP_ERROR(get_logger(), "Failed transform to map."); + if (!perception_utils::transformObjects( + *input_msg, lanelet_frame_id_, tf_buffer_, transformed_objects)) { + RCLCPP_ERROR(get_logger(), "Failed transform to %s.", lanelet_frame_id_.c_str()); return; } @@ -90,7 +92,6 @@ void ObjectLaneletFilterNode::objectCallback( int index = 0; for (const auto & object : transformed_objects.objects) { const auto & footprint = object.shape.footprint; - const auto & position = object.kinematics.pose_with_covariance.pose.position; const auto & label = object.classification.front().label; if ( (label == Label::UNKNOWN && filter_target_.UNKNOWN) || @@ -103,7 +104,9 @@ void ObjectLaneletFilterNode::objectCallback( (label == Label::PEDESTRIAN && filter_target_.PEDESTRIAN)) { Polygon2d polygon; for (const auto & point : footprint.points) { - polygon.outer().emplace_back(point.x + position.x, point.y + position.y); + const geometry_msgs::msg::Point32 point_transformed = + tier4_autoware_utils::transformPoint(point, object.kinematics.pose_with_covariance.pose); + polygon.outer().emplace_back(point_transformed.x, point_transformed.y); } polygon.outer().push_back(polygon.outer().front()); if (isPolygonOverlapLanelets(polygon, intersected_lanelets)) { From d707d2b5c05605e11dbfe4db3ce5ff486bef0fcd Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri, 7 Oct 2022 02:41:11 +0900 Subject: [PATCH 20/28] feat(obstacle_cruise_planner): add goal safe distance (#2031) --- .../obstacle_cruise_planner.param.yaml | 1 + .../config/obstacle_cruise_planner.param.yaml | 1 + .../common_structs.hpp | 1 + planning/obstacle_cruise_planner/src/node.cpp | 5 +++- .../src/planner_interface.cpp | 27 ++++++++++++++----- 5 files changed, 27 insertions(+), 8 deletions(-) diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index f8f9a85deed5c..0c102155d2f00 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -10,6 +10,7 @@ min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] + terminal_safe_distance_margin : 3.0 # Stop margin at the goal [m] nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml index f8f9a85deed5c..0c102155d2f00 100644 --- a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml +++ b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml @@ -10,6 +10,7 @@ min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] + terminal_safe_distance_margin : 3.0 # Stop margin at the goal [m] nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp index 71684b4406985..424f48e88bc5f 100644 --- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp +++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp @@ -109,6 +109,7 @@ struct LongitudinalInfo double min_ego_accel_for_rss; double min_object_accel_for_rss; double safe_distance_margin; + double terminal_safe_distance_margin; }; struct DebugData diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp index 0b970f35d2069..d2509d657fd1f 100644 --- a/planning/obstacle_cruise_planner/src/node.cpp +++ b/planning/obstacle_cruise_planner/src/node.cpp @@ -245,6 +245,8 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & declare_parameter("common.min_object_accel_for_rss"); const double idling_time = declare_parameter("common.idling_time"); const double safe_distance_margin = declare_parameter("common.safe_distance_margin"); + const double terminal_safe_distance_margin = + declare_parameter("common.terminal_safe_distance_margin"); return LongitudinalInfo{ max_accel, @@ -258,7 +260,8 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & idling_time, min_ego_accel_for_rss, min_object_accel_for_rss, - safe_distance_margin}; + safe_distance_margin, + terminal_safe_distance_margin}; }(); is_showing_debug_info_ = declare_parameter("common.is_showing_debug_info"); diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/obstacle_cruise_planner/src/planner_interface.cpp index b981c3fc17770..4ebef793bc733 100644 --- a/planning/obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/obstacle_cruise_planner/src/planner_interface.cpp @@ -140,16 +140,29 @@ Trajectory PlannerInterface::generateStopTrajectory( const auto closest_behavior_stop_idx = motion_utils::searchZeroVelocityIndex(planner_data.traj.points, nearest_segment_idx + 1); - if ( - closest_behavior_stop_idx && - closest_behavior_stop_idx != planner_data.traj.points.size() - 1) { - const double closest_behavior_stop_dist_from_ego = motion_utils::calcSignedArcLength( - planner_data.traj.points, planner_data.current_pose.position, nearest_segment_idx, - *closest_behavior_stop_idx); + if (!closest_behavior_stop_idx) { + return longitudinal_info_.safe_distance_margin; + } + + const double closest_behavior_stop_dist_from_ego = motion_utils::calcSignedArcLength( + planner_data.traj.points, planner_data.current_pose.position, nearest_segment_idx, + *closest_behavior_stop_idx); + + if (*closest_behavior_stop_idx == planner_data.traj.points.size() - 1) { + // Closest behavior stop point is the end point + const double closest_obstacle_stop_dist_from_ego = + closest_obstacle_dist - dist_to_ego - longitudinal_info_.terminal_safe_distance_margin - + abs_ego_offset; + const double stop_dist_diff = + closest_behavior_stop_dist_from_ego - closest_obstacle_stop_dist_from_ego; + if (stop_dist_diff < 0.5) { + // Use terminal margin (terminal_safe_distance_margin) for obstacle stop + return longitudinal_info_.terminal_safe_distance_margin; + } + } else { const double closest_obstacle_stop_dist_from_ego = closest_obstacle_dist - dist_to_ego - longitudinal_info_.safe_distance_margin - abs_ego_offset; - const double stop_dist_diff = closest_behavior_stop_dist_from_ego - closest_obstacle_stop_dist_from_ego; if (0.0 < stop_dist_diff && stop_dist_diff < longitudinal_info_.safe_distance_margin) { From aa90138f879d4925d54e9d21addbd192db7136b8 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Fri, 7 Oct 2022 10:30:18 +0900 Subject: [PATCH 21/28] refactor(probabilistic_occupancy_grid): transfer probabilistic_occupancy_grid package from sensing to perception directory (#1923) * refactor: move occ_grid_map package to perception folder Signed-off-by: Yoshi Ri * refactor: move occ_grid_map package to perception folder Signed-off-by: Yoshi Ri Signed-off-by: Yoshi Ri --- .../probabilistic_occupancy_grid_map/CMakeLists.txt | 0 .../probabilistic_occupancy_grid_map/README.md | 0 .../image/bresenham.svg | 0 ...erscan_based_occupancy_grid_map_sample_image.png | Bin .../pointcloud_based_occupancy_grid_map_bev.svg | 0 ...tcloud_based_occupancy_grid_map_sample_image.gif | Bin ...ointcloud_based_occupancy_grid_map_side_view.svg | 0 ...cloud_based_occupancy_grid_map_side_view_1st.svg | 0 ...cloud_based_occupancy_grid_map_side_view_2nd.svg | 0 ...cloud_based_occupancy_grid_map_side_view_3rd.svg | 0 .../image/update_with_pointcloud.svg | 0 .../include/cost_value.hpp | 0 .../laserscan_based_occupancy_grid_map_node.hpp | 0 .../occupancy_grid_map.hpp | 0 .../occupancy_grid_map.hpp | 0 .../pointcloud_based_occupancy_grid_map_node.hpp | 0 ...cupancy_grid_map_binary_bayes_filter_updater.hpp | 0 .../occupancy_grid_map_updater_interface.hpp | 0 .../laserscan-based-occupancy-grid-map.md | 0 .../laserscan_based_occupancy_grid_map.launch.py | 0 .../pointcloud_based_occupancy_grid_map.launch.py | 0 .../probabilistic_occupancy_grid_map/package.xml | 0 .../pointcloud-based-occupancy-grid-map.md | 0 .../laserscan_based_occupancy_grid_map_node.cpp | 0 .../occupancy_grid_map.cpp | 0 .../occupancy_grid_map.cpp | 0 .../pointcloud_based_occupancy_grid_map_node.cpp | 0 ...cupancy_grid_map_binary_bayes_filter_updater.cpp | 0 28 files changed, 0 insertions(+), 0 deletions(-) rename {sensing => perception}/probabilistic_occupancy_grid_map/CMakeLists.txt (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/README.md (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/image/bresenham.svg (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/include/cost_value.hpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_updater_interface.hpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/package.xml (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp (100%) rename {sensing => perception}/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp (100%) diff --git a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/CMakeLists.txt rename to perception/probabilistic_occupancy_grid_map/CMakeLists.txt diff --git a/sensing/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/README.md rename to perception/probabilistic_occupancy_grid_map/README.md diff --git a/sensing/probabilistic_occupancy_grid_map/image/bresenham.svg b/perception/probabilistic_occupancy_grid_map/image/bresenham.svg similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/image/bresenham.svg rename to perception/probabilistic_occupancy_grid_map/image/bresenham.svg diff --git a/sensing/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png b/perception/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png rename to perception/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png diff --git a/sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg b/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg rename to perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg diff --git a/sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif b/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif rename to perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif diff --git a/sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg b/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg rename to perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg diff --git a/sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg b/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg rename to perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg diff --git a/sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg b/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg rename to perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg diff --git a/sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg b/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg rename to perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg diff --git a/sensing/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg b/perception/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg rename to perception/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg diff --git a/sensing/probabilistic_occupancy_grid_map/include/cost_value.hpp b/perception/probabilistic_occupancy_grid_map/include/cost_value.hpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/include/cost_value.hpp rename to perception/probabilistic_occupancy_grid_map/include/cost_value.hpp diff --git a/sensing/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp rename to perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp diff --git a/sensing/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp b/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp rename to perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp diff --git a/sensing/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp rename to perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp diff --git a/sensing/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp rename to perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp diff --git a/sensing/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp rename to perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp diff --git a/sensing/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_updater_interface.hpp b/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_updater_interface.hpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_updater_interface.hpp rename to perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_updater_interface.hpp diff --git a/sensing/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md b/perception/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md rename to perception/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md diff --git a/sensing/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py rename to perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py diff --git a/sensing/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py rename to perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py diff --git a/sensing/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/package.xml rename to perception/probabilistic_occupancy_grid_map/package.xml diff --git a/sensing/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md b/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md rename to perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md diff --git a/sensing/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp rename to perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp diff --git a/sensing/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp rename to perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp diff --git a/sensing/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp rename to perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp diff --git a/sensing/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp rename to perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp diff --git a/sensing/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp b/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp similarity index 100% rename from sensing/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp rename to perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp From 152d293ed9bf73d5cfd89cabaa14345b94f0d746 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Fri, 7 Oct 2022 10:52:51 +0900 Subject: [PATCH 22/28] chore: sync files (#2032) Signed-off-by: GitHub Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/build-and-test-differential.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 97c9c4495bb02..fb08c73f5790b 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -80,7 +80,7 @@ jobs: - name: Get modified files id: get-modified-files - uses: tj-actions/changed-files@v31 + uses: tj-actions/changed-files@v32 with: files: | **/*.cpp From ca09e64b482b53fae7c6cdf8c532b847eb4fc2b4 Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Fri, 7 Oct 2022 11:07:36 +0900 Subject: [PATCH 23/28] feat(tier4_autoware_utils): add polygon util function (#2029) Signed-off-by: scepter914 Signed-off-by: scepter914 --- .../geometry/boost_polygon_utils.hpp | 9 ++++++--- .../src/geometry/boost_polygon_utils.cpp | 14 ++++++++++++++ 2 files changed, 20 insertions(+), 3 deletions(-) diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp index 8bbfe681fa3ae..8952775bfc3f3 100644 --- a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp @@ -17,8 +17,10 @@ #include "tier4_autoware_utils/geometry/boost_geometry.hpp" -#include "autoware_auto_perception_msgs/msg/predicted_object.hpp" -#include "geometry_msgs/msg/pose.hpp" +#include +#include +#include +#include #include #include @@ -27,13 +29,14 @@ namespace tier4_autoware_utils { - bool isClockwise(const Polygon2d & polygon); Polygon2d inverseClockwise(const Polygon2d & polygon); geometry_msgs::msg::Polygon rotatePolygon( const geometry_msgs::msg::Polygon & polygon, const double & angle); Polygon2d toPolygon2d( const geometry_msgs::msg::Pose & pose, const autoware_auto_perception_msgs::msg::Shape & shape); +Polygon2d toPolygon2d(const autoware_auto_perception_msgs::msg::DetectedObject & object); +Polygon2d toPolygon2d(const autoware_auto_perception_msgs::msg::TrackedObject & object); Polygon2d toPolygon2d(const autoware_auto_perception_msgs::msg::PredictedObject & object); double getArea(const autoware_auto_perception_msgs::msg::Shape & shape); diff --git a/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp b/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp index b54f888ad0ae1..9c6b84f3bca69 100644 --- a/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp +++ b/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp @@ -167,6 +167,20 @@ Polygon2d toPolygon2d( return isClockwise(polygon) ? polygon : inverseClockwise(polygon); } +tier4_autoware_utils::Polygon2d toPolygon2d( + const autoware_auto_perception_msgs::msg::DetectedObject & object) +{ + return tier4_autoware_utils::toPolygon2d( + object.kinematics.pose_with_covariance.pose, object.shape); +} + +tier4_autoware_utils::Polygon2d toPolygon2d( + const autoware_auto_perception_msgs::msg::TrackedObject & object) +{ + return tier4_autoware_utils::toPolygon2d( + object.kinematics.pose_with_covariance.pose, object.shape); +} + tier4_autoware_utils::Polygon2d toPolygon2d( const autoware_auto_perception_msgs::msg::PredictedObject & object) { From 365c7257894363b41f87b36fda907c8d0a602111 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 7 Oct 2022 13:30:11 +0900 Subject: [PATCH 24/28] feat(run_out): avoid chattering of state transition (#1975) * feat: keep approach state to avoid chattering of detection Signed-off-by: Tomohito Ando * add parameter Signed-off-by: Tomohito Ando * update parameter Signed-off-by: Tomohito Ando * update documents Signed-off-by: Tomohito Ando * revert changed parameter Signed-off-by: Tomohito Ando Signed-off-by: Tomohito Ando --- .../run_out.param.yaml | 7 +++-- .../config/run_out.param.yaml | 7 +++-- .../docs/run_out/state_transition.svg | 4 --- .../scene_module/run_out/state_machine.hpp | 4 +++ .../include/scene_module/run_out/utils.hpp | 1 + .../run-out-design.md | 27 ++++++++++++++---- .../src/scene_module/run_out/manager.cpp | 1 + .../src/scene_module/run_out/scene.cpp | 9 +++--- .../scene_module/run_out/state_machine.cpp | 28 +++++++++++++------ 9 files changed, 59 insertions(+), 29 deletions(-) delete mode 100644 planning/behavior_velocity_planner/docs/run_out/state_transition.svg diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 44f623b96bb69..ccf90a0b29794 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -33,9 +33,10 @@ # parameters for the change of state. used only when approaching is enabled state: - stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping - stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state - disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value + stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping + stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state + disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value + keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition # parameter to avoid sudden stopping slow_down_limit: diff --git a/planning/behavior_velocity_planner/config/run_out.param.yaml b/planning/behavior_velocity_planner/config/run_out.param.yaml index 44f623b96bb69..ccf90a0b29794 100644 --- a/planning/behavior_velocity_planner/config/run_out.param.yaml +++ b/planning/behavior_velocity_planner/config/run_out.param.yaml @@ -33,9 +33,10 @@ # parameters for the change of state. used only when approaching is enabled state: - stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping - stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state - disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value + stop_thresh: 0.01 # [m/s] threshold to decide if ego is stopping + stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state + disable_approach_dist: 3.0 # [m] end the approaching state if distance to the obstacle is longer than this value + keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition # parameter to avoid sudden stopping slow_down_limit: diff --git a/planning/behavior_velocity_planner/docs/run_out/state_transition.svg b/planning/behavior_velocity_planner/docs/run_out/state_transition.svg deleted file mode 100644 index aad4bdd34c4cd..0000000000000 --- a/planning/behavior_velocity_planner/docs/run_out/state_transition.svg +++ /dev/null @@ -1,4 +0,0 @@ - - - -
GO
GO
STOP
STOP
APPROACH
APPROACH
Current velocity is
less than threshold
Current velocity is...
Stop time is
larger than threshold
Stop time is...
Current velocity is
larger than threshold
Current velocity is...
There are no obstacles or
distance to the obstacle is
larger than threshold
There are no obstacles or...Text is not SVG - cannot display \ No newline at end of file diff --git a/planning/behavior_velocity_planner/include/scene_module/run_out/state_machine.hpp b/planning/behavior_velocity_planner/include/scene_module/run_out/state_machine.hpp index e378e5b385428..0ee34bf6c9685 100644 --- a/planning/behavior_velocity_planner/include/scene_module/run_out/state_machine.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/run_out/state_machine.hpp @@ -44,6 +44,7 @@ class StateMachine explicit StateMachine(const StateParam & state_param) { state_param_ = state_param; } State getCurrentState() const { return state_; } + boost::optional getTargetObstacle() const { return target_obstacle_; } std::string toString(const State & state) const; void updateState(const StateInput & state_input, rclcpp::Clock & clock); @@ -51,6 +52,9 @@ class StateMachine StateParam state_param_; State state_{State::GO}; rclcpp::Time stop_time_; + rclcpp::Time prev_approach_time_; + boost::optional prev_obstacle_{}; + boost::optional target_obstacle_{}; }; } // namespace run_out_utils } // namespace behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/include/scene_module/run_out/utils.hpp b/planning/behavior_velocity_planner/include/scene_module/run_out/utils.hpp index 357ec74c9d0a6..0a16649c8ed7a 100644 --- a/planning/behavior_velocity_planner/include/scene_module/run_out/utils.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/run_out/utils.hpp @@ -82,6 +82,7 @@ struct StateParam float stop_thresh; float stop_time_thresh; float disable_approach_dist; + float keep_approach_duration; }; struct SlowDownLimit diff --git a/planning/behavior_velocity_planner/run-out-design.md b/planning/behavior_velocity_planner/run-out-design.md index 2772a39a363c3..95378350806d1 100644 --- a/planning/behavior_velocity_planner/run-out-design.md +++ b/planning/behavior_velocity_planner/run-out-design.md @@ -147,7 +147,21 @@ The decision to approach the obstacle is determined by a simple state transition ![brief](./docs/run_out/insert_velocity_to_approach.svg) -![brief](./docs/run_out/state_transition.svg) +```plantuml +@startuml +hide empty description +left to right direction +title State transition for approaching the obstacle + +[*] --> GO +GO --> STOP : Current velocity is less than threshold +STOP --> GO : Current velocity is larger than threshold + +STOP --> APPROACH : Stop duration is larger than threshold +APPROACH --> GO : There are no obstacles or \n distance to the obstacle is larger than threshold +APPROACH --> APPROACH : Approach duration is less than threshold +@enduml +``` ##### Limit velocity with specified jerk and acc limit @@ -190,11 +204,12 @@ You can choose whether to use this feature by parameter of `slow_down_limit.enab | `margin` | double | [m] distance on how close ego approaches the obstacle | | `limit_vel_kmph` | double | [km/h] limit velocity for approaching after stopping | -| Parameter /state | Type | Description | -| ----------------------- | ------ | ----------------------------------------------------------------------------------- | -| `stop_thresh` | double | [m/s] threshold to decide if ego is stopping | -| `stop_time_thresh` | double | [sec] threshold for stopping time to transit to approaching state | -| `disable_approach_dist` | double | [m] end the approaching state if distance to the obstacle is longer than this value | +| Parameter /state | Type | Description | +| ------------------------ | ------ | ----------------------------------------------------------------------------------- | +| `stop_thresh` | double | [m/s] threshold to decide if ego is stopping | +| `stop_time_thresh` | double | [sec] threshold for stopping time to transit to approaching state | +| `disable_approach_dist` | double | [m] end the approaching state if distance to the obstacle is longer than this value | +| `keep_approach_duration` | double | [sec] keep approach state for this duration to avoid chattering of state transition | | Parameter /slow_down_limit | Type | Description | | -------------------------- | ------ | ------------------------------------------------------------- | diff --git a/planning/behavior_velocity_planner/src/scene_module/run_out/manager.cpp b/planning/behavior_velocity_planner/src/scene_module/run_out/manager.cpp index 43846ba767e1a..2c4ab669cbf4c 100644 --- a/planning/behavior_velocity_planner/src/scene_module/run_out/manager.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/run_out/manager.cpp @@ -94,6 +94,7 @@ RunOutModuleManager::RunOutModuleManager(rclcpp::Node & node) p.stop_thresh = node.declare_parameter(ns_s + ".stop_thresh", 0.01); p.stop_time_thresh = node.declare_parameter(ns_s + ".stop_time_thresh", 3.0); p.disable_approach_dist = node.declare_parameter(ns_s + ".disable_approach_dist", 4.0); + p.keep_approach_duration = node.declare_parameter(ns_s + ".keep_approach_duration", 1.0); } { diff --git a/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp index 74bc9b8ac1bc9..e45d50d7429ab 100644 --- a/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp @@ -674,27 +674,28 @@ void RunOutModule::insertVelocityForState( // get updated state and target obstacle to decelerate const auto state = state_machine_->getCurrentState(); + const auto target_obstacle = state_machine_->getTargetObstacle(); // no obstacles to decelerate - if (!dynamic_obstacle) { + if (!target_obstacle) { return; } // insert velocity for each state switch (state) { case State::GO: { - insertStoppingVelocity(dynamic_obstacle, current_pose, current_vel, current_acc, output_path); + insertStoppingVelocity(target_obstacle, current_pose, current_vel, current_acc, output_path); break; } case State::STOP: { - insertStoppingVelocity(dynamic_obstacle, current_pose, current_vel, current_acc, output_path); + insertStoppingVelocity(target_obstacle, current_pose, current_vel, current_acc, output_path); break; } case State::APPROACH: { insertApproachingVelocity( - *dynamic_obstacle, current_pose, planner_param.approaching.limit_vel_kmph / 3.6, + *target_obstacle, current_pose, planner_param.approaching.limit_vel_kmph / 3.6, planner_param.approaching.margin, output_path); debug_ptr_->setAccelReason(RunOutDebug::AccelReason::STOP); break; diff --git a/planning/behavior_velocity_planner/src/scene_module/run_out/state_machine.cpp b/planning/behavior_velocity_planner/src/scene_module/run_out/state_machine.cpp index f2a92ac7dcdac..daeb86393b1e9 100644 --- a/planning/behavior_velocity_planner/src/scene_module/run_out/state_machine.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/run_out/state_machine.cpp @@ -39,11 +39,7 @@ std::string StateMachine::toString(const State & state) const void StateMachine::updateState(const StateInput & state_input, rclcpp::Clock & clock) { - // no obstacles - if (!state_input.current_obstacle) { - state_ = State::GO; - return; - } + target_obstacle_ = state_input.current_obstacle; switch (state_) { case State::GO: { @@ -59,8 +55,10 @@ void StateMachine::updateState(const StateInput & state_input, rclcpp::Clock & c } case State::STOP: { - // if current velocity is larger than the threshold, transit to STOP state - if (state_input.current_velocity > state_param_.stop_thresh) { + // if current velocity is larger than the threshold or + // there are no obstacles, transit to GO state + if ( + state_input.current_velocity > state_param_.stop_thresh || !state_input.current_obstacle) { state_ = State::GO; return; } @@ -69,6 +67,8 @@ void StateMachine::updateState(const StateInput & state_input, rclcpp::Clock & c const auto elapsed_time = (clock.now() - stop_time_).seconds(); if (elapsed_time > state_param_.stop_time_thresh) { state_ = State::APPROACH; + prev_approach_time_ = clock.now(); + prev_obstacle_ = state_input.current_obstacle; return; } @@ -77,15 +77,25 @@ void StateMachine::updateState(const StateInput & state_input, rclcpp::Clock & c } case State::APPROACH: { - // if the obstacle is far enough from ego, transit to GO state const bool enough_dist_from_obstacle = state_input.dist_to_collision > state_param_.disable_approach_dist; - if (enough_dist_from_obstacle) { + // if the obstacle is enough distance from ego or there are no obstacles, transit to GO state + if (enough_dist_from_obstacle || !state_input.current_obstacle) { + // if elapsed time from entering APPROACH state is less than threshold, + // keep APPROACH state to avoid chattering of state transition + const auto elapsed_time = (clock.now() - prev_approach_time_).seconds(); + if (elapsed_time < state_param_.keep_approach_duration) { + target_obstacle_ = prev_obstacle_; + return; + } + state_ = State::GO; return; } // continue APPROACH state + prev_approach_time_ = clock.now(); + prev_obstacle_ = state_input.current_obstacle; return; } From 5162d75c0a872ff081d9ab9a7ec5958c8b241a82 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri, 7 Oct 2022 17:37:36 +0900 Subject: [PATCH 25/28] feat(obstacle_cruise_planner): add an explanation (#2034) * feat(obstacle_cruise_planner): add an explanation Signed-off-by: yutaka * update readme Signed-off-by: yutaka Signed-off-by: yutaka --- .../obstacle_cruise_planner.param.yaml | 2 +- planning/obstacle_cruise_planner/README.md | 10 ++++++---- .../config/obstacle_cruise_planner.param.yaml | 2 +- .../obstacle_cruise_planner/src/planner_interface.cpp | 2 +- 4 files changed, 9 insertions(+), 7 deletions(-) diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 0c102155d2f00..520637abed775 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -10,7 +10,7 @@ min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] - terminal_safe_distance_margin : 3.0 # Stop margin at the goal [m] + terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index diff --git a/planning/obstacle_cruise_planner/README.md b/planning/obstacle_cruise_planner/README.md index d4e66d87b5a5a..4d114c47bfaf0 100644 --- a/planning/obstacle_cruise_planner/README.md +++ b/planning/obstacle_cruise_planner/README.md @@ -149,15 +149,17 @@ In the `obstacle_filtering` namespace, ### Stop planning -| Parameter | Type | Description | -| ----------------------------- | ------ | ----------------------------------------- | -| `common.min_strong_accel` | double | ego's minimum acceleration to stop [m/ss] | -| `common.safe_distance_margin` | double | distance with obstacles for stop [m] | +| Parameter | Type | Description | +| -------------------------------------- | ------ | ------------------------------------------------------------------------------------------ | +| `common.min_strong_accel` | double | ego's minimum acceleration to stop [m/ss] | +| `common.safe_distance_margin` | double | distance with obstacles for stop [m] | +| `common.terminal_safe_distance_margin` | double | terminal_distance with obstacles for stop, which cannot be exceed safe distance margin [m] | The role of the stop planning is keeping a safe distance with static vehicle objects or dynamic/static non vehicle objects. The stop planning just inserts the stop point in the trajectory to keep a distance with obstacles inside the detection area. The safe distance is parameterized as `common.safe_distance_margin`. +When it stops at the end of the trajectory, and obstacle is on the same point, the safe distance becomes `terminal_safe_distance_margin`. When inserting the stop point, the required acceleration for the ego to stop in front of the stop point is calculated. If the acceleration is less than `common.min_strong_accel`, the stop planning will be cancelled since this package does not assume a strong sudden brake for emergency. diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml index 0c102155d2f00..520637abed775 100644 --- a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml +++ b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml @@ -10,7 +10,7 @@ min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] safe_distance_margin : 6.0 # This is also used as a stop margin [m] - terminal_safe_distance_margin : 3.0 # Stop margin at the goal [m] + terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/obstacle_cruise_planner/src/planner_interface.cpp index 4ebef793bc733..e73d83e749139 100644 --- a/planning/obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/obstacle_cruise_planner/src/planner_interface.cpp @@ -155,7 +155,7 @@ Trajectory PlannerInterface::generateStopTrajectory( abs_ego_offset; const double stop_dist_diff = closest_behavior_stop_dist_from_ego - closest_obstacle_stop_dist_from_ego; - if (stop_dist_diff < 0.5) { + if (stop_dist_diff < longitudinal_info_.safe_distance_margin) { // Use terminal margin (terminal_safe_distance_margin) for obstacle stop return longitudinal_info_.terminal_safe_distance_margin; } From 3a7e17498f5f864a4a5963947542c84a95a86130 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 7 Oct 2022 18:42:07 +0900 Subject: [PATCH 26/28] fix(component_interface_specs): add missing dep (#2035) --- common/component_interface_specs/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/common/component_interface_specs/package.xml b/common/component_interface_specs/package.xml index d0c12c83c2379..8ef93d0f5f95d 100644 --- a/common/component_interface_specs/package.xml +++ b/common/component_interface_specs/package.xml @@ -11,6 +11,8 @@ autoware_cmake + autoware_adapi_v1_msgs + ament_lint_auto autoware_lint_common From b48b4f5996d14f06a375ed9a230f50a685ab0034 Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Sat, 8 Oct 2022 14:43:21 +0900 Subject: [PATCH 27/28] refactor(perception_util): refactor moving unnamed namespace from include file to src file (#2028) * fix include path Signed-off-by: scepter914 * move unnamed namespace to src file Signed-off-by: scepter914 * fix template function Signed-off-by: scepter914 * fix unnamed namespace Signed-off-by: scepter914 * delete comment Signed-off-by: scepter914 Signed-off-by: scepter914 --- .../include/perception_utils/conversion.hpp | 4 ++-- .../perception_utils/predicted_path_utils.hpp | 2 +- .../include/perception_utils/transform.hpp | 17 ++++++++--------- 3 files changed, 11 insertions(+), 12 deletions(-) diff --git a/common/perception_utils/include/perception_utils/conversion.hpp b/common/perception_utils/include/perception_utils/conversion.hpp index 1497114eee532..8aef31a92928e 100644 --- a/common/perception_utils/include/perception_utils/conversion.hpp +++ b/common/perception_utils/include/perception_utils/conversion.hpp @@ -15,8 +15,8 @@ #ifndef PERCEPTION_UTILS__CONVERSION_HPP_ #define PERCEPTION_UTILS__CONVERSION_HPP_ -#include "autoware_auto_perception_msgs/msg/detected_objects.hpp" -#include "autoware_auto_perception_msgs/msg/tracked_objects.hpp" +#include +#include namespace perception_utils { diff --git a/common/perception_utils/include/perception_utils/predicted_path_utils.hpp b/common/perception_utils/include/perception_utils/predicted_path_utils.hpp index c02282f9efeea..cb8ec6bf5ff3e 100644 --- a/common/perception_utils/include/perception_utils/predicted_path_utils.hpp +++ b/common/perception_utils/include/perception_utils/predicted_path_utils.hpp @@ -17,7 +17,7 @@ #include "tier4_autoware_utils/geometry/geometry.hpp" -#include "autoware_auto_perception_msgs/msg/predicted_path.hpp" +#include #include #include diff --git a/common/perception_utils/include/perception_utils/transform.hpp b/common/perception_utils/include/perception_utils/transform.hpp index 54af7c04a006e..fe4fced16120f 100644 --- a/common/perception_utils/include/perception_utils/transform.hpp +++ b/common/perception_utils/include/perception_utils/transform.hpp @@ -15,24 +15,23 @@ #ifndef PERCEPTION_UTILS__TRANSFORM_HPP_ #define PERCEPTION_UTILS__TRANSFORM_HPP_ -#include "geometry_msgs/msg/transform.hpp" +#include + +#include #include #include - #ifdef ROS_DISTRO_GALACTIC #include #else #include #endif -#include "boost/optional.hpp" - #include -namespace +namespace detail { -[[maybe_unused]] boost::optional getTransform( +[[maybe_unused]] inline boost::optional getTransform( const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id, const std::string & target_frame_id, const rclcpp::Time & time) { @@ -46,7 +45,7 @@ namespace return boost::none; } } -} // namespace +} // namespace detail namespace perception_utils { @@ -64,8 +63,8 @@ bool transformObjects( tf2::Transform tf_target2objects; tf2::Transform tf_objects_world2objects; { - const auto ros_target2objects_world = - getTransform(tf_buffer, input_msg.header.frame_id, target_frame_id, input_msg.header.stamp); + const auto ros_target2objects_world = detail::getTransform( + tf_buffer, input_msg.header.frame_id, target_frame_id, input_msg.header.stamp); if (!ros_target2objects_world) { return false; } From 88e932467a7e3e6d9ff0ea581288b0414a01b992 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Mon, 10 Oct 2022 22:07:22 +0900 Subject: [PATCH 28/28] feat(tier4_screen_capture_rviz_plugin): add prefix to video name (#2038) feat: add prefix --- .../src/screen_capture_panel.cpp | 12 ++++++++---- .../src/screen_capture_panel.hpp | 2 ++ 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp b/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp index 0c558ca802c6d..88fbdc483f89c 100644 --- a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp +++ b/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp @@ -28,7 +28,7 @@ void setFormatDate(QLabel * line, double time) char buffer[128]; auto seconds = static_cast(time); strftime(buffer, sizeof(buffer), "%Y-%m-%d-%H-%M-%S", localtime(&seconds)); - line->setText(QString(buffer)); + line->setText(QString("- ") + QString(buffer) + QString(".mp4")); } AutowareScreenCapturePanel::AutowareScreenCapturePanel(QWidget * parent) @@ -42,11 +42,13 @@ AutowareScreenCapturePanel::AutowareScreenCapturePanel(QWidget * parent) ros_time_label_ = new QLabel; screen_capture_button_ptr_ = new QPushButton("Capture Screen Shot"); connect(screen_capture_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickScreenCapture())); + file_name_prefix_ = new QLineEdit("cap"); + connect(file_name_prefix_, SIGNAL(valueChanged(std::string)), this, SLOT(onPrefixChanged())); cap_layout->addWidget(screen_capture_button_ptr_); + cap_layout->addWidget(file_name_prefix_); cap_layout->addWidget(ros_time_label_); // initialize file name system clock is better for identification. setFormatDate(ros_time_label_, rclcpp::Clock().now().seconds()); - cap_layout->addWidget(new QLabel(" [.mp4] ")); } // video capture @@ -96,6 +98,8 @@ void AutowareScreenCapturePanel::onInitialize() std::bind(&AutowareScreenCapturePanel::onCaptureTrigger, this, _1, _2)); } +void onPrefixChanged() {} + void AutowareScreenCapturePanel::onRateChanged() {} void AutowareScreenCapturePanel::onClickScreenCapture() @@ -138,8 +142,8 @@ void AutowareScreenCapturePanel::onClickVideoCapture() .size(); current_movie_size_ = cv::Size(q_size.width(), q_size.height()); writer_.open( - "capture/" + capture_file_name_ + ".mp4", fourcc, capture_hz_->value(), - current_movie_size_); + "capture/" + file_name_prefix_->text().toStdString() + capture_file_name_ + ".mp4", + fourcc, capture_hz_->value(), current_movie_size_); } capture_timer_->start(clock); state_ = State::CAPTURING; diff --git a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.hpp b/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.hpp index a6e78acf29b21..8ddd390206b81 100644 --- a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.hpp +++ b/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.hpp @@ -67,12 +67,14 @@ class AutowareScreenCapturePanel : public rviz_common::Panel public Q_SLOTS: void onClickScreenCapture(); void onClickVideoCapture(); + void onPrefixChanged(); void onRateChanged(); private: QLabel * ros_time_label_; QPushButton * screen_capture_button_ptr_; QPushButton * capture_to_mp4_button_ptr_; + QLineEdit * file_name_prefix_; QSpinBox * capture_hz_; QTimer * capture_timer_; QMainWindow * main_window_{nullptr};