diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index e03ca0b8ad30f..6397141844469 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,34 +1,33 @@ ### Automatically generated from package.xml ### common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp +common/autoware_component_interface_tools/** isamu.takagi@tier4.jp common/autoware_geography_utils/** koji.minoda@tier4.jp +common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp common/autoware_object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp +common/autoware_osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp +common/autoware_polar_grid/** yukihiro.saito@tier4.jp common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp -common/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp +common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp -common/component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp -common/component_interface_tools/** isamu.takagi@tier4.jp common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/glog_component/** takamasa.horibe@tier4.jp -common/goal_distance_calculator/** taiki.tanaka@tier4.jp -common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/polar_grid/** yukihiro.saito@tier4.jp common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp @@ -44,11 +43,13 @@ common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.j common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp zulfaqar.azmi@tier4.jp control/autoware_mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_operation_mode_transition_manager/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_pure_pursuit/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @@ -58,7 +59,6 @@ control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.m control/autoware_trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/predicted_path_checker/** berkay@leodrive.ai evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp @@ -116,7 +116,7 @@ perception/autoware_image_projection_based_fusion/** dai.nguyen@tier4.jp koji.mi perception/autoware_lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp perception/autoware_lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp -perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp +perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp taekjin.lee@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/autoware_multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -132,6 +132,7 @@ perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier perception/autoware_shape_estimation/** kcolak@leodrive.ai yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp +perception/autoware_tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp @@ -148,7 +149,7 @@ planning/autoware_freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@ planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp -planning/autoware_obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp +planning/autoware_obstacle_cruise_planner/** berkay@leodrive.ai kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp @@ -178,7 +179,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/* planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @@ -187,7 +188,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/ planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp diff --git a/.github/labeler.yaml b/.github/labeler.yaml index 0716dfa9b75dd..115f75197f41a 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -42,5 +42,3 @@ "tag:require-cuda-build-and-test": - perception/**/* - sensing/**/* - - common/cuda_utils/**/* - - common/tensorrt_common/**/* diff --git a/.github/workflows/build-and-test-differential-arm64.yaml b/.github/workflows/build-and-test-differential-arm64.yaml index 9e121aa028867..40d7a8846d13b 100644 --- a/.github/workflows/build-and-test-differential-arm64.yaml +++ b/.github/workflows/build-and-test-differential-arm64.yaml @@ -76,7 +76,7 @@ jobs: target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} build-depends-repos: ${{ matrix.build-depends-repos }} cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} - build-pre-command: taskset --cpu-list 0-6 + build-pre-command: taskset --cpu-list 0-5 - name: Test id: test diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index cda1666603926..30619f7ef5aff 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -46,7 +46,7 @@ jobs: build-depends-repos: build_depends.repos - container-suffix: -cuda runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large - build-pre-command: taskset --cpu-list 0-6 + build-pre-command: taskset --cpu-list 0-5 - container-suffix: "" runner: ubuntu-latest build-pre-command: "" diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 0f239cd328591..a79bb60fa2929 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -93,7 +93,7 @@ jobs: target-packages: ${{ steps.get-self-packages.outputs.self-packages }} build-depends-repos: ${{ matrix.build-depends-repos }} cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} - build-pre-command: taskset --cpu-list 0-6 + build-pre-command: taskset --cpu-list 0-5 - name: Show ccache stats after build run: du -sh ${CCACHE_DIR} && ccache -s diff --git a/common/.pages b/common/.pages index 362e6dffba002..60453f2294f27 100644 --- a/common/.pages +++ b/common/.pages @@ -9,7 +9,6 @@ nav: - 'comparisons': common/autoware_auto_common/design/comparisons - 'autoware_grid_map_utils': common/autoware_grid_map_utils - 'autoware_point_types': common/autoware_point_types - - 'Cuda Utils': common/cuda_utils - 'Geography Utils': common/geography_utils - 'Global Parameter Loader': common/global_parameter_loader/Readme - 'Glog Component': common/glog_component @@ -24,7 +23,6 @@ nav: - 'Signal Processing': - 'Introduction': common/signal_processing - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter - - 'TensorRT Common': common/tensorrt_common - 'autoware_universe_utils': common/autoware_universe_utils - 'traffic_light_utils': common/traffic_light_utils - 'TVM Utility': diff --git a/common/component_interface_specs/CMakeLists.txt b/common/autoware_component_interface_specs/CMakeLists.txt similarity index 90% rename from common/component_interface_specs/CMakeLists.txt rename to common/autoware_component_interface_specs/CMakeLists.txt index 146f3688513cd..a4e93cc8f04f9 100644 --- a/common/component_interface_specs/CMakeLists.txt +++ b/common/autoware_component_interface_specs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_specs) +project(autoware_component_interface_specs) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/component_interface_specs/README.md b/common/autoware_component_interface_specs/README.md similarity index 61% rename from common/component_interface_specs/README.md rename to common/autoware_component_interface_specs/README.md index b9fcd83a29dc0..9d9298a95e329 100644 --- a/common/component_interface_specs/README.md +++ b/common/autoware_component_interface_specs/README.md @@ -1,3 +1,3 @@ -# component_interface_specs +# autoware_component_interface_specs This package is a specification of component interfaces. diff --git a/common/component_interface_specs/include/component_interface_specs/control.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp similarity index 88% rename from common/component_interface_specs/include/component_interface_specs/control.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp index dfa708dd33403..03c93d75d674b 100644 --- a/common/component_interface_specs/include/component_interface_specs/control.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ -#define COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace control_interface +namespace autoware::component_interface_specs::control { struct SetPause @@ -65,6 +65,6 @@ struct IsStopped static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace control_interface +} // namespace autoware::component_interface_specs::control -#endif // COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/localization.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp similarity index 86% rename from common/component_interface_specs/include/component_interface_specs/localization.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp index e00d8cef1840d..b2e41a179506a 100644 --- a/common/component_interface_specs/include/component_interface_specs/localization.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ -#define COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace localization_interface +namespace autoware::component_interface_specs::localization { struct Initialize @@ -58,6 +58,6 @@ struct Acceleration static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace localization_interface +} // namespace autoware::component_interface_specs::localization -#endif // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp similarity index 78% rename from common/component_interface_specs/include/component_interface_specs/map.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp index dc162d4a7267a..dd1c300a7a2ca 100644 --- a/common/component_interface_specs/include/component_interface_specs/map.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__MAP_HPP_ -#define COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ #include #include -namespace map_interface +namespace autoware::component_interface_specs::map { struct MapProjectorInfo @@ -31,6 +31,6 @@ struct MapProjectorInfo static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace map_interface +} // namespace autoware::component_interface_specs::map -#endif // COMPONENT_INTERFACE_SPECS__MAP_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/perception.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp similarity index 77% rename from common/component_interface_specs/include/component_interface_specs/perception.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp index 0c72dbdb12078..4f450e6a3ee1c 100644 --- a/common/component_interface_specs/include/component_interface_specs/perception.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ -#define COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ #include #include -namespace perception_interface +namespace autoware::component_interface_specs::perception { struct ObjectRecognition @@ -31,6 +31,6 @@ struct ObjectRecognition static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace perception_interface +} // namespace autoware::component_interface_specs::perception -#endif // COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/planning.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp similarity index 89% rename from common/component_interface_specs/include/component_interface_specs/planning.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp index 58aba53d8ac8a..247844123881b 100644 --- a/common/component_interface_specs/include/component_interface_specs/planning.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ -#define COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ #include @@ -24,7 +24,7 @@ #include #include -namespace planning_interface +namespace autoware::component_interface_specs::planning { struct SetLaneletRoute @@ -73,6 +73,6 @@ struct Trajectory static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; }; -} // namespace planning_interface +} // namespace autoware::component_interface_specs::planning -#endif // COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/system.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp similarity index 86% rename from common/component_interface_specs/include/component_interface_specs/system.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp index 2132d16dd2969..6ae3447c0786d 100644 --- a/common/component_interface_specs/include/component_interface_specs/system.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp @@ -12,8 +12,8 @@ // 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_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace system_interface +namespace autoware::component_interface_specs::system { struct MrmState @@ -55,6 +55,6 @@ struct OperationModeState static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace system_interface +} // namespace autoware::component_interface_specs::system -#endif // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ diff --git a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp similarity index 90% rename from common/component_interface_specs/include/component_interface_specs/vehicle.hpp rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp index e7ce2c5212a25..6c071299faae8 100644 --- a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp +++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ -#define COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ #include @@ -26,7 +26,7 @@ #include #include -namespace vehicle_interface +namespace autoware::component_interface_specs::vehicle { struct SteeringStatus @@ -92,9 +92,9 @@ struct DoorStatus static constexpr char name[] = "/vehicle/doors/status"; static constexpr size_t depth = 1; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; - static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; }; -} // namespace vehicle_interface +} // namespace autoware::component_interface_specs::vehicle -#endif // COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ diff --git a/common/component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml similarity index 90% rename from common/component_interface_specs/package.xml rename to common/autoware_component_interface_specs/package.xml index fa57bb1641eed..3e53968a94d61 100644 --- a/common/component_interface_specs/package.xml +++ b/common/autoware_component_interface_specs/package.xml @@ -1,9 +1,9 @@ - component_interface_specs + autoware_component_interface_specs 0.0.0 - The component_interface_specs package + The autoware_component_interface_specs package Takagi, Isamu Yukihiro Saito Apache License 2.0 diff --git a/common/component_interface_specs/test/gtest_main.cpp b/common/autoware_component_interface_specs/test/gtest_main.cpp similarity index 100% rename from common/component_interface_specs/test/gtest_main.cpp rename to common/autoware_component_interface_specs/test/gtest_main.cpp diff --git a/common/component_interface_specs/test/test_control.cpp b/common/autoware_component_interface_specs/test/test_control.cpp similarity index 84% rename from common/component_interface_specs/test/test_control.cpp rename to common/autoware_component_interface_specs/test/test_control.cpp index 366641eacbd23..db6e7817e7a9d 100644 --- a/common/component_interface_specs/test/test_control.cpp +++ b/common/autoware_component_interface_specs/test/test_control.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/control.hpp" +#include "autoware/component_interface_specs/control.hpp" #include "gtest/gtest.h" TEST(control, interface) { { - using control_interface::IsPaused; + using autoware::component_interface_specs::control::IsPaused; IsPaused is_paused; size_t depth = 1; EXPECT_EQ(is_paused.depth, depth); @@ -27,7 +27,7 @@ TEST(control, interface) } { - using control_interface::IsStartRequested; + using autoware::component_interface_specs::control::IsStartRequested; IsStartRequested is_start_requested; size_t depth = 1; EXPECT_EQ(is_start_requested.depth, depth); @@ -36,7 +36,7 @@ TEST(control, interface) } { - using control_interface::IsStopped; + using autoware::component_interface_specs::control::IsStopped; IsStopped is_stopped; size_t depth = 1; EXPECT_EQ(is_stopped.depth, depth); diff --git a/common/component_interface_specs/test/test_localization.cpp b/common/autoware_component_interface_specs/test/test_localization.cpp similarity index 83% rename from common/component_interface_specs/test/test_localization.cpp rename to common/autoware_component_interface_specs/test/test_localization.cpp index 31d8e139bd69a..18ec5f15acaf8 100644 --- a/common/component_interface_specs/test/test_localization.cpp +++ b/common/autoware_component_interface_specs/test/test_localization.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/localization.hpp" +#include "autoware/component_interface_specs/localization.hpp" #include "gtest/gtest.h" TEST(localization, interface) { { - using localization_interface::InitializationState; + using autoware::component_interface_specs::localization::InitializationState; InitializationState initialization_state; size_t depth = 1; EXPECT_EQ(initialization_state.depth, depth); @@ -27,7 +27,7 @@ TEST(localization, interface) } { - using localization_interface::KinematicState; + using autoware::component_interface_specs::localization::KinematicState; KinematicState kinematic_state; size_t depth = 1; EXPECT_EQ(kinematic_state.depth, depth); @@ -36,7 +36,7 @@ TEST(localization, interface) } { - using localization_interface::Acceleration; + using autoware::component_interface_specs::localization::Acceleration; Acceleration acceleration; size_t depth = 1; EXPECT_EQ(acceleration.depth, depth); diff --git a/common/component_interface_specs/test/test_map.cpp b/common/autoware_component_interface_specs/test/test_map.cpp similarity index 88% rename from common/component_interface_specs/test/test_map.cpp rename to common/autoware_component_interface_specs/test/test_map.cpp index a65f2cb7120d1..aafb33e73c9dc 100644 --- a/common/component_interface_specs/test/test_map.cpp +++ b/common/autoware_component_interface_specs/test/test_map.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/map.hpp" +#include "autoware/component_interface_specs/map.hpp" #include "gtest/gtest.h" TEST(map, interface) { { - using map_interface::MapProjectorInfo; + using autoware::component_interface_specs::map::MapProjectorInfo; MapProjectorInfo map_projector; size_t depth = 1; EXPECT_EQ(map_projector.depth, depth); diff --git a/common/component_interface_specs/test/test_perception.cpp b/common/autoware_component_interface_specs/test/test_perception.cpp similarity index 87% rename from common/component_interface_specs/test/test_perception.cpp rename to common/autoware_component_interface_specs/test/test_perception.cpp index ec80c06bb119a..8ad6d9dfceb6f 100644 --- a/common/component_interface_specs/test/test_perception.cpp +++ b/common/autoware_component_interface_specs/test/test_perception.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/perception.hpp" +#include "autoware/component_interface_specs/perception.hpp" #include "gtest/gtest.h" TEST(perception, interface) { { - using perception_interface::ObjectRecognition; + using autoware::component_interface_specs::perception::ObjectRecognition; ObjectRecognition object_recognition; size_t depth = 1; EXPECT_EQ(object_recognition.depth, depth); diff --git a/common/component_interface_specs/test/test_planning.cpp b/common/autoware_component_interface_specs/test/test_planning.cpp similarity index 83% rename from common/component_interface_specs/test/test_planning.cpp rename to common/autoware_component_interface_specs/test/test_planning.cpp index c9cf353de5f34..8278bf86f3861 100644 --- a/common/component_interface_specs/test/test_planning.cpp +++ b/common/autoware_component_interface_specs/test/test_planning.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/planning.hpp" +#include "autoware/component_interface_specs/planning.hpp" #include "gtest/gtest.h" TEST(planning, interface) { { - using planning_interface::RouteState; + using autoware::component_interface_specs::planning::RouteState; RouteState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); @@ -27,7 +27,7 @@ TEST(planning, interface) } { - using planning_interface::LaneletRoute; + using autoware::component_interface_specs::planning::LaneletRoute; LaneletRoute route; size_t depth = 1; EXPECT_EQ(route.depth, depth); @@ -36,7 +36,7 @@ TEST(planning, interface) } { - using planning_interface::Trajectory; + using autoware::component_interface_specs::planning::Trajectory; Trajectory trajectory; size_t depth = 1; EXPECT_EQ(trajectory.depth, depth); diff --git a/common/component_interface_specs/test/test_system.cpp b/common/autoware_component_interface_specs/test/test_system.cpp similarity index 85% rename from common/component_interface_specs/test/test_system.cpp rename to common/autoware_component_interface_specs/test/test_system.cpp index 416d2effad766..3faff08734905 100644 --- a/common/component_interface_specs/test/test_system.cpp +++ b/common/autoware_component_interface_specs/test/test_system.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/system.hpp" +#include "autoware/component_interface_specs/system.hpp" #include "gtest/gtest.h" TEST(system, interface) { { - using system_interface::MrmState; + using autoware::component_interface_specs::system::MrmState; MrmState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); @@ -27,7 +27,7 @@ TEST(system, interface) } { - using system_interface::OperationModeState; + using autoware::component_interface_specs::system::OperationModeState; OperationModeState state; size_t depth = 1; EXPECT_EQ(state.depth, depth); diff --git a/common/component_interface_specs/test/test_vehicle.cpp b/common/autoware_component_interface_specs/test/test_vehicle.cpp similarity index 81% rename from common/component_interface_specs/test/test_vehicle.cpp rename to common/autoware_component_interface_specs/test/test_vehicle.cpp index 1f2041b6cb79e..e9ee65e2fa210 100644 --- a/common/component_interface_specs/test/test_vehicle.cpp +++ b/common/autoware_component_interface_specs/test/test_vehicle.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_specs/vehicle.hpp" +#include "autoware/component_interface_specs/vehicle.hpp" #include "gtest/gtest.h" TEST(vehicle, interface) { { - using vehicle_interface::SteeringStatus; + using autoware::component_interface_specs::vehicle::SteeringStatus; SteeringStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -27,7 +27,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::GearStatus; + using autoware::component_interface_specs::vehicle::GearStatus; GearStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -36,7 +36,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::TurnIndicatorStatus; + using autoware::component_interface_specs::vehicle::TurnIndicatorStatus; TurnIndicatorStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -45,7 +45,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::HazardLightStatus; + using autoware::component_interface_specs::vehicle::HazardLightStatus; HazardLightStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); @@ -54,7 +54,7 @@ TEST(vehicle, interface) } { - using vehicle_interface::EnergyStatus; + using autoware::component_interface_specs::vehicle::EnergyStatus; EnergyStatus status; size_t depth = 1; EXPECT_EQ(status.depth, depth); diff --git a/common/component_interface_tools/CMakeLists.txt b/common/autoware_component_interface_tools/CMakeLists.txt similarity index 88% rename from common/component_interface_tools/CMakeLists.txt rename to common/autoware_component_interface_tools/CMakeLists.txt index 2b896a951b8ed..e51db41ca0ea2 100644 --- a/common/component_interface_tools/CMakeLists.txt +++ b/common/autoware_component_interface_tools/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_tools) +project(autoware_component_interface_tools) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/component_interface_tools/README.md b/common/autoware_component_interface_tools/README.md similarity index 83% rename from common/component_interface_tools/README.md rename to common/autoware_component_interface_tools/README.md index 630483acc1d9e..48492664a647e 100644 --- a/common/component_interface_tools/README.md +++ b/common/autoware_component_interface_tools/README.md @@ -1,4 +1,4 @@ -# component_interface_tools +# autoware_component_interface_tools This package provides the following tools for component interface. diff --git a/common/autoware_component_interface_tools/launch/service_log_checker.launch.xml b/common/autoware_component_interface_tools/launch/service_log_checker.launch.xml new file mode 100644 index 0000000000000..be822497bb744 --- /dev/null +++ b/common/autoware_component_interface_tools/launch/service_log_checker.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/common/component_interface_tools/package.xml b/common/autoware_component_interface_tools/package.xml similarity index 86% rename from common/component_interface_tools/package.xml rename to common/autoware_component_interface_tools/package.xml index 6df07af8729ff..103489adc1a53 100644 --- a/common/component_interface_tools/package.xml +++ b/common/autoware_component_interface_tools/package.xml @@ -1,9 +1,9 @@ - component_interface_tools + autoware_component_interface_tools 0.1.0 - The component_interface_tools package + The autoware_component_interface_tools package Takagi, Isamu Apache License 2.0 diff --git a/common/component_interface_tools/src/service_log_checker.cpp b/common/autoware_component_interface_tools/src/service_log_checker.cpp similarity index 100% rename from common/component_interface_tools/src/service_log_checker.cpp rename to common/autoware_component_interface_tools/src/service_log_checker.cpp diff --git a/common/component_interface_tools/src/service_log_checker.hpp b/common/autoware_component_interface_tools/src/service_log_checker.hpp similarity index 100% rename from common/component_interface_tools/src/service_log_checker.hpp rename to common/autoware_component_interface_tools/src/service_log_checker.hpp diff --git a/common/autoware_goal_distance_calculator/CMakeLists.txt b/common/autoware_goal_distance_calculator/CMakeLists.txt new file mode 100644 index 0000000000000..f6d326dd110af --- /dev/null +++ b/common/autoware_goal_distance_calculator/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_goal_distance_calculator) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/goal_distance_calculator_node.cpp + src/goal_distance_calculator.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::goal_distance_calculator::GoalDistanceCalculatorNode" + EXECUTABLE autoware_goal_distance_calculator_node +) + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/common/goal_distance_calculator/Readme.md b/common/autoware_goal_distance_calculator/Readme.md similarity index 98% rename from common/goal_distance_calculator/Readme.md rename to common/autoware_goal_distance_calculator/Readme.md index 062b23baabe47..28a1e2fada086 100644 --- a/common/goal_distance_calculator/Readme.md +++ b/common/autoware_goal_distance_calculator/Readme.md @@ -1,4 +1,4 @@ -# goal_distance_calculator +# autoware_goal_distance_calculator ## Purpose diff --git a/common/goal_distance_calculator/config/goal_distance_calculator.param.yaml b/common/autoware_goal_distance_calculator/config/goal_distance_calculator.param.yaml similarity index 100% rename from common/goal_distance_calculator/config/goal_distance_calculator.param.yaml rename to common/autoware_goal_distance_calculator/config/goal_distance_calculator.param.yaml diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp similarity index 79% rename from common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp rename to common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp index 69c8840b39421..99bc9bd73d140 100644 --- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp +++ b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ -#define GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ +#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ +#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ #include #include @@ -23,7 +23,7 @@ #include -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { using autoware::universe_utils::PoseDeviation; @@ -52,6 +52,6 @@ class GoalDistanceCalculator private: Param param_; }; -} // namespace goal_distance_calculator +} // namespace autoware::goal_distance_calculator -#endif // GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ +#endif // AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_ diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp similarity index 82% rename from common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp rename to common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp index 602688ffe51d7..f6f617292ab15 100644 --- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp +++ b/common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ -#define GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ +#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ +#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ -#include "goal_distance_calculator/goal_distance_calculator.hpp" +#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp" #include #include @@ -30,7 +30,7 @@ #include -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { struct NodeParam { @@ -66,5 +66,5 @@ class GoalDistanceCalculatorNode : public rclcpp::Node // Core std::unique_ptr goal_distance_calculator_; }; -} // namespace goal_distance_calculator -#endif // GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ +} // namespace autoware::goal_distance_calculator +#endif // AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_NODE_HPP_ diff --git a/common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml b/common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml similarity index 55% rename from common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml rename to common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml index 7ba2eb45c9233..d35d17361bcb9 100644 --- a/common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml +++ b/common/autoware_goal_distance_calculator/launch/goal_distance_calculator.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/common/goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml similarity index 86% rename from common/goal_distance_calculator/package.xml rename to common/autoware_goal_distance_calculator/package.xml index 04ea8a37a5053..28472bee213ed 100644 --- a/common/goal_distance_calculator/package.xml +++ b/common/autoware_goal_distance_calculator/package.xml @@ -1,9 +1,9 @@ - goal_distance_calculator + autoware_goal_distance_calculator 0.0.0 - The goal_distance_calculator package + The autoware_goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/goal_distance_calculator/schema/goal_distance_calculator.schema.json b/common/autoware_goal_distance_calculator/schema/goal_distance_calculator.schema.json similarity index 100% rename from common/goal_distance_calculator/schema/goal_distance_calculator.schema.json rename to common/autoware_goal_distance_calculator/schema/goal_distance_calculator.schema.json diff --git a/common/goal_distance_calculator/src/goal_distance_calculator.cpp b/common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp similarity index 83% rename from common/goal_distance_calculator/src/goal_distance_calculator.cpp rename to common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp index a577d43675224..0bf1d5d5f54bc 100755 --- a/common/goal_distance_calculator/src/goal_distance_calculator.cpp +++ b/common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "goal_distance_calculator/goal_distance_calculator.hpp" +#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp" -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { Output GoalDistanceCalculator::update(const Input & input) { @@ -26,4 +26,4 @@ Output GoalDistanceCalculator::update(const Input & input) return output; } -} // namespace goal_distance_calculator +} // namespace autoware::goal_distance_calculator diff --git a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp b/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp similarity index 93% rename from common/goal_distance_calculator/src/goal_distance_calculator_node.cpp rename to common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp index 24d54ee2fcf87..c00a2e9bb452d 100644 --- a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp +++ b/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "goal_distance_calculator/goal_distance_calculator_node.hpp" +#include "autoware/goal_distance_calculator/goal_distance_calculator_node.hpp" #include #include @@ -26,7 +26,7 @@ #include #include -namespace goal_distance_calculator +namespace autoware::goal_distance_calculator { GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions & options) : Node("goal_distance_calculator", options), @@ -117,7 +117,7 @@ void GoalDistanceCalculatorNode::onTimer() rclcpp::shutdown(); } } -} // namespace goal_distance_calculator +} // namespace autoware::goal_distance_calculator #include -RCLCPP_COMPONENTS_REGISTER_NODE(goal_distance_calculator::GoalDistanceCalculatorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::goal_distance_calculator::GoalDistanceCalculatorNode) diff --git a/common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp b/common/autoware_grid_map_utils/include/autoware/grid_map_utils/polygon_iterator.hpp similarity index 96% rename from common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp rename to common/autoware_grid_map_utils/include/autoware/grid_map_utils/polygon_iterator.hpp index 9bb82e7be50ea..a7bea0bcc8348 100644 --- a/common/autoware_grid_map_utils/include/autoware_grid_map_utils/polygon_iterator.hpp +++ b/common/autoware_grid_map_utils/include/autoware/grid_map_utils/polygon_iterator.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ -#define AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ +#ifndef AUTOWARE__GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ +#define AUTOWARE__GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ #include "grid_map_core/TypeDefs.hpp" @@ -126,4 +126,4 @@ class PolygonIterator }; } // namespace autoware::grid_map_utils -#endif // AUTOWARE_GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ +#endif // AUTOWARE__GRID_MAP_UTILS__POLYGON_ITERATOR_HPP_ diff --git a/common/autoware_grid_map_utils/src/polygon_iterator.cpp b/common/autoware_grid_map_utils/src/polygon_iterator.cpp index 1360ad6e6c255..d3c5de85c2ed2 100644 --- a/common/autoware_grid_map_utils/src/polygon_iterator.cpp +++ b/common/autoware_grid_map_utils/src/polygon_iterator.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include "grid_map_core/GridMap.hpp" #include "grid_map_core/Polygon.hpp" diff --git a/common/autoware_grid_map_utils/test/benchmark.cpp b/common/autoware_grid_map_utils/test/benchmark.cpp index a63ed9985fef1..1498b1f7f4e0b 100644 --- a/common/autoware_grid_map_utils/test/benchmark.cpp +++ b/common/autoware_grid_map_utils/test/benchmark.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include "grid_map_core/TypeDefs.hpp" #include "grid_map_cv/GridMapCvConverter.hpp" #include "grid_map_cv/GridMapCvProcessing.hpp" diff --git a/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp b/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp index 1646586853800..36cff60fc4abe 100644 --- a/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp +++ b/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include #include diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp index a6a0c69744301..beb3b9c7ead3e 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp @@ -18,5 +18,6 @@ #include #include #include +#include #include #endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp index d3957567c49b5..c5446e945a799 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp @@ -49,7 +49,7 @@ struct InterpolatorMixin : public InterpolatorInterface { private: std::vector bases_; - std::vector values_; + std::vector values_; public: [[nodiscard]] Builder & set_bases(const Eigen::Ref & bases) @@ -64,18 +64,12 @@ struct InterpolatorMixin : public InterpolatorInterface return *this; } - [[nodiscard]] Builder & set_values(const std::vector & values) + [[nodiscard]] Builder & set_values(const std::vector & values) { values_ = values; return *this; } - [[nodiscard]] Builder & set_values(const Eigen::Ref & values) - { - values_ = std::vector(values.begin(), values.end()); - return *this; - } - template [[nodiscard]] std::optional build(Args &&... args) { diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp new file mode 100644 index 0000000000000..6e47fb856e5b9 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp @@ -0,0 +1,73 @@ +// Copyright 2024 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__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__SPHERICAL_LINEAR_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__SPHERICAL_LINEAR_HPP_ + +#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp" + +#include + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +/** + * @brief Class for SphericalLinear interpolation. + * + * This class provides methods to perform SphericalLinear interpolation on a set of data points. + */ +class SphericalLinear +: public detail::InterpolatorMixin +{ +private: + std::vector quaternions_; + + /** + * @brief Build the interpolator with the given values. + * + * @param bases The bases values. + * @param values The values to interpolate. + * @return True if the interpolator was built successfully, false otherwise. + */ + void build_impl( + const std::vector & bases, + const std::vector & quaternions) override; + + /** + * @brief Compute the interpolated value at the given point. + * + * @param s The point at which to compute the interpolated value. + * @return The interpolated value. + */ + [[nodiscard]] geometry_msgs::msg::Quaternion compute_impl(const double & s) const override; + +public: + /** + * @brief Default constructor. + */ + SphericalLinear() = default; + + /** + * @brief Get the minimum number of required points for the interpolator. + * + * @return The minimum number of required points. + */ + [[nodiscard]] size_t minimum_required_points() const override; +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__SPHERICAL_LINEAR_HPP_ diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/spherical_linear.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/spherical_linear.cpp new file mode 100644 index 0000000000000..33aaea718376d --- /dev/null +++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/spherical_linear.cpp @@ -0,0 +1,64 @@ +// Copyright 2024 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 "autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp" + +#include + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +void SphericalLinear::build_impl( + const std::vector & bases, + const std::vector & quaternions) +{ + this->bases_ = bases; + this->quaternions_ = quaternions; +} + +geometry_msgs::msg::Quaternion SphericalLinear::compute_impl(const double & s) const +{ + const int32_t idx = this->get_index(s); + const double x0 = this->bases_.at(idx); + const double x1 = this->bases_.at(idx + 1); + const geometry_msgs::msg::Quaternion y0 = this->quaternions_.at(idx); + const geometry_msgs::msg::Quaternion y1 = this->quaternions_.at(idx + 1); + + // Spherical linear interpolation (Slerp) + const double t = (s - x0) / (x1 - x0); + + // Convert quaternions to Eigen vectors for calculation + Eigen::Quaterniond q0(y0.w, y0.x, y0.y, y0.z); + Eigen::Quaterniond q1(y1.w, y1.x, y1.y, y1.z); + + // Perform Slerp + Eigen::Quaterniond q_slerp = q0.slerp(t, q1); + + // Convert the result back to geometry_msgs::msg::Quaternion + geometry_msgs::msg::Quaternion result; + result.w = q_slerp.w(); + result.x = q_slerp.x(); + result.y = q_slerp.y(); + result.z = q_slerp.z(); + + return result; +} + +size_t SphericalLinear::minimum_required_points() const +{ + return 2; +} +} // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp b/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp index 82c387c416436..0b6747adedcb7 100644 --- a/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp +++ b/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp @@ -12,8 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/motion_utils/trajectory_container/interpolator/spherical_linear.hpp" + #include +#include + #include #include @@ -71,3 +75,50 @@ template class TestInterpolator< autoware::motion_utils::trajectory_container::interpolator::NearestNeighbor>; template class TestInterpolator< autoware::motion_utils::trajectory_container::interpolator::Stairstep>; + +/* + * Test SphericalLinear interpolator + */ + +geometry_msgs::msg::Quaternion create_quaternion(double w, double x, double y, double z) +{ + geometry_msgs::msg::Quaternion q; + q.w = w; + q.x = x; + q.y = y; + q.z = z; + return q; +} + +TEST(TestSphericalLinearInterpolator, compute) +{ + using autoware::motion_utils::trajectory_container::interpolator::SphericalLinear; + + std::vector bases = {0.0, 1.0}; + std::vector quaternions = { + create_quaternion(1.0, 0.0, 0.0, 0.0), create_quaternion(0.0, 1.0, 0.0, 0.0)}; + + auto interpolator = + autoware::motion_utils::trajectory_container::interpolator::SphericalLinear::Builder() + .set_bases(bases) + .set_values(quaternions) + .build(); + + if (!interpolator) { + FAIL(); + } + + double s = 0.5; + geometry_msgs::msg::Quaternion result = interpolator->compute(s); + + // Expected values (from SLERP calculation) + double expected_w = std::sqrt(2.0) / 2.0; + double expected_x = std::sqrt(2.0) / 2.0; + double expected_y = 0.0; + double expected_z = 0.0; + + EXPECT_NEAR(result.w, expected_w, 1e-6); + EXPECT_NEAR(result.x, expected_x, 1e-6); + EXPECT_NEAR(result.y, expected_y, 1e-6); + EXPECT_NEAR(result.z, expected_z, 1e-6); +} diff --git a/common/autoware_point_types/include/autoware_point_types/types.hpp b/common/autoware_point_types/include/autoware/point_types/types.hpp similarity index 94% rename from common/autoware_point_types/include/autoware_point_types/types.hpp rename to common/autoware_point_types/include/autoware/point_types/types.hpp index a3b0670280530..0fde62222e276 100644 --- a/common/autoware_point_types/include/autoware_point_types/types.hpp +++ b/common/autoware_point_types/include/autoware/point_types/types.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_POINT_TYPES__TYPES_HPP_ -#define AUTOWARE_POINT_TYPES__TYPES_HPP_ +#ifndef AUTOWARE__POINT_TYPES__TYPES_HPP_ +#define AUTOWARE__POINT_TYPES__TYPES_HPP_ #include @@ -22,7 +22,7 @@ #include #include -namespace autoware_point_types +namespace autoware::point_types { template bool float_eq(const T a, const T b, const T eps = 10e-6) @@ -166,23 +166,23 @@ using PointXYZIRCAEDTGenerator = std::tuple< field_return_type_generator, field_channel_generator, field_azimuth_generator, field_elevation_generator, field_distance_generator, field_time_stamp_generator>; -} // namespace autoware_point_types +} // namespace autoware::point_types POINT_CLOUD_REGISTER_POINT_STRUCT( - autoware_point_types::PointXYZIRC, + autoware::point_types::PointXYZIRC, (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)( std::uint8_t, return_type, return_type)(std::uint16_t, channel, channel)) POINT_CLOUD_REGISTER_POINT_STRUCT( - autoware_point_types::PointXYZIRADRT, + autoware::point_types::PointXYZIRADRT, (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint16_t, ring, ring)( float, azimuth, azimuth)(float, distance, distance)(std::uint8_t, return_type, return_type)( double, time_stamp, time_stamp)) POINT_CLOUD_REGISTER_POINT_STRUCT( - autoware_point_types::PointXYZIRCAEDT, + autoware::point_types::PointXYZIRCAEDT, (float, x, x)(float, y, y)(float, z, z)(std::uint8_t, intensity, intensity)( std::uint8_t, return_type, return_type)(std::uint16_t, channel, channel)(float, azimuth, azimuth)( float, elevation, elevation)(float, distance, distance)(std::uint32_t, time_stamp, time_stamp)) -#endif // AUTOWARE_POINT_TYPES__TYPES_HPP_ +#endif // AUTOWARE__POINT_TYPES__TYPES_HPP_ diff --git a/common/autoware_point_types/test/test_point_types.cpp b/common/autoware_point_types/test/test_point_types.cpp index 16887ac2aa498..08696a9948f60 100644 --- a/common/autoware_point_types/test/test_point_types.cpp +++ b/common/autoware_point_types/test/test_point_types.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include @@ -20,7 +20,7 @@ TEST(PointEquality, PointXYZI) { - using autoware_point_types::PointXYZI; + using autoware::point_types::PointXYZI; PointXYZI pt0{0, 1, 2, 3}; PointXYZI pt1{0, 1, 2, 3}; @@ -29,7 +29,7 @@ TEST(PointEquality, PointXYZI) TEST(PointEquality, PointXYZIRADRT) { - using autoware_point_types::PointXYZIRADRT; + using autoware::point_types::PointXYZIRADRT; PointXYZIRADRT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8}; PointXYZIRADRT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8}; @@ -38,7 +38,7 @@ TEST(PointEquality, PointXYZIRADRT) TEST(PointEquality, PointXYZIRCAEDT) { - using autoware_point_types::PointXYZIRCAEDT; + using autoware::point_types::PointXYZIRCAEDT; PointXYZIRCAEDT pt0{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; PointXYZIRCAEDT pt1{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; @@ -48,19 +48,19 @@ TEST(PointEquality, PointXYZIRCAEDT) TEST(PointEquality, FloatEq) { // test template - EXPECT_TRUE(autoware_point_types::float_eq(1, 1)); - EXPECT_TRUE(autoware_point_types::float_eq(1, 1)); + EXPECT_TRUE(autoware::point_types::float_eq(1, 1)); + EXPECT_TRUE(autoware::point_types::float_eq(1, 1)); // test floating point error - EXPECT_TRUE(autoware_point_types::float_eq(1, 1 + std::numeric_limits::epsilon())); + EXPECT_TRUE(autoware::point_types::float_eq(1, 1 + std::numeric_limits::epsilon())); // test difference of sign - EXPECT_FALSE(autoware_point_types::float_eq(2, -2)); - EXPECT_FALSE(autoware_point_types::float_eq(-2, 2)); + EXPECT_FALSE(autoware::point_types::float_eq(2, -2)); + EXPECT_FALSE(autoware::point_types::float_eq(-2, 2)); // small value difference - EXPECT_FALSE(autoware_point_types::float_eq(2, 2 + 10e-6)); + EXPECT_FALSE(autoware::point_types::float_eq(2, 2 + 10e-6)); // expect same value if epsilon is larger than difference - EXPECT_TRUE(autoware_point_types::float_eq(2, 2 + 10e-6, 10e-5)); + EXPECT_TRUE(autoware::point_types::float_eq(2, 2 + 10e-6, 10e-5)); } diff --git a/common/autoware_test_utils/CMakeLists.txt b/common/autoware_test_utils/CMakeLists.txt index 6a12539d06cbf..09d2a6b2efa7b 100644 --- a/common/autoware_test_utils/CMakeLists.txt +++ b/common/autoware_test_utils/CMakeLists.txt @@ -25,4 +25,5 @@ ament_auto_package(INSTALL_TO_SHARE config test_map test_data + launch ) diff --git a/common/autoware_test_utils/README.md b/common/autoware_test_utils/README.md index a656f35a90ce4..57e065c154c8f 100644 --- a/common/autoware_test_utils/README.md +++ b/common/autoware_test_utils/README.md @@ -15,7 +15,7 @@ The objective of the `test_utils` is to develop a unit testing library for the A ## Available Maps -The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/autoware_test_utils/test_map) +The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/common/autoware_test_utils/test_map) ### Common @@ -33,6 +33,40 @@ The following illustrates the design of the map. ![straight_diagram](./images/2km-test.svg) +### road_shoulders + +The road_shoulders lanelet map consist of a variety of pick-up/drop-off site maps with road_shoulder tags including: + +- pick-up/drop-off sites on the side of street lanes +- pick-up/drop-off sites on the side of curved lanes +- pick-up/drop-off sites inside a private area + +![road_shoulder_test](./images/road_shoulder_test_map.png) + +You can easily launch planning_simulator by + +```bash +ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true +``` + +### intersection + +The intersections lanelet map consist of a variety of intersections including: + +- 4-way crossing with traffic light +- 4-way crossing without traffic light +- T-shape crossing without traffic light +- intersection with a loop +- complicated intersection + +![intersection_test](./images/intersection_test_map.png) + +You can easily launch planning_simulator by + +```bash +ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:=<> sensor_model:=<> use_sim_time:=true +``` + ## Example use cases ### Autoware Planning Test Manager diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/docs/intersection_test_map.png b/common/autoware_test_utils/images/intersection_test_map.png similarity index 100% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/docs/intersection_test_map.png rename to common/autoware_test_utils/images/intersection_test_map.png diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/road_shoulder_test_map.png b/common/autoware_test_utils/images/road_shoulder_test_map.png similarity index 100% rename from planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/road_shoulder_test_map.png rename to common/autoware_test_utils/images/road_shoulder_test_map.png diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp index fd18d5c620832..e87de2d15e75c 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp @@ -15,36 +15,25 @@ #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_ -#include -#include -#include -#include -#include -#include +#include #include #include #include #include #include +#include #include #include #include #include #include -#include -#include #include #include #include #include -#include -#include #include -#include -#include -#include #include #include @@ -65,18 +54,13 @@ using autoware_planning_msgs::msg::Trajectory; using tier4_planning_msgs::msg::PathPointWithLaneId; using tier4_planning_msgs::msg::PathWithLaneId; using RouteSections = std::vector; -using autoware::universe_utils::createPoint; -using autoware::universe_utils::createQuaternionFromRPY; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseStamped; -using geometry_msgs::msg::TransformStamped; using nav_msgs::msg::OccupancyGrid; using nav_msgs::msg::Odometry; -using sensor_msgs::msg::PointCloud2; using tf2_msgs::msg::TFMessage; using tier4_planning_msgs::msg::Scenario; -using unique_identifier_msgs::msg::UUID; /** * @brief Creates a Pose message with the specified position and orientation. @@ -369,9 +353,9 @@ T generateTrajectory( T traj; for (size_t i = 0; i < num_points; ++i) { - const double theta = init_theta + i * delta_theta; - const double x = i * point_interval * std::cos(theta); - const double y = i * point_interval * std::sin(theta); + const double theta = init_theta + static_cast(i) * delta_theta; + const double x = static_cast(i) * point_interval * std::cos(theta); + const double y = static_cast(i) * point_interval * std::sin(theta); Point p; p.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); @@ -387,6 +371,33 @@ T generateTrajectory( return traj; } +template <> +inline PathWithLaneId generateTrajectory( + const size_t num_points, const double point_interval, const double velocity, + const double init_theta, const double delta_theta, const size_t overlapping_point_index) +{ + PathWithLaneId traj; + + for (size_t i = 0; i < num_points; i++) { + const double theta = init_theta + static_cast(i) * delta_theta; + const double x = static_cast(i) * point_interval * std::cos(theta); + const double y = static_cast(i) * point_interval * std::sin(theta); + + PathPointWithLaneId p; + p.point.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); + p.point.longitudinal_velocity_mps = static_cast(velocity); + p.lane_ids.push_back(static_cast(i)); + traj.points.push_back(p); + + if (i == overlapping_point_index) { + auto value_to_insert = traj.points.at(overlapping_point_index); + traj.points.insert( + traj.points.begin() + static_cast(overlapping_point_index) + 1, value_to_insert); + } + } + return traj; +} + /** * @brief Creates a publisher with appropriate QoS settings. * diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp index 47284da447133..714d6d6710b32 100644 --- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp +++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp @@ -15,32 +15,151 @@ #ifndef AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ #define AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ +#include + +#include +#include #include #include #include -#include +#include +#include +#include +#include +#include #include +#include #include #include namespace autoware::test_utils { +using autoware_perception_msgs::msg::ObjectClassification; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjectKinematics; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::PredictedPath; +using autoware_perception_msgs::msg::Shape; using autoware_planning_msgs::msg::LaneletPrimitive; using autoware_planning_msgs::msg::LaneletRoute; using autoware_planning_msgs::msg::LaneletSegment; +using builtin_interfaces::msg::Duration; +using geometry_msgs::msg::Accel; +using geometry_msgs::msg::AccelWithCovariance; +using geometry_msgs::msg::AccelWithCovarianceStamped; +using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; +using geometry_msgs::msg::PoseWithCovariance; +using geometry_msgs::msg::Twist; +using geometry_msgs::msg::TwistWithCovariance; +using nav_msgs::msg::Odometry; +using std_msgs::msg::Header; +using tier4_planning_msgs::msg::PathPointWithLaneId; +using tier4_planning_msgs::msg::PathWithLaneId; +using unique_identifier_msgs::msg::UUID; + +/** + * @brief Parses a YAML node and converts it into an object of type T. + * + * This function extracts data from the given YAML node and converts it into an object of type T. + * If no specialization exists for T, it will result in a compile-time error. + * + * @tparam T The type of object to parse the node contents into. + * @param node The YAML node to be parsed. + * @return T An object of type T containing the parsed data. + */ +template +T parse(const YAML::Node & node); + +template <> +Header parse(const YAML::Node & node); + +template <> +Duration parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); + +template <> +std::array parse(const YAML::Node & node); + +template <> +Pose parse(const YAML::Node & node); + +template <> +PoseWithCovariance parse(const YAML::Node & node); + +template <> +Twist parse(const YAML::Node & node); + +template <> +TwistWithCovariance parse(const YAML::Node & node); + +template <> +Odometry parse(const YAML::Node & node); + +template <> +Accel parse(const YAML::Node & node); + +template <> +AccelWithCovariance parse(const YAML::Node & node); + +template <> +AccelWithCovarianceStamped parse(const YAML::Node & node); + +template <> +LaneletPrimitive parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); + +template <> +std::vector parse(const YAML::Node & node); + +template <> +UUID parse(const YAML::Node & node); + +template <> +PredictedPath parse(const YAML::Node & node); + +template <> +ObjectClassification parse(const YAML::Node & node); + +template <> +Shape parse(const YAML::Node & node); + +template <> +PredictedObjectKinematics parse(const YAML::Node & node); -Pose parse_pose(const YAML::Node & node); +template <> +PredictedObject parse(const YAML::Node & node); -LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node); +template <> +PredictedObjects parse(const YAML::Node & node); -std::vector parse_lanelet_primitives(const YAML::Node & node); +/** + * @brief Parses a YAML file and converts it into an object of type T. + * + * This function reads the specified YAML file and converts its contents into an object of the given + * type T. If no specialization exists for T, it will result in a compile-time error. + * + * @tparam T The type of object to parse the file contents into. + * @param filename The path to the YAML file to be parsed. + * @return T An object of type T containing the parsed data. + */ +template +T parse(const std::string & filename); -std::vector parse_segments(const YAML::Node & node); +template <> +LaneletRoute parse(const std::string & filename); -LaneletRoute parse_lanelet_route_file(const std::string & filename); +template <> +PathWithLaneId parse(const std::string & filename); } // namespace autoware::test_utils #endif // AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_ diff --git a/common/autoware_test_utils/launch/psim_intersection.launch.xml b/common/autoware_test_utils/launch/psim_intersection.launch.xml new file mode 100644 index 0000000000000..75322e0699d62 --- /dev/null +++ b/common/autoware_test_utils/launch/psim_intersection.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml new file mode 100644 index 0000000000000..73cedd98647b7 --- /dev/null +++ b/common/autoware_test_utils/launch/psim_road_shoulder.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 0a4152404ab44..40edd451f3cab 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -16,6 +16,7 @@ autoware_cmake ament_index_cpp + autoware_component_interface_specs autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -23,7 +24,6 @@ autoware_planning_msgs autoware_universe_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils lanelet2_io nav_msgs diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp index a0e0b7518aedc..f62c47b67fda6 100644 --- a/common/autoware_test_utils/src/autoware_test_utils.cpp +++ b/common/autoware_test_utils/src/autoware_test_utils.cpp @@ -13,19 +13,28 @@ // limitations under the License. #include +#include +#include +#include +#include +#include #include -#include -#include -#include +#include #include #include +#include +#include #include namespace autoware::test_utils { +using autoware::universe_utils::createPoint; +using autoware::universe_utils::createQuaternionFromRPY; +using geometry_msgs::msg::TransformStamped; + geometry_msgs::msg::Pose createPose( double x, double y, double z, double roll, double pitch, double yaw) { @@ -138,7 +147,6 @@ std::string get_absolute_path_to_lanelet_map( return dir + "/test_map/" + map_filename; } -// cppcheck-suppress unusedFunction std::string get_absolute_path_to_route( const std::string & package_name, const std::string & route_filename) { @@ -301,61 +309,7 @@ PathWithLaneId loadPathWithLaneIdInYaml() { const auto yaml_path = get_absolute_path_to_config("autoware_test_utils", "path_with_lane_id_data.yaml"); - YAML::Node yaml_node = YAML::LoadFile(yaml_path); - PathWithLaneId path_msg; - - // Convert YAML data to PathWithLaneId message - // Fill the header - path_msg.header.stamp.sec = yaml_node["header"]["stamp"]["sec"].as(); - path_msg.header.stamp.nanosec = yaml_node["header"]["stamp"]["nanosec"].as(); - path_msg.header.frame_id = yaml_node["header"]["frame_id"].as(); - - // Fill the points - for (const auto & point_node : yaml_node["points"]) { - PathPointWithLaneId point; - // Fill the PathPoint data - point.point.pose.position.x = point_node["point"]["pose"]["position"]["x"].as(); - point.point.pose.position.y = point_node["point"]["pose"]["position"]["y"].as(); - point.point.pose.position.z = point_node["point"]["pose"]["position"]["z"].as(); - point.point.pose.orientation.x = point_node["point"]["pose"]["orientation"]["x"].as(); - point.point.pose.orientation.y = point_node["point"]["pose"]["orientation"]["y"].as(); - point.point.pose.orientation.z = point_node["point"]["pose"]["orientation"]["z"].as(); - point.point.pose.orientation.w = point_node["point"]["pose"]["orientation"]["w"].as(); - point.point.longitudinal_velocity_mps = - point_node["point"]["longitudinal_velocity_mps"].as(); - point.point.lateral_velocity_mps = point_node["point"]["lateral_velocity_mps"].as(); - point.point.heading_rate_rps = point_node["point"]["heading_rate_rps"].as(); - point.point.is_final = point_node["point"]["is_final"].as(); - // Fill the lane_ids - for (const auto & lane_id_node : point_node["lane_ids"]) { - point.lane_ids.push_back(lane_id_node.as()); - } - - path_msg.points.push_back(point); - } - - // Fill the left_bound - for (const auto & point_node : yaml_node["left_bound"]) { - Point point; - // Fill the Point data (left_bound) - point.x = point_node["x"].as(); - point.y = point_node["y"].as(); - point.z = point_node["z"].as(); - path_msg.left_bound.push_back(point); - } - - // Fill the right_bound - for (const auto & point_node : yaml_node["right_bound"]) { - Point point; - // Fill the Point data - point.x = point_node["x"].as(); - point.y = point_node["y"].as(); - point.z = point_node["z"].as(); - - path_msg.right_bound.push_back(point); - } - return path_msg; + return parse(yaml_path); } - } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp index 6ad03071a881a..b876f1312a3e6 100644 --- a/common/autoware_test_utils/src/mock_data_parser.cpp +++ b/common/autoware_test_utils/src/mock_data_parser.cpp @@ -16,20 +16,64 @@ #include -#include -#include -#include -#include - -#include - #include #include #include namespace autoware::test_utils { -Pose parse_pose(const YAML::Node & node) + +template <> +Header parse(const YAML::Node & node) +{ + Header header; + + header.stamp.sec = node["stamp"]["sec"].as(); + header.stamp.nanosec = node["stamp"]["nanosec"].as(); + header.frame_id = node["frame_id"].as(); + + return header; +} + +template <> +Duration parse(const YAML::Node & node) +{ + Duration msg; + msg.sec = node["sec"].as(); + msg.nanosec = node["nanosec"].as(); + return msg; +} + +template <> +std::array parse(const YAML::Node & node) +{ + std::array msg{}; + const auto cov = node.as>(); + for (size_t i = 0; i < 36; ++i) { + msg[i] = cov.at(i); + } + return msg; +} + +template <> +std::vector parse(const YAML::Node & node) +{ + std::vector geom_points; + + std::transform( + node.begin(), node.end(), std::back_inserter(geom_points), [&](const YAML::Node & input) { + Point point; + point.x = input["x"].as(); + point.y = input["y"].as(); + point.z = input["z"].as(); + return point; + }); + + return geom_points; +} + +template <> +Pose parse(const YAML::Node & node) { Pose pose; pose.position.x = node["position"]["x"].as(); @@ -42,7 +86,81 @@ Pose parse_pose(const YAML::Node & node) return pose; } -LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node) +template <> +PoseWithCovariance parse(const YAML::Node & node) +{ + PoseWithCovariance msg; + msg.pose = parse(node["pose"]); + msg.covariance = parse>(node["covariance"]); + return msg; +} + +template <> +Twist parse(const YAML::Node & node) +{ + Twist msg; + msg.linear.x = node["linear"]["x"].as(); + msg.linear.y = node["linear"]["y"].as(); + msg.linear.z = node["linear"]["z"].as(); + msg.angular.x = node["angular"]["x"].as(); + msg.angular.y = node["angular"]["y"].as(); + msg.angular.z = node["angular"]["z"].as(); + return msg; +} + +template <> +TwistWithCovariance parse(const YAML::Node & node) +{ + TwistWithCovariance msg; + msg.twist = parse(node["twist"]); + msg.covariance = parse>(node["covariance"]); + return msg; +} + +template <> +Odometry parse(const YAML::Node & node) +{ + Odometry msg; + msg.header = parse
(node["header"]); + msg.child_frame_id = node["child_frame_id"].as(); + msg.pose = parse(node["pose"]); + msg.twist = parse(node["twist"]); + return msg; +} + +template <> +Accel parse(const YAML::Node & node) +{ + Accel msg; + msg.linear.x = node["linear"]["x"].as(); + msg.linear.y = node["linear"]["y"].as(); + msg.linear.z = node["linear"]["z"].as(); + msg.angular.x = node["angular"]["x"].as(); + msg.angular.y = node["angular"]["y"].as(); + msg.angular.z = node["angular"]["z"].as(); + return msg; +} + +template <> +AccelWithCovariance parse(const YAML::Node & node) +{ + AccelWithCovariance msg; + msg.accel = parse(node["accel"]); + msg.covariance = parse>(node["covariance"]); + return msg; +} + +template <> +AccelWithCovarianceStamped parse(const YAML::Node & node) +{ + AccelWithCovarianceStamped msg; + msg.header = parse
(node["header"]); + msg.accel = parse(node["accel"]); + return msg; +} + +template <> +LaneletPrimitive parse(const YAML::Node & node) { LaneletPrimitive primitive; primitive.id = node["id"].as(); @@ -51,43 +169,189 @@ LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node) return primitive; } -std::vector parse_lanelet_primitives(const YAML::Node & node) +template <> +std::vector parse(const YAML::Node & node) { std::vector primitives; primitives.reserve(node.size()); std::transform(node.begin(), node.end(), std::back_inserter(primitives), [&](const auto & p) { - return parse_lanelet_primitive(p); + return parse(p); }); return primitives; } -std::vector parse_segments(const YAML::Node & node) +template <> +std::vector parse(const YAML::Node & node) { std::vector segments; std::transform(node.begin(), node.end(), std::back_inserter(segments), [&](const auto & input) { LaneletSegment segment; - segment.preferred_primitive = parse_lanelet_primitive(input["preferred_primitive"]); - segment.primitives = parse_lanelet_primitives(input["primitives"]); + segment.preferred_primitive = parse(input["preferred_primitive"]); + segment.primitives = parse>(input["primitives"]); return segment; }); return segments; } -// cppcheck-suppress unusedFunction -LaneletRoute parse_lanelet_route_file(const std::string & filename) +template <> +std::vector parse>(const YAML::Node & node) +{ + std::vector path_points; + + if (!node["points"]) { + return path_points; + } + + const auto & points = node["points"]; + path_points.reserve(points.size()); + std::transform( + points.begin(), points.end(), std::back_inserter(path_points), [&](const YAML::Node & input) { + PathPointWithLaneId point; + if (!input["point"]) { + return point; + } + const auto & point_node = input["point"]; + point.point.pose = parse(point_node["pose"]); + + point.point.longitudinal_velocity_mps = point_node["longitudinal_velocity_mps"].as(); + point.point.lateral_velocity_mps = point_node["lateral_velocity_mps"].as(); + point.point.heading_rate_rps = point_node["heading_rate_rps"].as(); + point.point.is_final = point_node["is_final"].as(); + // Fill the lane_ids + for (const auto & lane_id_node : input["lane_ids"]) { + point.lane_ids.push_back(lane_id_node.as()); + } + + return point; + }); + + return path_points; +} + +template <> +UUID parse(const YAML::Node & node) +{ + UUID msg; + const auto uuid = node["uuid"].as>(); + for (unsigned i = 0; i < 16; ++i) { + msg.uuid.at(i) = uuid.at(i); + } + return msg; +} + +template <> +ObjectClassification parse(const YAML::Node & node) +{ + ObjectClassification msg; + msg.label = node["label"].as(); + msg.probability = node["probability"].as(); + return msg; +} + +template <> +Shape parse(const YAML::Node & node) +{ + Shape msg; + msg.type = node["type"].as(); + for (const auto & footprint_point_node : node["footprint"]["points"]) { + geometry_msgs::msg::Point32 point; + point.x = footprint_point_node["x"].as(); + point.y = footprint_point_node["y"].as(); + point.z = footprint_point_node["z"].as(); + msg.footprint.points.push_back(point); + } + msg.dimensions.x = node["dimensions"]["x"].as(); + msg.dimensions.y = node["dimensions"]["y"].as(); + msg.dimensions.z = node["dimensions"]["z"].as(); + return msg; +} + +template <> +PredictedPath parse(const YAML::Node & node) +{ + PredictedPath path; + for (const auto & path_pose_node : node["path"]) { + path.path.push_back(parse(path_pose_node)); + } + path.time_step = parse(node["time_step"]); + path.confidence = node["confidence"].as(); + return path; +} + +template <> +PredictedObjectKinematics parse(const YAML::Node & node) +{ + PredictedObjectKinematics msg; + msg.initial_pose_with_covariance = + parse(node["initial_pose_with_covariance"]); + msg.initial_twist_with_covariance = + parse(node["initial_twist_with_covariance"]); + msg.initial_acceleration_with_covariance = + parse(node["initial_acceleration_with_covariance"]); + for (const auto & predicted_path_node : node["predicted_paths"]) { + msg.predicted_paths.push_back(parse(predicted_path_node)); + } + return msg; +} + +template <> +PredictedObject parse(const YAML::Node & node) +{ + PredictedObject msg; + msg.object_id = parse(node["object_id"]); + msg.existence_probability = node["existence_probability"].as(); + for (const auto & classification_node : node["classification"]) { + msg.classification.push_back(parse(classification_node)); + } + msg.kinematics = parse(node["kinematics"]); + msg.shape = parse(node["shape"]); + return msg; +} + +template <> +PredictedObjects parse(const YAML::Node & node) +{ + PredictedObjects msg; + msg.header = parse
(node["header"]); + for (const auto & object_node : node["objects"]) { + msg.objects.push_back(parse(object_node)); + } + return msg; +} + +template <> +LaneletRoute parse(const std::string & filename) { LaneletRoute lanelet_route; try { YAML::Node config = YAML::LoadFile(filename); - lanelet_route.start_pose = (config["start_pose"]) ? parse_pose(config["start_pose"]) : Pose(); - lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose(); - lanelet_route.segments = parse_segments(config["segments"]); + lanelet_route.start_pose = (config["start_pose"]) ? parse(config["start_pose"]) : Pose(); + lanelet_route.goal_pose = (config["goal_pose"]) ? parse(config["goal_pose"]) : Pose(); + lanelet_route.segments = parse>(config["segments"]); } catch (const std::exception & e) { RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what()); } return lanelet_route; } + +template <> +PathWithLaneId parse(const std::string & filename) +{ + PathWithLaneId path; + YAML::Node yaml_node = YAML::LoadFile(filename); + + try { + path.header = parse
(yaml_node["header"]); + path.points = parse>(yaml_node); + path.left_bound = parse>(yaml_node["left_bound"]); + path.right_bound = parse>(yaml_node["right_bound"]); + } catch (const std::exception & e) { + RCLCPP_DEBUG(rclcpp::get_logger("autoware_test_utils"), "Exception caught: %s", e.what()); + } + + return path; +} } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/test/test_mock_data_parser.cpp b/common/autoware_test_utils/test/test_mock_data_parser.cpp index f9e37a521c42c..b69dda17709ef 100644 --- a/common/autoware_test_utils/test/test_mock_data_parser.cpp +++ b/common/autoware_test_utils/test/test_mock_data_parser.cpp @@ -18,8 +18,12 @@ #include "ament_index_cpp/get_package_share_directory.hpp" #include "autoware_test_utils/mock_data_parser.hpp" +#include + namespace autoware::test_utils { +using tier4_planning_msgs::msg::PathWithLaneId; + // Example YAML structure as a string for testing const char g_complete_yaml[] = R"( start_pose: @@ -51,6 +55,399 @@ const char g_complete_yaml[] = R"( primitive_type: lane - id: 33 primitive_type: lane +self_odometry: + header: + stamp: + sec: 100 + nanosec: 100 + frame_id: map + child_frame_id: base_link + pose: + pose: + position: + x: 100 + y: 200 + z: 300 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.282884 + w: 0.959154 + covariance: + - 0.000100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + twist: + twist: + linear: + x: 1.00000 + y: 2.00000 + z: 3.00000 + angular: + x: 1.00000 + y: 2.00000 + z: 3.00000 + covariance: + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 +self_acceleration: + header: + stamp: + sec: 100 + nanosec: 100 + frame_id: /base_link + accel: + accel: + linear: + x: 1.00000 + y: 2.00000 + z: 3.00000 + angular: + x: 1.00000 + y: 2.00000 + z: 3.00000 + covariance: + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00100000 +dynamic_object: + header: + stamp: + sec: 348 + nanosec: 334918846 + frame_id: map + objects: + - object_id: + uuid: + - 233 + - 198 + - 185 + - 212 + - 242 + - 49 + - 117 + - 203 + - 59 + - 251 + - 182 + - 168 + - 212 + - 44 + - 72 + - 132 + existence_probability: 0.00000 + classification: + - label: 1 + probability: 1.00000 + kinematics: + initial_pose_with_covariance: + pose: + position: + x: 89616.1 + y: 42266.7 + z: 7.68325 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.882204 + w: 0.470868 + covariance: + - 0.0554278 + - -0.0187974 + - 0.000225879 + - 0.00000 + - 0.00000 + - 0.00000 + - -0.0187974 + - 0.0707268 + - -0.00540388 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000225879 + - -0.00540388 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 1.40223e-05 + - 0.000549930 + - 0.00000 + - 0.00000 + - 0.00000 + - 1.40223e-05 + - 0.0100000 + - 0.00310481 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.000549930 + - 0.00310481 + - 0.00264476 + initial_twist_with_covariance: + twist: + linear: + x: 8.01698 + y: -0.00152468 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: -0.00138607 + covariance: + - 0.618731 + - -0.000104739 + - 0.00000 + - 0.00000 + - 0.00000 + - -9.52170e-05 + - -0.000104739 + - 0.00158706 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00144278 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.0100000 + - 0.00000 + - -9.52170e-05 + - 0.00144278 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00131162 + initial_acceleration_with_covariance: + accel: + linear: + x: 0.00000 + y: 0.00000 + z: 0.00000 + angular: + x: 0.00000 + y: 0.00000 + z: 0.00000 + covariance: + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + - 0.00000 + predicted_paths: + - path: + - position: + x: 89557.0 + y: 42366.9 + z: 6.82636 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.871073 + w: 0.491154 + - position: + x: 89554.9 + y: 42370.3 + z: 6.81617 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.870056 + w: 0.492952 + time_step: + sec: 0 + nanosec: 500000000 + confidence: 0.0476190 + - path: + - position: + x: 89616.1 + y: 42266.7 + z: 7.68325 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.882204 + w: 0.470868 + - position: + x: 89613.8 + y: 42270.0 + z: 7.27790 + orientation: + x: 0.00000 + y: 0.00000 + z: 0.882135 + w: 0.470997 + time_step: + sec: 0 + nanosec: 500000000 + confidence: 0.158730 + shape: + type: 0 + footprint: + points: [] + dimensions: + x: 4.40000 + y: 1.85564 + z: 1.74263 +traffic_signal: + stamp: + sec: 1730184609 + nanosec: 816275300 + traffic_light_groups: + - traffic_light_group_id: 10352 + elements: + - color: 3 + shape: 1 + status: 2 + confidence: 1.00000 )"; TEST(ParseFunctions, CompleteYAMLTest) @@ -58,8 +455,8 @@ TEST(ParseFunctions, CompleteYAMLTest) YAML::Node config = YAML::Load(g_complete_yaml); // Test parsing of start_pose and goal_pose - Pose start_pose = parse_pose(config["start_pose"]); - Pose goal_pose = parse_pose(config["goal_pose"]); + Pose start_pose = parse(config["start_pose"]); + Pose goal_pose = parse(config["goal_pose"]); EXPECT_DOUBLE_EQ(start_pose.position.x, 1.0); EXPECT_DOUBLE_EQ(start_pose.position.y, 2.0); @@ -79,7 +476,7 @@ TEST(ParseFunctions, CompleteYAMLTest) EXPECT_DOUBLE_EQ(goal_pose.orientation.w, 0.8); // Test parsing of segments - std::vector segments = parse_segments(config["segments"]); + const auto segments = parse>(config["segments"]); ASSERT_EQ( segments.size(), uint64_t(1)); // Assuming only one segment in the provided YAML for this test @@ -90,6 +487,60 @@ TEST(ParseFunctions, CompleteYAMLTest) EXPECT_EQ(segment0.primitives[0].primitive_type, "lane"); EXPECT_EQ(segment0.primitives[1].id, 33); EXPECT_EQ(segment0.primitives[1].primitive_type, "lane"); + + const auto self_odometry = parse(config["self_odometry"]); + EXPECT_DOUBLE_EQ(self_odometry.header.stamp.sec, 100); + EXPECT_DOUBLE_EQ(self_odometry.header.stamp.nanosec, 100); + EXPECT_EQ(self_odometry.header.frame_id, "map"); + EXPECT_EQ(self_odometry.child_frame_id, "base_link"); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.position.x, 100); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.position.y, 200); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.position.z, 300); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.orientation.x, 0.0); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.orientation.y, 0.0); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.orientation.z, 0.282884); + EXPECT_DOUBLE_EQ(self_odometry.pose.pose.orientation.w, 0.959154); + EXPECT_DOUBLE_EQ(self_odometry.pose.covariance[0], 0.0001); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.linear.x, 1.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.linear.y, 2.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.linear.z, 3.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.angular.x, 1.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.angular.y, 2.0); + EXPECT_DOUBLE_EQ(self_odometry.twist.twist.angular.z, 3.0); + + const auto self_acceleration = parse(config["self_acceleration"]); + EXPECT_DOUBLE_EQ(self_acceleration.header.stamp.sec, 100); + EXPECT_DOUBLE_EQ(self_acceleration.header.stamp.nanosec, 100); + EXPECT_EQ(self_acceleration.header.frame_id, "/base_link"); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.linear.x, 1.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.linear.y, 2.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.linear.z, 3.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.angular.x, 1.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.angular.y, 2.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.accel.angular.z, 3.00); + EXPECT_DOUBLE_EQ(self_acceleration.accel.covariance[0], 0.001); + + const auto dynamic_object = parse(config["dynamic_object"]); + EXPECT_EQ(dynamic_object.header.stamp.sec, 348); + EXPECT_EQ(dynamic_object.header.stamp.nanosec, 334918846); + EXPECT_EQ(dynamic_object.header.frame_id, "map"); + EXPECT_EQ(dynamic_object.objects.at(0).object_id.uuid.at(0), 233); + EXPECT_EQ(dynamic_object.objects.at(0).classification.at(0).label, 1); + EXPECT_DOUBLE_EQ(dynamic_object.objects.at(0).classification.at(0).probability, 1.0); + EXPECT_DOUBLE_EQ( + dynamic_object.objects.at(0).kinematics.initial_pose_with_covariance.pose.position.x, 89616.1); + EXPECT_DOUBLE_EQ( + dynamic_object.objects.at(0).kinematics.initial_twist_with_covariance.twist.linear.x, 8.01698); + EXPECT_DOUBLE_EQ( + dynamic_object.objects.at(0).kinematics.predicted_paths.at(0).path.at(0).position.x, 89557.0); + EXPECT_EQ(dynamic_object.objects.at(0).kinematics.predicted_paths.at(0).time_step.sec, 0); + EXPECT_EQ( + dynamic_object.objects.at(0).kinematics.predicted_paths.at(0).time_step.nanosec, 500000000); + EXPECT_FLOAT_EQ( + dynamic_object.objects.at(0).kinematics.predicted_paths.at(0).confidence, 0.0476190); + EXPECT_EQ(dynamic_object.objects.at(0).shape.type, 0); + EXPECT_DOUBLE_EQ(dynamic_object.objects.at(0).shape.dimensions.x, 4.40000); + EXPECT_DOUBLE_EQ(dynamic_object.objects.at(0).shape.dimensions.y, 1.85564); } TEST(ParseFunction, CompleteFromFilename) @@ -99,7 +550,7 @@ TEST(ParseFunction, CompleteFromFilename) const auto parser_test_route = autoware_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml"; - const auto lanelet_route = parse_lanelet_route_file(parser_test_route); + const auto lanelet_route = parse(parser_test_route); EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0); EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0); EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0); @@ -132,4 +583,53 @@ TEST(ParseFunction, CompleteFromFilename) EXPECT_EQ(segment1.primitives[3].id, 88); EXPECT_EQ(segment1.primitives[3].primitive_type, "lane"); } + +TEST(ParseFunction, ParsePathWithLaneID) +{ + const auto autoware_test_utils_dir = + ament_index_cpp::get_package_share_directory("autoware_test_utils"); + const auto parser_test_path = + autoware_test_utils_dir + "/test_data/path_with_lane_id_parser_test.yaml"; + + const auto path = parse(parser_test_path); + EXPECT_EQ(path.header.stamp.sec, 20); + EXPECT_EQ(path.header.stamp.nanosec, 5); + + const auto path_points = path.points; + const auto & p1 = path_points.front(); + EXPECT_DOUBLE_EQ(p1.point.pose.position.x, 12.9); + EXPECT_DOUBLE_EQ(p1.point.pose.position.y, 3.8); + EXPECT_DOUBLE_EQ(p1.point.pose.position.z, 4.7); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.x, 1.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.y, 2.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.z, 3.0); + EXPECT_DOUBLE_EQ(p1.point.pose.orientation.w, 4.0); + EXPECT_FLOAT_EQ(p1.point.longitudinal_velocity_mps, 1.2); + EXPECT_FLOAT_EQ(p1.point.lateral_velocity_mps, 3.4); + EXPECT_FLOAT_EQ(p1.point.heading_rate_rps, 5.6); + EXPECT_TRUE(p1.point.is_final); + EXPECT_EQ(p1.lane_ids.front(), 912); + + const auto & p2 = path_points.back(); + EXPECT_DOUBLE_EQ(p2.point.pose.position.x, 0.0); + EXPECT_DOUBLE_EQ(p2.point.pose.position.y, 20.5); + EXPECT_DOUBLE_EQ(p2.point.pose.position.z, 90.11); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.x, 4.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.y, 3.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.z, 2.0); + EXPECT_DOUBLE_EQ(p2.point.pose.orientation.w, 1.0); + EXPECT_FLOAT_EQ(p2.point.longitudinal_velocity_mps, 2.1); + EXPECT_FLOAT_EQ(p2.point.lateral_velocity_mps, 4.3); + EXPECT_FLOAT_EQ(p2.point.heading_rate_rps, 6.5); + EXPECT_FALSE(p2.point.is_final); + EXPECT_EQ(p2.lane_ids.front(), 205); + + EXPECT_DOUBLE_EQ(path.left_bound.front().x, 55.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().y, 66.0); + EXPECT_DOUBLE_EQ(path.left_bound.front().z, 77.0); + + EXPECT_DOUBLE_EQ(path.right_bound.front().x, 0.55); + EXPECT_DOUBLE_EQ(path.right_bound.front().y, 0.66); + EXPECT_DOUBLE_EQ(path.right_bound.front().z, 0.77); +} } // namespace autoware::test_utils diff --git a/common/autoware_test_utils/test_data/path_with_lane_id_parser_test.yaml b/common/autoware_test_utils/test_data/path_with_lane_id_parser_test.yaml new file mode 100644 index 0000000000000..ecd0dd8dd6989 --- /dev/null +++ b/common/autoware_test_utils/test_data/path_with_lane_id_parser_test.yaml @@ -0,0 +1,48 @@ +header: + stamp: + sec: 20 + nanosec: 5 + frame_id: autoware +points: + - point: + pose: + position: + x: 12.9 + y: 3.8 + z: 4.7 + orientation: + x: 1.0 + y: 2.0 + z: 3.0 + w: 4.0 + longitudinal_velocity_mps: 1.2 + lateral_velocity_mps: 3.4 + heading_rate_rps: 5.6 + is_final: true + lane_ids: + - 912 + - point: + pose: + position: + x: 0.0 + y: 20.5 + z: 90.11 + orientation: + x: 4.0 + y: 3.0 + z: 2.0 + w: 1.0 + longitudinal_velocity_mps: 2.1 + lateral_velocity_mps: 4.3 + heading_rate_rps: 6.5 + is_final: false + lane_ids: + - 205 +left_bound: + - x: 55.0 + y: 66.0 + z: 77.0 +right_bound: + - x: 0.55 + y: 0.66 + z: 0.77 diff --git a/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm b/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm new file mode 100644 index 0000000000000..92307e28cf6cc --- /dev/null +++ b/common/autoware_test_utils/test_map/intersection/lanelet2_map.osm @@ -0,0 +1,22377 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/common/autoware_test_utils/test_map/road_shoulder/pointcloud_map.pcd similarity index 100% rename from planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/pointcloud_map.pcd rename to common/autoware_test_utils/test_map/road_shoulder/pointcloud_map.pcd diff --git a/common/autoware_universe_utils/NOTICE b/common/autoware_universe_utils/NOTICE new file mode 100644 index 0000000000000..845c72f5edb36 --- /dev/null +++ b/common/autoware_universe_utils/NOTICE @@ -0,0 +1,2 @@ +The function 'opencv_fast_atan2' in /autoware/src/universe/autoware.universe/common/autoware_universe_utils/src/math/trigonometry.cpp +is a modified version of 'fastAtan2' in the OpenCV project. (https://github.com/opencv/opencv/blob/4.x/modules/core/src/mathfuncs_core.simd.hpp) diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp index 19a59523c7f08..184538f158c3c 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp @@ -26,6 +26,8 @@ float cos(float radian); std::pair sin_and_cos(float radian); +float opencv_fast_atan2(float dy, float dx); + } // namespace autoware::universe_utils #endif // AUTOWARE__UNIVERSE_UTILS__MATH__TRIGONOMETRY_HPP_ diff --git a/common/autoware_universe_utils/src/math/trigonometry.cpp b/common/autoware_universe_utils/src/math/trigonometry.cpp index 586b9075ba6d5..2966f35bfe59e 100644 --- a/common/autoware_universe_utils/src/math/trigonometry.cpp +++ b/common/autoware_universe_utils/src/math/trigonometry.cpp @@ -72,4 +72,57 @@ std::pair sin_and_cos(float radian) } } +// This code is modified from a part of the OpenCV project +// (https://github.com/opencv/opencv/blob/4.x/modules/core/src/mathfuncs_core.simd.hpp). It is +// subject to the license terms in the LICENSE file found in the top-level directory of this +// distribution and at http://opencv.org/license.html. +// The license can be found in +// common/autoware_universe_utils/third_party_licenses/opencv-license.md +// and https://github.com/opencv/opencv/blob/master/LICENSE + +// Modification: +// 1. use autoware defined PI +// 2. output of the function is changed from degrees to radians. +namespace detail_fast_atan2 +{ +static const float atan2_p1 = + 0.9997878412794807f * static_cast(180) / autoware::universe_utils::pi; +static const float atan2_p3 = + -0.3258083974640975f * static_cast(180) / autoware::universe_utils::pi; +static const float atan2_p5 = + 0.1555786518463281f * static_cast(180) / autoware::universe_utils::pi; +static const float atan2_p7 = + -0.04432655554792128f * static_cast(180) / autoware::universe_utils::pi; +static const float atan2_DBL_EPSILON = 2.2204460492503131e-016f; +} // namespace detail_fast_atan2 + +float opencv_fast_atan2(float dy, float dx) +{ + float ax = std::abs(dx); + float ay = std::abs(dy); + float a, c, c2; + if (ax >= ay) { + c = ay / (ax + detail_fast_atan2::atan2_DBL_EPSILON); + c2 = c * c; + a = (((detail_fast_atan2::atan2_p7 * c2 + detail_fast_atan2::atan2_p5) * c2 + + detail_fast_atan2::atan2_p3) * + c2 + + detail_fast_atan2::atan2_p1) * + c; + } else { + c = ax / (ay + detail_fast_atan2::atan2_DBL_EPSILON); + c2 = c * c; + a = 90.f - (((detail_fast_atan2::atan2_p7 * c2 + detail_fast_atan2::atan2_p5) * c2 + + detail_fast_atan2::atan2_p3) * + c2 + + detail_fast_atan2::atan2_p1) * + c; + } + if (dx < 0) a = 180.f - a; + if (dy < 0) a = 360.f - a; + + a = a * autoware::universe_utils::pi / 180.f; + return a; +} + } // namespace autoware::universe_utils diff --git a/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp b/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp index b55b27a34a6ac..df05b698693d6 100644 --- a/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp +++ b/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp @@ -50,3 +50,28 @@ TEST(trigonometry, sin_and_cos) EXPECT_TRUE(std::abs(std::cos(x * static_cast(i)) - sin_and_cos.second) < 10e-7); } } + +float normalize_angle(double angle) +{ + const double tau = 2 * autoware::universe_utils::pi; + double factor = std::floor(angle / tau); + return static_cast(angle - (factor * tau)); +} + +TEST(trigonometry, opencv_fast_atan2) +{ + for (int i = 0; i < 100; ++i) { + // Generate random x and y between -10 and 10 + std::srand(0); + float x = static_cast(std::rand()) / RAND_MAX * 20.0 - 10.0; + float y = static_cast(std::rand()) / RAND_MAX * 20.0 - 10.0; + + float fast_atan = autoware::universe_utils::opencv_fast_atan2(y, x); + float std_atan = normalize_angle(std::atan2(y, x)); + + // 0.3 degree accuracy + ASSERT_NEAR(fast_atan, std_atan, 6e-3) + << "Test failed for input (" << y << ", " << x << "): " + << "fast atan2 = " << fast_atan << ", std::atan2 = " << std_atan; + } +} diff --git a/common/autoware_universe_utils/third_party_licenses/opencv-license.md b/common/autoware_universe_utils/third_party_licenses/opencv-license.md new file mode 100644 index 0000000000000..c319da33b7428 --- /dev/null +++ b/common/autoware_universe_utils/third_party_licenses/opencv-license.md @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + +TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + +1. 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These describe the vehicle's bounding box and the // position and radius of the wheels. - double wheel_radius_m; - double wheel_width_m; - double wheel_base_m; - double wheel_tread_m; - double front_overhang_m; - double rear_overhang_m; - double left_overhang_m; - double right_overhang_m; - double vehicle_height_m; - double max_steer_angle_rad; + double wheel_radius_m{}; // front-left + static constexpr size_t RearRightIndex = 3; // front-right + static constexpr size_t RearLeftIndex = 4; // rear-right + + /** + * @brief calculate the vehicle footprint in clockwise manner starting from the front-left edge, + * through front-right edge, center-right point, to front-left edge again to form a enclosed + * polygon + * @param margin the longitudinal and lateral inflation margin + */ autoware::universe_utils::LinearRing2d createFootprint(const double margin = 0.0) const; + + /** + * @brief calculate the vehicle footprint in clockwise manner starting from the front-left edge, + * through front-right edge, center-right point, to front-left edge again to form a enclosed + * polygon + * @param margin the longitudinal and lateral inflation margin + */ autoware::universe_utils::LinearRing2d createFootprint( const double lat_margin, const double lon_margin) const; diff --git a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info_utils.hpp b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info_utils.hpp index d3ca339f78451..8c320e711cfaf 100644 --- a/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info_utils.hpp +++ b/common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info_utils.hpp @@ -17,7 +17,7 @@ #include "autoware_vehicle_info_utils/vehicle_info.hpp" -#include +#include namespace autoware::vehicle_info_utils { @@ -28,10 +28,11 @@ class VehicleInfoUtils { public: /// Constructor + // NOTE(soblin): this throws which should be replaced with a factory explicit VehicleInfoUtils(rclcpp::Node & node); /// Get vehicle info - VehicleInfo getVehicleInfo(); + VehicleInfo getVehicleInfo() const; private: /// Buffer for base parameters diff --git a/common/autoware_vehicle_info_utils/package.xml b/common/autoware_vehicle_info_utils/package.xml index c5d09bd039691..daf88af16a0d9 100644 --- a/common/autoware_vehicle_info_utils/package.xml +++ b/common/autoware_vehicle_info_utils/package.xml @@ -9,6 +9,7 @@ Taiki Tanaka Tomoya Kimura Shumpei Wakabayashi + Mamoru Sobue Apache License 2.0 Yamato ANDO @@ -19,6 +20,8 @@ autoware_universe_utils rclcpp + ament_cmake_ros + ament_index_cpp ament_lint_auto autoware_lint_common diff --git a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp index 2dd5b19f2f523..c1e762811ede3 100644 --- a/common/autoware_vehicle_info_utils/src/vehicle_info.cpp +++ b/common/autoware_vehicle_info_utils/src/vehicle_info.cpp @@ -14,6 +14,8 @@ #include "autoware_vehicle_info_utils/vehicle_info.hpp" +#include + namespace autoware::vehicle_info_utils { autoware::universe_utils::LinearRing2d VehicleInfo::createFootprint(const double margin) const @@ -46,11 +48,36 @@ autoware::universe_utils::LinearRing2d VehicleInfo::createFootprint( } VehicleInfo createVehicleInfo( - const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m, + const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m_arg, const double wheel_tread_m, const double front_overhang_m, const double rear_overhang_m, const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m, - const double max_steer_angle_rad) + const double max_steer_angle_rad_arg) { + double wheel_base_m = wheel_base_m_arg; + static constexpr double MIN_WHEEL_BASE_M = 1e-6; + if (std::abs(wheel_base_m) < MIN_WHEEL_BASE_M) { + RCLCPP_ERROR( + rclcpp::get_logger("vehicle_info"), "wheel_base_m %f is almost 0.0, clamping to %f", + wheel_base_m, MIN_WHEEL_BASE_M); + wheel_base_m = MIN_WHEEL_BASE_M; + } + double max_steer_angle_rad = max_steer_angle_rad_arg; + static constexpr double MAX_STEER_ANGLE_RAD = 1e-6; + if (std::abs(max_steer_angle_rad) < MAX_STEER_ANGLE_RAD) { + RCLCPP_ERROR( + rclcpp::get_logger("vehicle_info"), "max_steer_angle_rad %f is almost 0.0, clamping to %f", + max_steer_angle_rad, MAX_STEER_ANGLE_RAD); + max_steer_angle_rad = MAX_STEER_ANGLE_RAD; + } + + if ( + wheel_radius_m <= 0 || wheel_width_m <= 0 || wheel_base_m <= 0 || wheel_tread_m <= 0 || + front_overhang_m <= 0 || rear_overhang_m <= 0 || left_overhang_m <= 0 || + right_overhang_m <= 0 || vehicle_height_m <= 0 || max_steer_angle_rad <= 0) { + RCLCPP_ERROR( + rclcpp::get_logger("vehicle_info"), "given parameters contain non positive values"); + } + // Calculate derived parameters const double vehicle_length_m_ = front_overhang_m + wheel_base_m + rear_overhang_m; const double vehicle_width_m_ = wheel_tread_m + left_overhang_m + right_overhang_m; @@ -87,26 +114,15 @@ VehicleInfo createVehicleInfo( double VehicleInfo::calcMaxCurvature() const { - if (std::abs(wheel_base_m) < 1e-6) { - throw std::invalid_argument("wheel_base_m is 0."); - } - if (std::abs(max_steer_angle_rad) < 1e-6) { - return std::numeric_limits::max(); - } - const double radius = wheel_base_m / std::tan(max_steer_angle_rad); const double curvature = 1.0 / radius; return curvature; } double VehicleInfo::calcCurvatureFromSteerAngle(const double steer_angle) const { - if (std::abs(wheel_base_m) < 1e-6) { - throw std::invalid_argument("wheel_base_m is 0."); - } if (std::abs(steer_angle) < 1e-6) { return std::numeric_limits::max(); } - const double radius = wheel_base_m / std::tan(steer_angle); const double curvature = 1.0 / radius; return curvature; diff --git a/common/autoware_vehicle_info_utils/src/vehicle_info_utils.cpp b/common/autoware_vehicle_info_utils/src/vehicle_info_utils.cpp index e313391f6207a..fc60f46315ae8 100644 --- a/common/autoware_vehicle_info_utils/src/vehicle_info_utils.cpp +++ b/common/autoware_vehicle_info_utils/src/vehicle_info_utils.cpp @@ -40,24 +40,23 @@ namespace autoware::vehicle_info_utils { VehicleInfoUtils::VehicleInfoUtils(rclcpp::Node & node) { - vehicle_info_.wheel_radius_m = getParameter(node, "wheel_radius"); - vehicle_info_.wheel_width_m = getParameter(node, "wheel_width"); - vehicle_info_.wheel_base_m = getParameter(node, "wheel_base"); - vehicle_info_.wheel_tread_m = getParameter(node, "wheel_tread"); - vehicle_info_.front_overhang_m = getParameter(node, "front_overhang"); - vehicle_info_.rear_overhang_m = getParameter(node, "rear_overhang"); - vehicle_info_.left_overhang_m = getParameter(node, "left_overhang"); - vehicle_info_.right_overhang_m = getParameter(node, "right_overhang"); - vehicle_info_.vehicle_height_m = getParameter(node, "vehicle_height"); - vehicle_info_.max_steer_angle_rad = getParameter(node, "max_steer_angle"); + const auto wheel_radius_m = getParameter(node, "wheel_radius"); + const auto wheel_width_m = getParameter(node, "wheel_width"); + const auto wheel_base_m = getParameter(node, "wheel_base"); + const auto wheel_tread_m = getParameter(node, "wheel_tread"); + const auto front_overhang_m = getParameter(node, "front_overhang"); + const auto rear_overhang_m = getParameter(node, "rear_overhang"); + const auto left_overhang_m = getParameter(node, "left_overhang"); + const auto right_overhang_m = getParameter(node, "right_overhang"); + const auto vehicle_height_m = getParameter(node, "vehicle_height"); + const auto max_steer_angle_rad = getParameter(node, "max_steer_angle"); + vehicle_info_ = createVehicleInfo( + wheel_radius_m, wheel_width_m, wheel_base_m, wheel_tread_m, front_overhang_m, rear_overhang_m, + left_overhang_m, right_overhang_m, vehicle_height_m, max_steer_angle_rad); } -VehicleInfo VehicleInfoUtils::getVehicleInfo() +VehicleInfo VehicleInfoUtils::getVehicleInfo() const { - return createVehicleInfo( - vehicle_info_.wheel_radius_m, vehicle_info_.wheel_width_m, vehicle_info_.wheel_base_m, - vehicle_info_.wheel_tread_m, vehicle_info_.front_overhang_m, vehicle_info_.rear_overhang_m, - vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m, - vehicle_info_.max_steer_angle_rad); + return vehicle_info_; } } // namespace autoware::vehicle_info_utils diff --git a/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp b/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp new file mode 100644 index 0000000000000..3ad19ba9cab35 --- /dev/null +++ b/common/autoware_vehicle_info_utils/test/test_vehicle_info_utils.cpp @@ -0,0 +1,72 @@ +// Copyright 2020-2024 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 +#include + +#include + +class VehicleInfoUtilTest : public ::testing::Test +{ +protected: + void SetUp() override + { + rclcpp::init(0, nullptr); + rclcpp::NodeOptions options; + options.arguments( + {"--ros-args", "--params-file", + ament_index_cpp::get_package_share_directory("autoware_vehicle_info_utils") + + "/config/vehicle_info.param.yaml"}); + node_ = std::make_shared("test_vehicle_info_utils", options); + } + + void TearDown() override { rclcpp::shutdown(); } + + std::shared_ptr node_; +}; + +TEST_F(VehicleInfoUtilTest, check_vehicle_info_value) +{ + using autoware::vehicle_info_utils::VehicleInfo; + using autoware::vehicle_info_utils::VehicleInfoUtils; + std::optional vehicle_info_util_opt{std::nullopt}; + ASSERT_NO_THROW({ vehicle_info_util_opt.emplace(VehicleInfoUtils(*node_)); }); + const auto & vehicle_info_util = vehicle_info_util_opt.value(); + const auto vehicle_info = vehicle_info_util.getVehicleInfo(); + + EXPECT_FLOAT_EQ(0.39, vehicle_info.wheel_radius_m); + EXPECT_FLOAT_EQ(0.42, vehicle_info.wheel_width_m); + EXPECT_FLOAT_EQ(2.74, vehicle_info.wheel_base_m); + EXPECT_FLOAT_EQ(1.63, vehicle_info.wheel_tread_m); + EXPECT_FLOAT_EQ(1.0, vehicle_info.front_overhang_m); + EXPECT_FLOAT_EQ(1.03, vehicle_info.rear_overhang_m); + EXPECT_FLOAT_EQ(0.1, vehicle_info.left_overhang_m); + EXPECT_FLOAT_EQ(0.1, vehicle_info.right_overhang_m); + EXPECT_FLOAT_EQ(2.5, vehicle_info.vehicle_height_m); + EXPECT_FLOAT_EQ(0.7, vehicle_info.max_steer_angle_rad); + + const auto footprint = vehicle_info.createFootprint(); + // front-left + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::FrontLeftIndex).x(), 2.74 + 1.0); + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::FrontLeftIndex).y(), 1.63 / 2 + 0.1); + // front-right + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::FrontRightIndex).x(), 2.74 + 1.0); + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::FrontRightIndex).y(), -(1.63 / 2 + 0.1)); + // rear-right + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::RearRightIndex).x(), -1.03); + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::RearRightIndex).y(), -(1.63 / 2 + 0.1)); + // rear-left + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::RearLeftIndex).x(), -1.03); + EXPECT_FLOAT_EQ(footprint.at(VehicleInfo::RearLeftIndex).y(), 1.63 / 2 + 0.1); +} diff --git a/common/component_interface_tools/launch/service_log_checker.launch.xml b/common/component_interface_tools/launch/service_log_checker.launch.xml deleted file mode 100644 index c7845198955c1..0000000000000 --- a/common/component_interface_tools/launch/service_log_checker.launch.xml +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/common/goal_distance_calculator/CMakeLists.txt b/common/goal_distance_calculator/CMakeLists.txt deleted file mode 100644 index 62047f36accc8..0000000000000 --- a/common/goal_distance_calculator/CMakeLists.txt +++ /dev/null @@ -1,21 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(goal_distance_calculator) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(goal_distance_calculator SHARED - src/goal_distance_calculator_node.cpp - src/goal_distance_calculator.cpp -) - -rclcpp_components_register_node(goal_distance_calculator - PLUGIN "goal_distance_calculator::GoalDistanceCalculatorNode" - EXECUTABLE goal_distance_calculator_node -) - -ament_auto_package( - INSTALL_TO_SHARE - launch - config -) diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index df78ffc156802..5d12031f9039b 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -15,6 +15,7 @@ #include #include #include +#include #include #include #include @@ -642,7 +643,7 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w) ini_pose.orientation = autoware::universe_utils::createQuaternionFromYaw(curr_yaw); path.push_back(ini_pose); const double & dt = imu_prediction_time_interval_; - const double distance_between_points = curr_v * dt; + const double distance_between_points = std::abs(curr_v) * dt; constexpr double minimum_distance_between_points{1e-2}; // if current velocity is too small, assume it stops at the same point // if distance between points is too small, arc length calculation is unreliable, so we skip @@ -887,7 +888,11 @@ void AEB::getClosestObjectsOnPath( if (ego_path.size() < 2 || points_belonging_to_cluster_hulls->empty()) { return; } - + const auto ego_is_driving_forward_opt = autoware::motion_utils::isDrivingForward(ego_path); + if (!ego_is_driving_forward_opt.has_value()) { + return; + } + const bool ego_is_driving_forward = ego_is_driving_forward_opt.value(); // select points inside the ego footprint path const auto current_p = [&]() { const auto & first_point_of_path = ego_path.front(); @@ -916,11 +921,9 @@ void AEB::getClosestObjectsOnPath( // If the object is behind the ego, we need to use the backward long offset. The distance should // be a positive number in any case - const bool is_object_in_front_of_ego = obj_arc_length > 0.0; - const double dist_ego_to_object = (is_object_in_front_of_ego) + const double dist_ego_to_object = (ego_is_driving_forward) ? obj_arc_length - vehicle_info_.max_longitudinal_offset_m : obj_arc_length + vehicle_info_.min_longitudinal_offset_m; - ObjectData obj; obj.stamp = stamp; obj.position = obj_position; diff --git a/control/autoware_collision_detector/CMakeLists.txt b/control/autoware_collision_detector/CMakeLists.txt new file mode 100644 index 0000000000000..6fe72d173aaa9 --- /dev/null +++ b/control/autoware_collision_detector/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_collision_detector) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(eigen3_cmake_module REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(PCL REQUIRED COMPONENTS common) + +include_directories( + SYSTEM + ${EIGEN3_INCLUDE_DIR} +) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/node.cpp +) + +target_link_libraries(${PROJECT_NAME} + ${PCL_LIBRARIES} +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::collision_detector::CollisionDetectorNode" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package( + INSTALL_TO_SHARE + config + launch +) diff --git a/control/autoware_collision_detector/README.md b/control/autoware_collision_detector/README.md new file mode 100644 index 0000000000000..74e45823bb818 --- /dev/null +++ b/control/autoware_collision_detector/README.md @@ -0,0 +1,76 @@ +# Collision Detector + +## Purpose + +This module subscribes required data (ego-pose, obstacles, etc), and publishes diagnostics if an object is within a specific distance. + +## Inner-workings / Algorithms + +### Flow chart + +### Algorithms + +### Check data + +Check that `collision_detector` receives no ground pointcloud, dynamic objects. + +### Object Filtering + +#### Recognition Assumptions + +1. If the classification changes but it's considered the same object, the uuid does not change. +2. It's possible for the same uuid to be recognized after being lost for a few frames. +3. Once an object is determined to be excluded, it continues to be excluded for a certain period of time. + +#### Filtering Process + +1. Initial Recognition and Exclusion: + + - The system checks if a newly recognized object's classification is listed in `nearby_object_type_filters`. + - If so, and the object is within the `nearby_filter_radius`, it is marked for exclusion. + +2. New Object Determination: + + - An object is considered "new" based on its UUID. + - If the UUID is not found in recent frame data, the object is treated as new. + +3. Exclusion Mechanism: + - Newly excluded objects are recorded by their UUID. + - These objects continue to be excluded for a set period (`keep_ignoring_time`) as long as they maintain the classification specified in `nearby_object_type_filters` and remain within the `nearby_filter_radius`. + +### Get distance to nearest object + +Calculate distance between ego vehicle and the nearest object. +In this function, it calculates the minimum distance between the polygon of ego vehicle and all points in pointclouds and the polygons of dynamic objects. + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| ---------------------------------------------- | ------------------------------------------------- | ------------------------------------------------------------------ | +| `/perception/obstacle_segmentation/pointcloud` | `sensor_msgs::msg::PointCloud2` | Pointcloud of obstacles which the ego-vehicle should stop or avoid | +| `/perception/object_recognition/objects` | `autoware_perception_msgs::msg::PredictedObjects` | Dynamic objects | +| `/tf` | `tf2_msgs::msg::TFMessage` | TF | +| `/tf_static` | `tf2_msgs::msg::TFMessage` | TF static | + +### Output + +| Name | Type | Description | +| -------------- | --------------------------------------- | ----------- | +| `/diagnostics` | `diagnostic_msgs::msg::DiagnosticArray` | Diagnostics | + +## Parameters + +| Name | Type | Description | Default value | +| :--------------------------- | :---------------------- | :--------------------------------------------------------------------------------------- | :------------------------------- | +| `use_pointcloud` | `bool` | Use pointcloud as obstacle check | `true` | +| `use_dynamic_object` | `bool` | Use dynamic object as obstacle check | `true` | +| `collision_distance` | `double` | Distance threshold at which an object is considered a collision. [m] | 0.15 | +| `nearby_filter_radius` | `double` | Distance range for filtering objects. Objects within this radius are considered. [m] | 5.0 | +| `keep_ignoring_time` | `double` | Time to keep filtering objects that first appeared in the vicinity [sec] | 10.0 | +| `nearby_object_type_filters` | `object of bool values` | Specifies which object types to filter. Only objects with `true` value will be filtered. | `{unknown: true, others: false}` | + +## Assumptions / Known limits + +- This module is based on `surround_obstacle_checker` diff --git a/control/autoware_collision_detector/config/collision_detector.param.yaml b/control/autoware_collision_detector/config/collision_detector.param.yaml new file mode 100644 index 0000000000000..842654c66fe5a --- /dev/null +++ b/control/autoware_collision_detector/config/collision_detector.param.yaml @@ -0,0 +1,16 @@ +/**: + ros__parameters: + use_pointcloud: false # use pointcloud as obstacle check + use_dynamic_object: true # use dynamic object as obstacle check + collision_distance: 0.1 # Distance at which an object is determined to have collided with ego [m] + nearby_filter_radius: 5.0 # Radius to filter nearby objects [m] + keep_ignoring_time: 10.0 # Time to keep filtering objects that first appeared in the vicinity + nearby_object_type_filters: # Classes subject to filtering for objects first appearing in the vicinity + filter_car: false + filter_truck: false + filter_bus: false + filter_trailer: false + filter_bicycle: false + filter_motorcycle: false + filter_pedestrian: false + filter_unknown: true diff --git a/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp b/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp new file mode 100644 index 0000000000000..dbd2fe59231e9 --- /dev/null +++ b/control/autoware_collision_detector/include/autoware/collision_detector/node.hpp @@ -0,0 +1,138 @@ +// Copyright 2024 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__COLLISION_DETECTOR__NODE_HPP_ +#define AUTOWARE__COLLISION_DETECTOR__NODE_HPP_ + +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include +#include +#include +#include + +namespace autoware::collision_detector +{ +using autoware::vehicle_info_utils::VehicleInfo; +using autoware_adapi_v1_msgs::msg::OperationModeState; +using autoware_perception_msgs::msg::PredictedObject; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_perception_msgs::msg::Shape; + +using Obstacle = std::pair; + +class CollisionDetectorNode : public rclcpp::Node +{ +public: + explicit CollisionDetectorNode(const rclcpp::NodeOptions & node_options); + + struct NearbyObjectTypeFilters + { + bool filter_car{false}; + bool filter_truck{false}; + bool filter_bus{false}; + bool filter_trailer{false}; + bool filter_unknown{false}; + bool filter_bicycle{false}; + bool filter_motorcycle{false}; + bool filter_pedestrian{false}; + }; + + struct NodeParam + { + bool use_pointcloud; + bool use_dynamic_object; + double collision_distance; + double nearby_filter_radius; + double keep_ignoring_time; + NearbyObjectTypeFilters nearby_object_type_filters; + }; + + struct TimestampedObject + { + unique_identifier_msgs::msg::UUID object_id; + rclcpp::Time timestamp; + }; + +private: + PredictedObjects filterObjects(const PredictedObjects & objects); + + void removeOldObjects( + std::vector & container, const rclcpp::Time & current_time, + const rclcpp::Duration & duration_sec); + + bool shouldBeExcluded( + const autoware_perception_msgs::msg::ObjectClassification::_label_type & classification) const; + + void checkCollision(diagnostic_updater::DiagnosticStatusWrapper & stat); + + void onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg); + + void onDynamicObjects(const PredictedObjects::ConstSharedPtr msg); + + void onOperationMode(const OperationModeState::ConstSharedPtr msg); + + boost::optional getNearestObstacle() const; + + boost::optional getNearestObstacleByPointCloud() const; + + boost::optional getNearestObstacleByDynamicObject() const; + + boost::optional getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const; + + // ros + mutable tf2_ros::Buffer tf_buffer_{get_clock()}; + mutable tf2_ros::TransformListener tf_listener_{tf_buffer_}; + rclcpp::TimerBase::SharedPtr timer_; + + // publisher and subscriber + rclcpp::Subscription::SharedPtr sub_pointcloud_; + rclcpp::Subscription::SharedPtr sub_dynamic_objects_; + rclcpp::Subscription::SharedPtr sub_operation_mode_; + + // parameter + NodeParam node_param_; + autoware::vehicle_info_utils::VehicleInfo vehicle_info_; + + // data + sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; + PredictedObjects::ConstSharedPtr object_ptr_; + OperationModeState::ConstSharedPtr operation_mode_ptr_; + rclcpp::Time last_obstacle_found_stamp_; + std::shared_ptr filtered_object_ptr_; + std::vector observed_objects_; + std::vector ignored_objects_; + + // Diagnostic Updater + diagnostic_updater::Updater updater_; +}; +} // namespace autoware::collision_detector + +#endif // AUTOWARE__COLLISION_DETECTOR__NODE_HPP_ diff --git a/control/autoware_collision_detector/launch/collision_detector.launch.xml b/control/autoware_collision_detector/launch/collision_detector.launch.xml new file mode 100644 index 0000000000000..bb3c51cff9009 --- /dev/null +++ b/control/autoware_collision_detector/launch/collision_detector.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/control/autoware_collision_detector/package.xml b/control/autoware_collision_detector/package.xml new file mode 100644 index 0000000000000..ff2facada87b4 --- /dev/null +++ b/control/autoware_collision_detector/package.xml @@ -0,0 +1,45 @@ + + + + autoware_collision_detector + 0.1.0 + The collision_detector package + + Kyoichi Sugahara + Go Sakayori + Tomohito Ando + + Apache License 2.0 + + Shinnosuke Hirakawa + + ament_cmake + eigen3_cmake_module + + autoware_cmake + + autoware_adapi_v1_msgs + autoware_perception_msgs + autoware_utils + autoware_vehicle_info_utils + diagnostic_msgs + diagnostic_updater + eigen + libpcl-all-dev + pcl_conversions + rclcpp + rclcpp_components + sensor_msgs + std_msgs + tf2 + tf2_eigen + tf2_geometry_msgs + tf2_ros + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/control/autoware_collision_detector/src/node.cpp b/control/autoware_collision_detector/src/node.cpp new file mode 100644 index 0000000000000..ec0885422e7b9 --- /dev/null +++ b/control/autoware_collision_detector/src/node.cpp @@ -0,0 +1,523 @@ +// Copyright 2024 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 "autoware/collision_detector/node.hpp" + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#define EIGEN_MPL2_ONLY +#include +#include + +namespace autoware::collision_detector +{ +namespace bg = boost::geometry; +using Point2d = bg::model::d2::point_xy; +using Polygon2d = bg::model::polygon; +using autoware::universe_utils::createPoint; +using autoware::universe_utils::pose2transform; + +namespace +{ + +geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const double z) +{ + geometry_msgs::msg::Point32 p; + p.x = x; + p.y = y; + p.z = z; + return p; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint) +{ + geometry_msgs::msg::Polygon transformed_polygon{}; + geometry_msgs::msg::TransformStamped geometry_tf{}; + geometry_tf.transform = pose2transform(pose); + tf2::doTransform(footprint, transformed_polygon, geometry_tf); + + Polygon2d object_polygon; + for (const auto & p : transformed_polygon.points) { + object_polygon.outer().push_back(Point2d(p.x, p.y)); + } + + bg::correct(object_polygon); + + return object_polygon; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size) +{ + const double length_m = size.x / 2.0; + const double width_m = size.y / 2.0; + + geometry_msgs::msg::Polygon polygon{}; + + polygon.points.push_back(createPoint32(length_m, -width_m, 0.0)); + polygon.points.push_back(createPoint32(length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, -width_m, 0.0)); + + return createObjPolygon(pose, polygon); +} + +Polygon2d createObjPolygonForCylinder(const geometry_msgs::msg::Pose & pose, const double diameter) +{ + geometry_msgs::msg::Polygon polygon{}; + + const double radius = diameter * 0.5; + // add hexagon points + for (int i = 0; i < 6; ++i) { + const double angle = 2.0 * M_PI * static_cast(i) / 6.0; + const double x = radius * std::cos(angle); + const double y = radius * std::sin(angle); + polygon.points.push_back(createPoint32(x, y, 0.0)); + } + + return createObjPolygon(pose, polygon); +} + +Polygon2d createSelfPolygon(const VehicleInfo & vehicle_info) +{ + const double & front_m = vehicle_info.max_longitudinal_offset_m; + const double & width_left_m = vehicle_info.max_lateral_offset_m; + const double & width_right_m = vehicle_info.min_lateral_offset_m; + const double & rear_m = vehicle_info.min_longitudinal_offset_m; + + Polygon2d ego_polygon; + + ego_polygon.outer().push_back(Point2d(front_m, width_left_m)); + ego_polygon.outer().push_back(Point2d(front_m, width_right_m)); + ego_polygon.outer().push_back(Point2d(rear_m, width_right_m)); + ego_polygon.outer().push_back(Point2d(rear_m, width_left_m)); + + bg::correct(ego_polygon); + + return ego_polygon; +} +} // namespace + +CollisionDetectorNode::CollisionDetectorNode(const rclcpp::NodeOptions & node_options) +: Node("collision_detector_node", node_options), updater_(this) +{ + // Parameters + { + auto & p = node_param_; + p.use_pointcloud = this->declare_parameter("use_pointcloud"); + p.use_dynamic_object = this->declare_parameter("use_dynamic_object"); + p.collision_distance = this->declare_parameter("collision_distance"); + p.nearby_filter_radius = this->declare_parameter("nearby_filter_radius"); + p.keep_ignoring_time = this->declare_parameter("keep_ignoring_time"); + p.nearby_object_type_filters.filter_car = + this->declare_parameter("nearby_object_type_filters.filter_car"); + p.nearby_object_type_filters.filter_truck = + this->declare_parameter("nearby_object_type_filters.filter_truck"); + p.nearby_object_type_filters.filter_bus = + this->declare_parameter("nearby_object_type_filters.filter_bus"); + p.nearby_object_type_filters.filter_trailer = + this->declare_parameter("nearby_object_type_filters.filter_trailer"); + p.nearby_object_type_filters.filter_unknown = + this->declare_parameter("nearby_object_type_filters.filter_unknown"); + p.nearby_object_type_filters.filter_bicycle = + this->declare_parameter("nearby_object_type_filters.filter_bicycle"); + p.nearby_object_type_filters.filter_motorcycle = + this->declare_parameter("nearby_object_type_filters.filter_motorcycle"); + p.nearby_object_type_filters.filter_pedestrian = + this->declare_parameter("nearby_object_type_filters.filter_pedestrian"); + } + + vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo(); + + // Subscribers + sub_pointcloud_ = this->create_subscription( + "~/input/pointcloud", rclcpp::SensorDataQoS(), + std::bind(&CollisionDetectorNode::onPointCloud, this, std::placeholders::_1)); + sub_dynamic_objects_ = this->create_subscription( + "~/input/objects", 1, + std::bind(&CollisionDetectorNode::onDynamicObjects, this, std::placeholders::_1)); + + sub_operation_mode_ = this->create_subscription( + "/api/operation_mode/state", rclcpp::QoS{1}.transient_local(), + std::bind(&CollisionDetectorNode::onOperationMode, this, std::placeholders::_1)); + + last_obstacle_found_stamp_ = this->now(); + + // Diagnostics Updater + updater_.setHardwareID("collision_detector"); + updater_.add("collision_detect", this, &CollisionDetectorNode::checkCollision); + updater_.setPeriod(0.1); +} + +PredictedObjects CollisionDetectorNode::filterObjects(const PredictedObjects & input_objects) +{ + PredictedObjects filtered_objects; + filtered_objects.header = input_objects.header; + filtered_objects.header.stamp = this->now(); + + const rclcpp::Time current_object_time = input_objects.header.stamp; + const rclcpp::Duration observed_objects_keep_time = + rclcpp::Duration::from_seconds(0.5); // 0.5 sec + const rclcpp::Duration ignored_objects_keep_time = + rclcpp::Duration::from_seconds(10.0); // 10 seconds + + // Remove old objects from observed_objects_ and ignored_objects_ + removeOldObjects(observed_objects_, current_object_time, observed_objects_keep_time); + removeOldObjects(ignored_objects_, current_object_time, ignored_objects_keep_time); + + // Get transform from object frame to base_link + const auto transform_stamped = + getTransform("base_link", input_objects.header.frame_id, input_objects.header.stamp, 0.5); + + if (!transform_stamped) { + RCLCPP_ERROR(this->get_logger(), "Failed to get transform from object frame to base_link"); + return filtered_objects; + } + + Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.get().transform).cast(); + + for (const auto & object : input_objects.objects) { + // Transform object position to base_link frame + Eigen::Vector3f object_position( + object.kinematics.initial_pose_with_covariance.pose.position.x, + object.kinematics.initial_pose_with_covariance.pose.position.y, + object.kinematics.initial_pose_with_covariance.pose.position.z); + Eigen::Vector3f transformed_position = isometry * object_position; + + // Calculate object distance from base_link + const double object_distance = transformed_position.head<2>().norm(); + const bool is_within_range = (object_distance <= node_param_.nearby_filter_radius); + + // Determine if the object should be excluded based on its classification + bool should_be_excluded = shouldBeExcluded(object.classification.front().label); + + const bool is_within_range_and_filtering_class = is_within_range && should_be_excluded; + + // If the object is not within range or not a class to be filtered, add it directly + if (!is_within_range_and_filtering_class) { + filtered_objects.objects.push_back(object); + + // Update observed_objects_ + auto observed_it = std::find_if( + observed_objects_.begin(), observed_objects_.end(), + [&object](const auto & observed_object) { + return observed_object.object_id == object.object_id; + }); + if (observed_it != observed_objects_.end()) { + observed_it->timestamp = current_object_time; + } else { + observed_objects_.push_back({object.object_id, current_object_time}); + } + + continue; + } + + // Check if the object exists in ignored_objects_ + auto ignored_it = std::find_if( + ignored_objects_.begin(), ignored_objects_.end(), [&object](const auto & ignored_object) { + return ignored_object.object_id == object.object_id; + }); + const bool was_ignored = (ignored_it != ignored_objects_.end()); + + // If the object was ignored and is still within the ignore period, continue filtering + if ( + was_ignored && (current_object_time - ignored_it->timestamp) < + rclcpp::Duration::from_seconds(node_param_.keep_ignoring_time)) { + // Check if the object exists in observed_objects_ + auto observed_it = std::find_if( + observed_objects_.begin(), observed_objects_.end(), + [&object](const auto & observed_object) { + return observed_object.object_id == object.object_id; + }); + const bool was_observed = (observed_it != observed_objects_.end()); + if (was_observed) { + observed_it->timestamp = current_object_time; + } else { + // Add as a newly observed object and to the ignore list + observed_objects_.push_back({object.object_id, current_object_time}); + } + continue; + } + + // Check if the object exists in observed_objects_ + auto observed_it = std::find_if( + observed_objects_.begin(), observed_objects_.end(), [&object](const auto & observed_object) { + return observed_object.object_id == object.object_id; + }); + const bool was_observed = (observed_it != observed_objects_.end()); + + if (was_observed) { + observed_it->timestamp = current_object_time; + // Add without exclusion check + filtered_objects.objects.push_back(object); + } else { + // Add as a newly observed object and to the ignore list + observed_objects_.push_back({object.object_id, current_object_time}); + ignored_objects_.push_back({object.object_id, current_object_time}); + // Continue filtering + continue; + } + } + + return filtered_objects; +} + +void CollisionDetectorNode::removeOldObjects( + std::vector & container, const rclcpp::Time & current_time, + const rclcpp::Duration & duration_sec) +{ + container.erase( + std::remove_if( + container.begin(), container.end(), + [&](const TimestampedObject & obj) { return (current_time - obj.timestamp) > duration_sec; }), + container.end()); +} + +bool CollisionDetectorNode::shouldBeExcluded( + const autoware_perception_msgs::msg::ObjectClassification::_label_type & classification) const +{ + switch (classification) { + case autoware_perception_msgs::msg::ObjectClassification::CAR: + return node_param_.nearby_object_type_filters.filter_car; + case autoware_perception_msgs::msg::ObjectClassification::TRUCK: + return node_param_.nearby_object_type_filters.filter_truck; + case autoware_perception_msgs::msg::ObjectClassification::BUS: + return node_param_.nearby_object_type_filters.filter_bus; + case autoware_perception_msgs::msg::ObjectClassification::TRAILER: + return node_param_.nearby_object_type_filters.filter_trailer; + case autoware_perception_msgs::msg::ObjectClassification::UNKNOWN: + return node_param_.nearby_object_type_filters.filter_unknown; + case autoware_perception_msgs::msg::ObjectClassification::BICYCLE: + return node_param_.nearby_object_type_filters.filter_bicycle; + case autoware_perception_msgs::msg::ObjectClassification::MOTORCYCLE: + return node_param_.nearby_object_type_filters.filter_motorcycle; + case autoware_perception_msgs::msg::ObjectClassification::PEDESTRIAN: + return node_param_.nearby_object_type_filters.filter_pedestrian; + default: + return false; + } +} + +void CollisionDetectorNode::checkCollision(diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + if (node_param_.use_pointcloud && !pointcloud_ptr_) { + RCLCPP_WARN_THROTTLE( + this->get_logger(), *this->get_clock(), 5000 /* ms */, "waiting for pointcloud info..."); + return; + } + + if (node_param_.use_dynamic_object && !object_ptr_) { + RCLCPP_WARN_THROTTLE( + this->get_logger(), *this->get_clock(), 5000 /* ms */, "waiting for dynamic object info..."); + return; + } + + if (!operation_mode_ptr_) { + RCLCPP_WARN_THROTTLE( + this->get_logger(), *this->get_clock(), 5000 /* ms */, "waiting for operation mode info..."); + return; + } + filtered_object_ptr_ = std::make_shared(filterObjects(*object_ptr_)); + + const auto nearest_obstacle = getNearestObstacle(); + + const auto is_obstacle_found = + !nearest_obstacle ? false : nearest_obstacle.get().first < node_param_.collision_distance; + + if (is_obstacle_found) { + last_obstacle_found_stamp_ = this->now(); + } + + const auto is_obstacle_found_recently = + (this->now() - last_obstacle_found_stamp_).seconds() < 1.0; + + diagnostic_msgs::msg::DiagnosticStatus status; + if ( + operation_mode_ptr_->mode == OperationModeState::AUTONOMOUS && + (is_obstacle_found || is_obstacle_found_recently)) { + status.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + status.message = "collision detected"; + if (is_obstacle_found) { + stat.addf("Distance to nearest neighbor object", "%lf", nearest_obstacle.get().first); + } + } else { + status.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + } + + stat.summary(status.level, status.message); +} + +void CollisionDetectorNode::onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) +{ + pointcloud_ptr_ = msg; +} + +void CollisionDetectorNode::onDynamicObjects(const PredictedObjects::ConstSharedPtr msg) +{ + object_ptr_ = msg; +} + +void CollisionDetectorNode::onOperationMode(const OperationModeState::ConstSharedPtr msg) +{ + operation_mode_ptr_ = msg; +} + +boost::optional CollisionDetectorNode::getNearestObstacle() const +{ + boost::optional nearest_pointcloud{boost::none}; + boost::optional nearest_object{boost::none}; + + if (node_param_.use_pointcloud) { + nearest_pointcloud = getNearestObstacleByPointCloud(); + } + + if (node_param_.use_dynamic_object) { + nearest_object = getNearestObstacleByDynamicObject(); + } + + if (!nearest_pointcloud && !nearest_object) { + return {}; + } + + if (!nearest_pointcloud) { + return nearest_object; + } + + if (!nearest_object) { + return nearest_pointcloud; + } + + return nearest_pointcloud.get().first < nearest_object.get().first ? nearest_pointcloud + : nearest_object; +} + +boost::optional CollisionDetectorNode::getNearestObstacleByPointCloud() const +{ + const auto transform_stamped = + getTransform("base_link", pointcloud_ptr_->header.frame_id, pointcloud_ptr_->header.stamp, 0.5); + + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; + } + + Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.get().transform).cast(); + pcl::PointCloud transformed_pointcloud; + pcl::fromROSMsg(*pointcloud_ptr_, transformed_pointcloud); + pcl::transformPointCloud(transformed_pointcloud, transformed_pointcloud, isometry); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); + + for (const auto & p : transformed_pointcloud) { + Point2d boost_point(p.x, p.y); + + const auto distance_to_object = bg::distance(ego_polygon, boost_point); + + if (distance_to_object < minimum_distance) { + nearest_point = createPoint(p.x, p.y, p.z); + minimum_distance = distance_to_object; + } + } + + return std::make_pair(minimum_distance, nearest_point); +} + +boost::optional CollisionDetectorNode::getNearestObstacleByDynamicObject() const +{ + const auto transform_stamped = getTransform( + filtered_object_ptr_->header.frame_id, "base_link", filtered_object_ptr_->header.stamp, 0.5); + + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; + } + + tf2::Transform tf_src2target; + tf2::fromMsg(transform_stamped.get().transform, tf_src2target); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); + + for (const auto & object : filtered_object_ptr_->objects) { + const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; + + tf2::Transform tf_src2object; + tf2::fromMsg(object_pose, tf_src2object); + + geometry_msgs::msg::Pose transformed_object_pose; + tf2::toMsg(tf_src2target.inverse() * tf_src2object, transformed_object_pose); + + const auto object_polygon = [&]() { + switch (object.shape.type) { + case Shape::POLYGON: + return createObjPolygon(transformed_object_pose, object.shape.footprint); + case Shape::CYLINDER: + return createObjPolygonForCylinder(transformed_object_pose, object.shape.dimensions.x); + case Shape::BOUNDING_BOX: + return createObjPolygon(transformed_object_pose, object.shape.dimensions); + default: + // node return warning + RCLCPP_WARN(this->get_logger(), "Unsupported shape type: %d", object.shape.type); + return createObjPolygon(transformed_object_pose, object.shape.dimensions); + } + }(); + + const auto distance_to_object = bg::distance(ego_polygon, object_polygon); + + if (distance_to_object < minimum_distance) { + nearest_point = object_pose.position; + minimum_distance = distance_to_object; + } + } + + return std::make_pair(minimum_distance, nearest_point); +} + +boost::optional CollisionDetectorNode::getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const +{ + geometry_msgs::msg::TransformStamped transform_stamped; + + try { + transform_stamped = + tf_buffer_.lookupTransform(source, target, stamp, tf2::durationFromSec(duration_sec)); + } catch (const tf2::TransformException & ex) { + return {}; + } + + return transform_stamped; +} + +} // namespace autoware::collision_detector + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::collision_detector::CollisionDetectorNode) diff --git a/control/autoware_control_validator/README.md b/control/autoware_control_validator/README.md index 2ace3a403c073..cc3d2069c940f 100644 --- a/control/autoware_control_validator/README.md +++ b/control/autoware_control_validator/README.md @@ -9,10 +9,10 @@ The `control_validator` is a module that checks the validity of the output of th The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation. -| Description | Arguments | Diagnostic equation | Implemented function name | -| ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- | :-----------------------------------------------: | ------------------------------- | -| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and threshold velocity parameter $k$ | $v \hat{v} < 0, \quad \lvert v \rvert > k$ | `checkValidVelocityDeviation()` | -| Overspeed: Measured speed exceeds target speed significantly. | measured velocity $v$, target velocity $\hat{v}$, and threshold ratio parameter $r$ | $\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert$ | `checkValidVelocityDeviation()` | +| Description | Arguments | Diagnostic equation | +| ---------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------- | :---------------------------------------------------: | +| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$ | $v \hat{v} < 0, \quad \lvert v \rvert > c$ | +| Overspeed: Measured speed exceeds target speed significantly. | measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$ | $\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$ | - **Deviation check between reference trajectory and predicted trajectory** : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold. @@ -57,8 +57,9 @@ The following parameters can be set for the `control_validator`: The input trajectory is detected as invalid if the index exceeds the following thresholds. -| Name | Type | Description | Default value | -| :----------------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :------------ | -| `thresholds.max_distance_deviation` | double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0 | -| `thresholds.max_reverse_velocity` | double | threshold velocity to valid the vehicle velocity [m/s] | WIP | -| `thresholds.max_over_velocity_ratio` | double | threshold ratio to valid the vehicle velocity [*] | WIP | +| Name | Type | Description | Default value | +| :---------------------------------- | :----- | :---------------------------------------------------------------------------------------------------------- | :------------ | +| `thresholds.max_distance_deviation` | double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0 | +| `thresholds.rolling_back_velocity` | double | threshold velocity to valid the vehicle velocity [m/s] | 0.5 | +| `thresholds.over_velocity_offset` | double | threshold velocity offset to valid the vehicle velocity [m/s] | 2.0 | +| `thresholds.over_velocity_ratio` | double | threshold ratio to valid the vehicle velocity [*] | 0.2 | diff --git a/control/autoware_control_validator/config/control_validator.param.yaml b/control/autoware_control_validator/config/control_validator.param.yaml index 2735a7e935ddc..577bb7dbf7706 100644 --- a/control/autoware_control_validator/config/control_validator.param.yaml +++ b/control/autoware_control_validator/config/control_validator.param.yaml @@ -9,5 +9,9 @@ thresholds: max_distance_deviation: 1.0 - max_reverse_velocity: 0.2 - max_over_velocity_ratio: 0.1 + rolling_back_velocity: 0.5 + over_velocity_offset: 2.0 + over_velocity_ratio: 0.2 + + vel_lpf_gain: 0.9 # Time constant 0.33 + hold_velocity_error_until_stop: true diff --git a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp index 551ee08aa3327..86ffac1ec371e 100644 --- a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp +++ b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp @@ -20,6 +20,7 @@ #include "autoware_vehicle_info_utils/vehicle_info.hpp" #include "diagnostic_updater/diagnostic_updater.hpp" +#include #include #include #include @@ -47,8 +48,9 @@ using nav_msgs::msg::Odometry; struct ValidationParams { double max_distance_deviation_threshold; - double max_reverse_velocity_threshold; - double max_over_velocity_ratio_threshold; + double rolling_back_velocity; + double over_velocity_ratio; + double over_velocity_offset; }; /** @@ -81,16 +83,8 @@ class ControlValidator : public rclcpp::Node std::pair calc_lateral_deviation_status( const Trajectory & predicted_trajectory, const Trajectory & reference_trajectory) const; - /** - * @brief Calculate the velocity deviation between the reference trajectory and the current - * vehicle kinematics. - * @param reference_trajectory Reference trajectory - * @param kinematics Current vehicle kinematics - * @return A tuple containing the current velocity, desired velocity, and a boolean indicating - * validity - */ - std::tuple calc_velocity_deviation_status( - const Trajectory & reference_trajectory, const Odometry & kinematics) const; + void calc_velocity_deviation_status( + const Trajectory & reference_trajectory, const Odometry & kinematics); private: /** @@ -155,6 +149,10 @@ class ControlValidator : public rclcpp::Node ControlValidatorStatus validation_status_; ValidationParams validation_params_; // for thresholds + bool is_velocity_valid_{true}; + autoware::signal_processing::LowpassFilter1d vehicle_vel_{0.0}; + autoware::signal_processing::LowpassFilter1d target_vel_{0.0}; + bool hold_velocity_error_until_stop_{false}; vehicle_info_utils::VehicleInfo vehicle_info_; diff --git a/control/autoware_control_validator/msg/ControlValidatorStatus.msg b/control/autoware_control_validator/msg/ControlValidatorStatus.msg index c7dbdbb048e4e..5db179f5a9257 100644 --- a/control/autoware_control_validator/msg/ControlValidatorStatus.msg +++ b/control/autoware_control_validator/msg/ControlValidatorStatus.msg @@ -2,11 +2,12 @@ builtin_interfaces/Time stamp # states bool is_valid_max_distance_deviation -bool is_valid_velocity_deviation +bool is_rolling_back +bool is_over_velocity # values float64 max_distance_deviation -float64 desired_velocity -float64 current_velocity +float64 target_vel +float64 vehicle_vel int64 invalid_count diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml index b48ebef70bc58..060fda93f87a8 100644 --- a/control/autoware_control_validator/package.xml +++ b/control/autoware_control_validator/package.xml @@ -22,6 +22,7 @@ autoware_motion_utils autoware_planning_msgs + autoware_signal_processing autoware_universe_utils autoware_vehicle_info_utils diagnostic_updater diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index d601319d47bc5..796928519e8d1 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -66,9 +66,15 @@ void ControlValidator::setup_parameters() auto & p = validation_params_; const std::string t = "thresholds."; p.max_distance_deviation_threshold = declare_parameter(t + "max_distance_deviation"); - p.max_reverse_velocity_threshold = declare_parameter(t + "max_reverse_velocity"); - p.max_over_velocity_ratio_threshold = declare_parameter(t + "max_over_velocity_ratio"); + p.rolling_back_velocity = declare_parameter(t + "rolling_back_velocity"); + p.over_velocity_offset = declare_parameter(t + "over_velocity_offset"); + p.over_velocity_ratio = declare_parameter(t + "over_velocity_ratio"); } + const auto lpf_gain = declare_parameter("vel_lpf_gain"); + vehicle_vel_.setGain(lpf_gain); + target_vel_.setGain(lpf_gain); + + hold_velocity_error_until_stop_ = declare_parameter("hold_velocity_error_until_stop"); try { vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo(); @@ -109,10 +115,15 @@ void ControlValidator::setup_diag() stat, validation_status_.is_valid_max_distance_deviation, "control output is deviated from trajectory"); }); - d.add(ns + "velocity_deviation", [&](auto & stat) { + d.add(ns + "rolling_back", [&](auto & stat) { + set_status( + stat, !validation_status_.is_rolling_back, + "The vehicle is rolling back. The velocity has the opposite sign to the target."); + }); + d.add(ns + "over_velocity", [&](auto & stat) { set_status( - stat, validation_status_.is_valid_velocity_deviation, - "current velocity is deviated from the desired velocity"); + stat, !validation_status_.is_over_velocity, + "The vehicle is over-speeding against the target."); }); } @@ -198,10 +209,7 @@ void ControlValidator::validate( validation_status_.max_distance_deviation, validation_status_.is_valid_max_distance_deviation) = calc_lateral_deviation_status(predicted_trajectory, *current_reference_trajectory_); - std::tie( - validation_status_.current_velocity, validation_status_.desired_velocity, - validation_status_.is_valid_velocity_deviation) = - calc_velocity_deviation_status(*current_reference_trajectory_, kinematics); + calc_velocity_deviation_status(*current_reference_trajectory_, kinematics); validation_status_.invalid_count = is_all_valid(validation_status_) ? 0 : validation_status_.invalid_count + 1; @@ -217,28 +225,37 @@ std::pair ControlValidator::calc_lateral_deviation_status( max_distance_deviation <= validation_params_.max_distance_deviation_threshold}; } -std::tuple ControlValidator::calc_velocity_deviation_status( - const Trajectory & reference_trajectory, const Odometry & kinematics) const +void ControlValidator::calc_velocity_deviation_status( + const Trajectory & reference_trajectory, const Odometry & kinematics) { - const double current_vel = kinematics.twist.twist.linear.x; - const double desired_vel = + auto & status = validation_status_; + const auto & params = validation_params_; + status.vehicle_vel = vehicle_vel_.filter(kinematics.twist.twist.linear.x); + status.target_vel = target_vel_.filter( autoware::motion_utils::calcInterpolatedPoint(reference_trajectory, kinematics.pose.pose) - .longitudinal_velocity_mps; + .longitudinal_velocity_mps); + + const bool is_rolling_back = std::signbit(status.vehicle_vel * status.target_vel) && + std::abs(status.vehicle_vel) > params.rolling_back_velocity; + if ( + !hold_velocity_error_until_stop_ || !status.is_rolling_back || + std::abs(status.vehicle_vel) < 0.05) { + status.is_rolling_back = is_rolling_back; + } const bool is_over_velocity = - std::abs(current_vel) > - std::abs(desired_vel) * (1.0 + validation_params_.max_over_velocity_ratio_threshold) + - validation_params_.max_reverse_velocity_threshold; - const bool is_reverse_velocity = - std::signbit(current_vel * desired_vel) && - std::abs(current_vel) > validation_params_.max_reverse_velocity_threshold; - - return {current_vel, desired_vel, !(is_over_velocity || is_reverse_velocity)}; + std::abs(status.vehicle_vel) > + std::abs(status.target_vel) * (1.0 + params.over_velocity_ratio) + params.over_velocity_offset; + if ( + !hold_velocity_error_until_stop_ || !status.is_over_velocity || + std::abs(status.vehicle_vel) < 0.05) { + status.is_over_velocity = is_over_velocity; + } } bool ControlValidator::is_all_valid(const ControlValidatorStatus & s) { - return s.is_valid_max_distance_deviation && s.is_valid_velocity_deviation; + return s.is_valid_max_distance_deviation && !s.is_rolling_back && !s.is_over_velocity; } void ControlValidator::display_status() diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml index de514e70a0f2e..ef6c0bc8d252b 100644 --- a/control/autoware_operation_mode_transition_manager/package.xml +++ b/control/autoware_operation_mode_transition_manager/package.xml @@ -12,12 +12,12 @@ autoware_cmake rosidl_default_generators + autoware_component_interface_specs autoware_control_msgs autoware_motion_utils autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils geometry_msgs rclcpp diff --git a/control/autoware_operation_mode_transition_manager/src/node.hpp b/control/autoware_operation_mode_transition_manager/src/node.hpp index d9b8eaebc4ead..857217b2b23fc 100644 --- a/control/autoware_operation_mode_transition_manager/src/node.hpp +++ b/control/autoware_operation_mode_transition_manager/src/node.hpp @@ -18,8 +18,8 @@ #include "compatibility.hpp" #include "state.hpp" +#include #include -#include #include #include @@ -35,9 +35,10 @@ class OperationModeTransitionManager : public rclcpp::Node explicit OperationModeTransitionManager(const rclcpp::NodeOptions & options); private: - using ChangeAutowareControlAPI = system_interface::ChangeAutowareControl; - using ChangeOperationModeAPI = system_interface::ChangeOperationMode; - using OperationModeStateAPI = system_interface::OperationModeState; + using ChangeAutowareControlAPI = + autoware::component_interface_specs::system::ChangeAutowareControl; + using ChangeOperationModeAPI = autoware::component_interface_specs::system::ChangeOperationMode; + using OperationModeStateAPI = autoware::component_interface_specs::system::OperationModeState; component_interface_utils::Service::SharedPtr srv_autoware_control_; component_interface_utils::Service::SharedPtr srv_operation_mode_; component_interface_utils::Publisher::SharedPtr pub_operation_mode_; diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index 60bbf23f9d5a8..532553da103e9 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -16,12 +16,12 @@ rosidl_default_generators autoware_adapi_v1_msgs + autoware_component_interface_specs autoware_control_msgs autoware_motion_utils autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils diagnostic_updater geometry_msgs diff --git a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp index 6f3aa70bcea54..18e9bcead1b2b 100644 --- a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp +++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp @@ -15,7 +15,7 @@ #ifndef ADAPI_PAUSE_INTERFACE_HPP_ #define ADAPI_PAUSE_INTERFACE_HPP_ -#include +#include #include #include @@ -29,9 +29,9 @@ class AdapiPauseInterface private: static constexpr double eps = 1e-3; using Control = autoware_control_msgs::msg::Control; - using SetPause = control_interface::SetPause; - using IsPaused = control_interface::IsPaused; - using IsStartRequested = control_interface::IsStartRequested; + using SetPause = autoware::component_interface_specs::control::SetPause; + using IsPaused = autoware::component_interface_specs::control::IsPaused; + using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested; public: explicit AdapiPauseInterface(rclcpp::Node * node); diff --git a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp index 012e75d0c207e..a9ac916d3c10d 100644 --- a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp +++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp @@ -15,7 +15,7 @@ #ifndef MODERATE_STOP_INTERFACE_HPP_ #define MODERATE_STOP_INTERFACE_HPP_ -#include +#include #include #include @@ -28,9 +28,9 @@ namespace autoware::vehicle_cmd_gate class ModerateStopInterface { private: - using SetStop = control_interface::SetStop; - using IsStopped = control_interface::IsStopped; - using IsStartRequested = control_interface::IsStartRequested; + using SetStop = autoware::component_interface_specs::control::SetStop; + using IsStopped = autoware::component_interface_specs::control::IsStopped; + using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested; public: explicit ModerateStopInterface(rclcpp::Node * node); diff --git a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp index b3afcded60438..be3a9eace9aac 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp +++ b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp @@ -15,13 +15,13 @@ #ifndef PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ #define PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ +#include #include #include #include #include #include #include -#include #include #include #include @@ -96,10 +96,12 @@ class PredictedPathCheckerNode : public rclcpp::Node sub_predicted_trajectory_; rclcpp::Subscription::SharedPtr sub_odom_; rclcpp::Subscription::SharedPtr sub_accel_; - component_interface_utils::Subscription::SharedPtr sub_stop_state_; + component_interface_utils::Subscription< + autoware::component_interface_specs::control::IsStopped>::SharedPtr sub_stop_state_; // Client - component_interface_utils::Client::SharedPtr cli_set_stop_; + component_interface_utils::Client< + autoware::component_interface_specs::control::SetStop>::SharedPtr cli_set_stop_; // Data Buffer geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_; @@ -108,7 +110,8 @@ class PredictedPathCheckerNode : public rclcpp::Node PredictedObjects::ConstSharedPtr object_ptr_{nullptr}; autoware_planning_msgs::msg::Trajectory::ConstSharedPtr reference_trajectory_; autoware_planning_msgs::msg::Trajectory::ConstSharedPtr predicted_trajectory_; - control_interface::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{nullptr}; + autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{ + nullptr}; // Core std::unique_ptr collision_checker_; @@ -126,7 +129,8 @@ class PredictedPathCheckerNode : public rclcpp::Node void onPredictedTrajectory(const autoware_planning_msgs::msg::Trajectory::SharedPtr msg); void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg); void onAccel(const geometry_msgs::msg::AccelWithCovarianceStamped::SharedPtr msg); - void onIsStopped(const control_interface::IsStopped::Message::ConstSharedPtr msg); + void onIsStopped( + const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg); // Timer rclcpp::TimerBase::SharedPtr timer_; diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml index 153d11107a8cb..6bceb24c4439d 100644 --- a/control/predicted_path_checker/package.xml +++ b/control/predicted_path_checker/package.xml @@ -12,13 +12,13 @@ ament_cmake autoware_cmake + autoware_component_interface_specs autoware_motion_utils autoware_perception_msgs autoware_planning_msgs autoware_universe_utils autoware_vehicle_info_utils boost - component_interface_specs component_interface_utils diagnostic_updater eigen diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp index d8cf5c34bf535..4ebde9cc0fc72 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp @@ -132,7 +132,7 @@ void PredictedPathCheckerNode::onAccel( } void PredictedPathCheckerNode::onIsStopped( - const control_interface::IsStopped::Message::ConstSharedPtr msg) + const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg) { is_stopped_ptr_ = msg; @@ -415,7 +415,8 @@ void PredictedPathCheckerNode::checkVehicleState(diagnostic_updater::DiagnosticS void PredictedPathCheckerNode::sendRequest(bool make_stop_vehicle) { if (!is_calling_set_stop_ && cli_set_stop_->service_is_ready()) { - const auto req = std::make_shared(); + const auto req = + std::make_shared(); req->stop = make_stop_vehicle; req->request_source = "predicted_path_checker"; is_calling_set_stop_ = true; diff --git a/evaluator/autoware_control_evaluator/CMakeLists.txt b/evaluator/autoware_control_evaluator/CMakeLists.txt index 2e6f9851cafce..5d6474de88015 100644 --- a/evaluator/autoware_control_evaluator/CMakeLists.txt +++ b/evaluator/autoware_control_evaluator/CMakeLists.txt @@ -16,6 +16,15 @@ rclcpp_components_register_node(control_evaluator_node EXECUTABLE control_evaluator ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_control_evaluator + test/test_control_evaluator_node.cpp + ) + target_link_libraries(test_control_evaluator + control_evaluator_node + ) +endif() + ament_auto_package( INSTALL_TO_SHARE diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index e2437e614d211..d1c459d1462e9 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -56,8 +56,9 @@ class ControlEvaluatorNode : public rclcpp::Node const Trajectory & traj, const Point & ego_point); DiagnosticStatus generateYawDeviationDiagnosticStatus( const Trajectory & traj, const Pose & ego_pose); - std::optional generateStopDiagnosticStatus( - const DiagnosticArray & diag, const std::string & function_name); + DiagnosticStatus generateGoalLongitudinalDeviationDiagnosticStatus(const Pose & ego_pose); + DiagnosticStatus generateGoalLateralDeviationDiagnosticStatus(const Pose & ego_pose); + DiagnosticStatus generateGoalYawDeviationDiagnosticStatus(const Pose & ego_pose); DiagnosticStatus generateAEBDiagnosticStatus(const DiagnosticStatus & diag); DiagnosticStatus generateLaneletDiagnosticStatus(const Pose & ego_pose) const; diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp index 94fbd53532e7d..e0e04b0a65070 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp @@ -42,6 +42,30 @@ double calcLateralDeviation(const Trajectory & traj, const Point & point); */ double calcYawDeviation(const Trajectory & traj, const Pose & pose); +/** + * @brief calculate longitudinal deviation from target_point to base_pose + * @param [in] pose input base_pose + * @param [in] point input target_point + * @return longitudinal deviation from base_pose to target_point + */ +double calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point); + +/** + * @brief calculate lateral deviation from target_point to base_pose + * @param [in] pose input base_pose + * @param [in] point input target_point + * @return lateral deviation from base_pose to target_point + */ +double calcLateralDeviation(const Pose & base_pose, const Point & target_point); + +/** + * @brief calculate yaw deviation from base_pose to target_pose + * @param [in] pose input base_pose + * @param [in] pose input target_pose + * @return yaw deviation from base_pose to target_pose + */ +double calcYawDeviation(const Pose & base_pose, const Pose & target_pose); + } // namespace metrics } // namespace control_diagnostics diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml index 52f5a04092713..1de3c0ecacae6 100644 --- a/evaluator/autoware_control_evaluator/package.xml +++ b/evaluator/autoware_control_evaluator/package.xml @@ -20,12 +20,15 @@ autoware_motion_utils autoware_planning_msgs autoware_route_handler + autoware_test_utils autoware_universe_utils diagnostic_msgs + nav_msgs pluginlib rclcpp rclcpp_components - + tf2 + tf2_ros ament_cmake_ros ament_lint_auto diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index c14878a3c6f7e..9fb9d4bd080f7 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -186,6 +186,53 @@ DiagnosticStatus ControlEvaluatorNode::generateYawDeviationDiagnosticStatus( return status; } +DiagnosticStatus ControlEvaluatorNode::generateGoalLongitudinalDeviationDiagnosticStatus( + const Pose & ego_pose) +{ + DiagnosticStatus status; + const double longitudinal_deviation = + metrics::calcLongitudinalDeviation(route_handler_.getGoalPose(), ego_pose.position); + + status.level = status.OK; + status.name = "goal_longitudinal_deviation"; + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "metrics_value"; + key_value.value = std::to_string(longitudinal_deviation); + status.values.push_back(key_value); + return status; +} + +DiagnosticStatus ControlEvaluatorNode::generateGoalLateralDeviationDiagnosticStatus( + const Pose & ego_pose) +{ + DiagnosticStatus status; + const double lateral_deviation = + metrics::calcLateralDeviation(route_handler_.getGoalPose(), ego_pose.position); + + status.level = status.OK; + status.name = "goal_lateral_deviation"; + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "metrics_value"; + key_value.value = std::to_string(lateral_deviation); + status.values.push_back(key_value); + return status; +} + +DiagnosticStatus ControlEvaluatorNode::generateGoalYawDeviationDiagnosticStatus( + const Pose & ego_pose) +{ + DiagnosticStatus status; + const double yaw_deviation = metrics::calcYawDeviation(route_handler_.getGoalPose(), ego_pose); + + status.level = status.OK; + status.name = "goal_yaw_deviation"; + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "metrics_value"; + key_value.value = std::to_string(yaw_deviation); + status.values.push_back(key_value); + return status; +} + void ControlEvaluatorNode::onTimer() { DiagnosticArray metrics_msg; @@ -222,6 +269,10 @@ void ControlEvaluatorNode::onTimer() if (odom && route_handler_.isHandlerReady()) { const Pose ego_pose = odom->pose.pose; metrics_msg.status.push_back(generateLaneletDiagnosticStatus(ego_pose)); + + metrics_msg.status.push_back(generateGoalLongitudinalDeviationDiagnosticStatus(ego_pose)); + metrics_msg.status.push_back(generateGoalLateralDeviationDiagnosticStatus(ego_pose)); + metrics_msg.status.push_back(generateGoalYawDeviationDiagnosticStatus(ego_pose)); } if (odom && acc) { diff --git a/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp index 689291da09f6d..a851eeb410620 100644 --- a/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp +++ b/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp @@ -38,5 +38,20 @@ double calcYawDeviation(const Trajectory & traj, const Pose & pose) autoware::universe_utils::calcYawDeviation(traj.points[nearest_index].pose, pose)); } +double calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point) +{ + return std::abs(autoware::universe_utils::calcLongitudinalDeviation(base_pose, target_point)); +} + +double calcLateralDeviation(const Pose & base_pose, const Point & target_point) +{ + return std::abs(autoware::universe_utils::calcLateralDeviation(base_pose, target_point)); +} + +double calcYawDeviation(const Pose & base_pose, const Pose & target_pose) +{ + return std::abs(autoware::universe_utils::calcYawDeviation(base_pose, target_pose)); +} + } // namespace metrics } // namespace control_diagnostics diff --git a/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp new file mode 100644 index 0000000000000..ca51721fa1932 --- /dev/null +++ b/evaluator/autoware_control_evaluator/test/test_control_evaluator_node.cpp @@ -0,0 +1,197 @@ +// Copyright 2024 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 "ament_index_cpp/get_package_share_directory.hpp" +#include "gtest/gtest.h" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/time.hpp" +#include "tf2_ros/transform_broadcaster.h" + +#include + +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "diagnostic_msgs/msg/diagnostic_array.hpp" +#include "geometry_msgs/msg/transform_stamped.hpp" + +#include "boost/lexical_cast.hpp" + +#include + +#include +#include +#include +#include + +using EvalNode = control_diagnostics::ControlEvaluatorNode; +using Trajectory = autoware_planning_msgs::msg::Trajectory; +using TrajectoryPoint = autoware_planning_msgs::msg::TrajectoryPoint; +using diagnostic_msgs::msg::DiagnosticArray; +using nav_msgs::msg::Odometry; + +constexpr double epsilon = 1e-6; + +class EvalTest : public ::testing::Test +{ +protected: + void SetUp() override + { + rclcpp::init(0, nullptr); + + rclcpp::NodeOptions options; + const auto share_dir = + ament_index_cpp::get_package_share_directory("autoware_control_evaluator"); + + dummy_node = std::make_shared("control_evaluator_test_node"); + eval_node = std::make_shared(options); + // Enable all logging in the node + auto ret = rcutils_logging_set_logger_level( + dummy_node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG); + if (ret != RCUTILS_RET_OK) { + std::cerr << "Failed to set logging severity to DEBUG\n"; + } + ret = rcutils_logging_set_logger_level( + eval_node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG); + if (ret != RCUTILS_RET_OK) { + std::cerr << "Failed to set logging severity to DEBUG\n"; + } + traj_pub_ = + rclcpp::create_publisher(dummy_node, "/control_evaluator/input/trajectory", 1); + odom_pub_ = + rclcpp::create_publisher(dummy_node, "/control_evaluator/input/odometry", 1); + tf_broadcaster_ = std::make_unique(dummy_node); + publishEgoPose(0.0, 0.0, 0.0); + } + + ~EvalTest() override { rclcpp::shutdown(); } + + void setTargetMetric(const std::string & metric_str) + { + const auto is_target_metric = [metric_str](const auto & status) { + return status.name == metric_str; + }; + metric_sub_ = rclcpp::create_subscription( + dummy_node, "/control_evaluator/metrics", 1, [=](const DiagnosticArray::ConstSharedPtr msg) { + const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric); + if (it != msg->status.end()) { + metric_value_ = boost::lexical_cast(it->values[0].value); + metric_updated_ = true; + } + }); + } + + Trajectory makeTrajectory(const std::vector> & traj) + { + Trajectory t; + t.header.frame_id = "map"; + TrajectoryPoint p; + for (const std::pair & point : traj) { + p.pose.position.x = point.first; + p.pose.position.y = point.second; + t.points.push_back(p); + } + return t; + } + + void publishTrajectory(const Trajectory & traj) + { + traj_pub_->publish(traj); + rclcpp::spin_some(eval_node); + rclcpp::spin_some(dummy_node); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + + double publishTrajectoryAndGetMetric(const Trajectory & traj) + { + metric_updated_ = false; + traj_pub_->publish(traj); + while (!metric_updated_) { + rclcpp::spin_some(eval_node); + rclcpp::spin_some(dummy_node); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + return metric_value_; + } + + void publishEgoPose(const double x, const double y, const double yaw) + { + Odometry odom; + odom.header.frame_id = "map"; + odom.header.stamp = dummy_node->now(); + odom.pose.pose.position.x = x; + odom.pose.pose.position.y = y; + odom.pose.pose.position.z = 0.0; + tf2::Quaternion q; + q.setRPY(0.0, 0.0, yaw); + odom.pose.pose.orientation.x = q.x(); + odom.pose.pose.orientation.y = q.y(); + odom.pose.pose.orientation.z = q.z(); + odom.pose.pose.orientation.w = q.w(); + + odom_pub_->publish(odom); + rclcpp::spin_some(eval_node); + rclcpp::spin_some(dummy_node); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + + // Latest metric value + bool metric_updated_ = false; + double metric_value_; + // Node + rclcpp::Node::SharedPtr dummy_node; + EvalNode::SharedPtr eval_node; + // Trajectory publishers + rclcpp::Publisher::SharedPtr traj_pub_; + rclcpp::Publisher::SharedPtr odom_pub_; + rclcpp::Subscription::SharedPtr metric_sub_; + // TF broadcaster + std::unique_ptr tf_broadcaster_; +}; + +TEST_F(EvalTest, TestYawDeviation) +{ + auto setYaw = [](geometry_msgs::msg::Quaternion & msg, const double yaw_rad) { + tf2::Quaternion q; + q.setRPY(0.0, 0.0, yaw_rad); + msg.x = q.x(); + msg.y = q.y(); + msg.z = q.z(); + msg.w = q.w(); + }; + setTargetMetric("yaw_deviation"); + Trajectory t = makeTrajectory({{0.0, 0.0}, {1.0, 0.0}}); + for (auto & p : t.points) { + setYaw(p.pose.orientation, M_PI); + } + + publishEgoPose(0.0, 0.0, M_PI); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 0.0, epsilon); + + publishEgoPose(0.0, 0.0, 0.0); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), M_PI, epsilon); + + publishEgoPose(0.0, 0.0, -M_PI); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 0.0, epsilon); +} + +TEST_F(EvalTest, TestLateralDeviation) +{ + setTargetMetric("lateral_deviation"); + Trajectory t = makeTrajectory({{0.0, 0.0}, {1.0, 0.0}}); + + publishEgoPose(0.0, 0.0, 0.0); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 0.0, epsilon); + + publishEgoPose(1.0, 1.0, 0.0); + EXPECT_NEAR(publishTrajectoryAndGetMetric(t), 1.0, epsilon); +} diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml index bd97963bd1268..3b30a891ae555 100644 --- a/launch/tier4_map_launch/launch/map.launch.xml +++ b/launch/tier4_map_launch/launch/map.launch.xml @@ -11,9 +11,6 @@ - - - @@ -32,25 +29,21 @@ - - - - diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml index 8f64b624540e7..499cf3c192164 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -5,7 +5,8 @@ - + + @@ -51,11 +52,11 @@ - + - + @@ -159,7 +160,8 @@ - + + @@ -173,7 +175,8 @@ - + + @@ -283,7 +286,7 @@ - + @@ -333,7 +336,7 @@ - + @@ -348,7 +351,7 @@ - + @@ -376,7 +379,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml index 9cc5fcf847212..e06682853d956 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml @@ -1,7 +1,8 @@ - + + @@ -55,7 +56,8 @@ --> - + + @@ -86,10 +88,10 @@ - + - - + + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml index c914723f69e4a..e56cb93baceb5 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml @@ -1,12 +1,10 @@ - - - + + + - - @@ -15,7 +13,8 @@ - + + @@ -23,10 +22,10 @@ - + - - + + @@ -36,7 +35,8 @@ - + + @@ -44,10 +44,10 @@ - + - - + + @@ -57,7 +57,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml index 196325974c10c..fcfa9baf4ae20 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml @@ -5,7 +5,7 @@ - + @@ -51,18 +51,18 @@ - + - + - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml index b14ccc563ebae..c289a81c906fe 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml @@ -6,7 +6,7 @@ - + @@ -61,18 +61,18 @@ - + - + - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml index b9bb765cb1b16..a492e7667c347 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml @@ -5,7 +5,7 @@ - + @@ -19,7 +19,7 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 160ddb0285d9b..5c04cc3e10679 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -35,19 +35,21 @@ + - - + + + - - + - + + @@ -197,7 +199,8 @@ - + + diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 330abaee3c839..7be992e2e4764 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -8,6 +8,7 @@ + diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml index 19e5120d605e2..5090f9ab83293 100644 --- a/launch/tier4_system_launch/launch/system.launch.xml +++ b/launch/tier4_system_launch/launch/system.launch.xml @@ -67,7 +67,7 @@ - + diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index 2d7c09f9e2ce2..4f02d4ff40981 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -17,8 +17,8 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_geography_utils - component_interface_specs component_interface_utils geographic_msgs geometry_msgs diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp index 3ece595a7b1bd..493d6cb13246a 100644 --- a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp +++ b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp @@ -15,7 +15,7 @@ #ifndef GEO_POSE_PROJECTOR_HPP_ #define GEO_POSE_PROJECTOR_HPP_ -#include +#include #include #include @@ -35,7 +35,7 @@ class GeoPoseProjector : public rclcpp::Node private: using GeoPoseWithCovariance = geographic_msgs::msg::GeoPoseWithCovarianceStamped; using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped; - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; public: explicit GeoPoseProjector(const rclcpp::NodeOptions & options); diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp index 06d2acf8a55fc..947ba02402697 100644 --- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp @@ -14,9 +14,9 @@ #include "lidar_marker_localizer.hpp" +#include #include #include -#include #include #include @@ -338,8 +338,8 @@ std::vector LidarMarkerLocalizer::detect_landmarks( // TODO(YamatoAndo) // Transform sensor_frame to base_link - pcl::PointCloud::Ptr points_ptr( - new pcl::PointCloud); + pcl::PointCloud::Ptr points_ptr( + new pcl::PointCloud); pcl::fromROSMsg(*points_msg_ptr, *points_ptr); if (points_ptr->empty()) { @@ -347,11 +347,11 @@ std::vector LidarMarkerLocalizer::detect_landmarks( return std::vector{}; } - std::vector> ring_points(128); + std::vector> ring_points(128); float min_x = std::numeric_limits::max(); float max_x = std::numeric_limits::lowest(); - for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) { + for (const autoware::point_types::PointXYZIRC & point : points_ptr->points) { ring_points[point.channel].push_back(point); min_x = std::min(min_x, point.x); max_x = std::max(max_x, point.x); @@ -365,12 +365,12 @@ std::vector LidarMarkerLocalizer::detect_landmarks( std::vector min_y(bin_num, std::numeric_limits::max()); // for each channel - for (const pcl::PointCloud & one_ring : ring_points) { + for (const pcl::PointCloud & one_ring : ring_points) { std::vector intensity_sum(bin_num, 0.0); std::vector intensity_num(bin_num, 0); std::vector average_intensity(bin_num, 0.0); - for (const autoware_point_types::PointXYZIRC & point : one_ring.points) { + for (const autoware::point_types::PointXYZIRC & point : one_ring.points) { const int bin_index = static_cast((point.x - min_x) / param_.resolution); intensity_sum[bin_index] += point.intensity; intensity_num[bin_index]++; @@ -507,15 +507,15 @@ sensor_msgs::msg::PointCloud2::SharedPtr LidarMarkerLocalizer::extract_marker_po const geometry_msgs::msg::Pose marker_pose) const { // convert from ROSMsg to PCL - pcl::shared_ptr> points_ptr( - new pcl::PointCloud); + pcl::shared_ptr> points_ptr( + new pcl::PointCloud); pcl::fromROSMsg(*points_msg_ptr, *points_ptr); - pcl::shared_ptr> marker_points_ptr( - new pcl::PointCloud); + pcl::shared_ptr> marker_points_ptr( + new pcl::PointCloud); // extract marker pointcloud - for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) { + for (const autoware::point_types::PointXYZIRC & point : points_ptr->points) { const double xy_distance = std::sqrt( std::pow(point.x - marker_pose.position.x, 2.0) + std::pow(point.y - marker_pose.position.y, 2.0)); @@ -546,8 +546,8 @@ void LidarMarkerLocalizer::save_detected_marker_log( marker_points_msg_sensor_frame_ptr); // convert from ROSMsg to PCL - pcl::shared_ptr> - marker_points_sensor_frame_ptr(new pcl::PointCloud); + pcl::shared_ptr> + marker_points_sensor_frame_ptr(new pcl::PointCloud); pcl::fromROSMsg(*marker_points_msg_sensor_frame_ptr, *marker_points_sensor_frame_ptr); // to csv format diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index d1ffc4ca4aef5..83a961a322c6a 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -19,11 +19,11 @@ ament_cmake autoware_cmake + autoware_component_interface_specs autoware_localization_util autoware_map_height_fitter autoware_motion_utils autoware_universe_utils - component_interface_specs component_interface_utils geometry_msgs rclcpp diff --git a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp index 630635da870b0..525ebfea4f07d 100644 --- a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp @@ -14,7 +14,7 @@ #include "ekf_localization_trigger_module.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ namespace autoware::pose_initializer { using ServiceException = component_interface_utils::ServiceException; -using Initialize = localization_interface::Initialize; +using Initialize = autoware::component_interface_specs::localization::Initialize; EkfLocalizationTriggerModule::EkfLocalizationTriggerModule(rclcpp::Node * node) : node_(node) { diff --git a/localization/autoware_pose_initializer/src/gnss_module.cpp b/localization/autoware_pose_initializer/src/gnss_module.cpp index c5fd1490b271e..6d3979f2675ec 100644 --- a/localization/autoware_pose_initializer/src/gnss_module.cpp +++ b/localization/autoware_pose_initializer/src/gnss_module.cpp @@ -14,7 +14,7 @@ #include "gnss_module.hpp" -#include +#include #include #include @@ -37,7 +37,7 @@ void GnssModule::on_pose(PoseWithCovarianceStamped::ConstSharedPtr msg) geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose() { - using Initialize = localization_interface::Initialize; + using Initialize = autoware::component_interface_specs::localization::Initialize; if (!pose_) { throw component_interface_utils::ServiceException( diff --git a/localization/autoware_pose_initializer/src/localization_module.cpp b/localization/autoware_pose_initializer/src/localization_module.cpp index 0b2a63a55447b..10345d2a39757 100644 --- a/localization/autoware_pose_initializer/src/localization_module.cpp +++ b/localization/autoware_pose_initializer/src/localization_module.cpp @@ -14,7 +14,7 @@ #include "localization_module.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ namespace autoware::pose_initializer { using ServiceException = component_interface_utils::ServiceException; -using Initialize = localization_interface::Initialize; +using Initialize = autoware::component_interface_specs::localization::Initialize; using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; LocalizationModule::LocalizationModule(rclcpp::Node * node, const std::string & service_name) diff --git a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp index 5acf0909d21cf..39cb0f247c27f 100644 --- a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp @@ -14,7 +14,7 @@ #include "ndt_localization_trigger_module.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ namespace autoware::pose_initializer { using ServiceException = component_interface_utils::ServiceException; -using Initialize = localization_interface::Initialize; +using Initialize = autoware::component_interface_specs::localization::Initialize; NdtLocalizationTriggerModule::NdtLocalizationTriggerModule(rclcpp::Node * node) : node_(node) { diff --git a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp index b9a6a66590b78..20922e4d46747 100644 --- a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp +++ b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp @@ -17,8 +17,8 @@ #include "autoware/localization_util/diagnostics_module.hpp" +#include #include -#include #include #include @@ -42,8 +42,8 @@ class PoseInitializer : public rclcpp::Node private: using ServiceException = component_interface_utils::ServiceException; - using Initialize = localization_interface::Initialize; - using State = localization_interface::InitializationState; + using Initialize = autoware::component_interface_specs::localization::Initialize; + using State = autoware::component_interface_specs::localization::InitializationState; using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; rclcpp::CallbackGroup::SharedPtr group_srv_; diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp index feb7483f37811..7abfd119ae412 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp @@ -17,7 +17,7 @@ #include "rclcpp/rclcpp.hpp" -#include +#include #include #include @@ -34,7 +34,7 @@ class MapProjectionLoader : public rclcpp::Node explicit MapProjectionLoader(const rclcpp::NodeOptions & options); private: - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; component_interface_utils::Publisher::SharedPtr publisher_; }; } // namespace autoware::map_projection_loader diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index ca25cbf728d26..d58d4191300a3 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -16,8 +16,8 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_lanelet2_extension - component_interface_specs component_interface_utils rclcpp rclcpp_components 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 e38d65201ee56..8f182e13ca346 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 @@ -15,8 +15,8 @@ #ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ #define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ +#include #include -#include #include #include @@ -44,7 +44,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node const rclcpp::Time & now); private: - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg); diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml index b8f92504a8b99..6ab72f3d5f95b 100644 --- a/map/map_loader/package.xml +++ b/map/map_loader/package.xml @@ -19,10 +19,10 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_geography_utils autoware_lanelet2_extension autoware_map_msgs - component_interface_specs component_interface_utils fmt geometry_msgs diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index 581d908b61a51..fd30fe00f64df 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -17,6 +17,7 @@ autoware_kalman_filter autoware_perception_msgs + autoware_tensorrt_common cuda_utils cv_bridge eigen @@ -26,7 +27,6 @@ rclcpp rclcpp_components sensor_msgs - tensorrt_common tier4_perception_msgs yaml-cpp diff --git a/perception/autoware_compare_map_segmentation/config/distance_based_compare_map_filter.param.yaml b/perception/autoware_compare_map_segmentation/config/distance_based_compare_map_filter.param.yaml index f95c0b0c94b92..12fd2e1f27f0a 100644 --- a/perception/autoware_compare_map_segmentation/config/distance_based_compare_map_filter.param.yaml +++ b/perception/autoware_compare_map_segmentation/config/distance_based_compare_map_filter.param.yaml @@ -6,3 +6,4 @@ map_update_distance_threshold: 10.0 map_loader_radius: 150.0 publish_debug_pcd: False + max_map_grid_size: 100.0 diff --git a/perception/autoware_compare_map_segmentation/config/voxel_based_approximate_compare_map_filter.param.yaml b/perception/autoware_compare_map_segmentation/config/voxel_based_approximate_compare_map_filter.param.yaml index d54f7a96ecda0..56ab652265de5 100644 --- a/perception/autoware_compare_map_segmentation/config/voxel_based_approximate_compare_map_filter.param.yaml +++ b/perception/autoware_compare_map_segmentation/config/voxel_based_approximate_compare_map_filter.param.yaml @@ -7,3 +7,4 @@ map_update_distance_threshold: 10.0 map_loader_radius: 150.0 publish_debug_pcd: False + max_map_grid_size: 100.0 diff --git a/perception/autoware_compare_map_segmentation/config/voxel_based_compare_map_filter.param.yaml b/perception/autoware_compare_map_segmentation/config/voxel_based_compare_map_filter.param.yaml index d54f7a96ecda0..56ab652265de5 100644 --- a/perception/autoware_compare_map_segmentation/config/voxel_based_compare_map_filter.param.yaml +++ b/perception/autoware_compare_map_segmentation/config/voxel_based_compare_map_filter.param.yaml @@ -7,3 +7,4 @@ map_update_distance_threshold: 10.0 map_loader_radius: 150.0 publish_debug_pcd: False + max_map_grid_size: 100.0 diff --git a/perception/autoware_compare_map_segmentation/config/voxel_distance_based_compare_map_filter.param.yaml b/perception/autoware_compare_map_segmentation/config/voxel_distance_based_compare_map_filter.param.yaml index d54f7a96ecda0..56ab652265de5 100644 --- a/perception/autoware_compare_map_segmentation/config/voxel_distance_based_compare_map_filter.param.yaml +++ b/perception/autoware_compare_map_segmentation/config/voxel_distance_based_compare_map_filter.param.yaml @@ -7,3 +7,4 @@ map_update_distance_threshold: 10.0 map_loader_radius: 150.0 publish_debug_pcd: False + max_map_grid_size: 100.0 diff --git a/perception/autoware_compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json b/perception/autoware_compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json index b389e496fc477..75be17a3ec6b3 100644 --- a/perception/autoware_compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json +++ b/perception/autoware_compare_map_segmentation/schema/distance_based_compare_map_filter.schema.json @@ -35,6 +35,11 @@ "type": "boolean", "default": "false", "description": "Publish a downsampled map pointcloud for debugging" + }, + "max_map_grid_size": { + "type": "number", + "default": "100.0", + "description": "Threshold of grid size to split map pointcloud" } }, "required": [ @@ -43,7 +48,8 @@ "timer_interval_ms", "map_update_distance_threshold", "map_loader_radius", - "publish_debug_pcd" + "publish_debug_pcd", + "max_map_grid_size" ], "additionalProperties": false } diff --git a/perception/autoware_compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json b/perception/autoware_compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json index 1b2e8ba5d51f8..f9a9d3a877adf 100644 --- a/perception/autoware_compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json +++ b/perception/autoware_compare_map_segmentation/schema/voxel_based_approximate_compare_map_filter.schema.json @@ -40,6 +40,11 @@ "type": "boolean", "default": "false", "description": "Publish a downsampled map pointcloud for debugging" + }, + "max_map_grid_size": { + "type": "number", + "default": "100.0", + "description": "Threshold of grid size to split map pointcloud" } }, "required": [ @@ -49,7 +54,8 @@ "timer_interval_ms", "map_update_distance_threshold", "map_loader_radius", - "publish_debug_pcd" + "publish_debug_pcd", + "max_map_grid_size" ], "additionalProperties": false } diff --git a/perception/autoware_compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json b/perception/autoware_compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json index 8cf95b8a3098e..326cc867bfd30 100644 --- a/perception/autoware_compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json +++ b/perception/autoware_compare_map_segmentation/schema/voxel_based_compare_map_filter.schema.json @@ -40,6 +40,11 @@ "type": "boolean", "default": "false", "description": "Publish a downsampled map pointcloud for debugging" + }, + "max_map_grid_size": { + "type": "number", + "default": "100.0", + "description": "Threshold of grid size to split map pointcloud" } }, "required": [ @@ -49,7 +54,8 @@ "timer_interval_ms", "map_update_distance_threshold", "map_loader_radius", - "publish_debug_pcd" + "publish_debug_pcd", + "max_map_grid_size" ], "additionalProperties": false } diff --git a/perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json b/perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json index d743fb45cfd60..27eb38d7449d7 100644 --- a/perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json +++ b/perception/autoware_compare_map_segmentation/schema/voxel_distance_based_compare_map_filter.schema.json @@ -40,6 +40,11 @@ "type": "boolean", "default": "false", "description": "Publish a downsampled map pointcloud for debugging" + }, + "max_map_grid_size": { + "type": "number", + "default": "100.0", + "description": "Maximum size of the pcd map with dynamic map loading." } }, "required": [ @@ -49,7 +54,8 @@ "timer_interval_ms", "map_update_distance_threshold", "map_loader_radius", - "publish_debug_pcd" + "publish_debug_pcd", + "max_map_grid_size" ], "additionalProperties": false } diff --git a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp index 73390abae7301..848cc4606b230 100644 --- a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.cpp @@ -29,9 +29,7 @@ #include #include // To be replaced by std::filesystem in C++17 -#include #include -#include namespace autoware::compare_map_segmentation { diff --git a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp index ceddaa67ac2cd..8e5015ef21ef7 100644 --- a/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/compare_elevation_map_filter/node.hpp @@ -24,11 +24,7 @@ #include -#include -#include -#include #include -#include namespace autoware::compare_map_segmentation { class CompareElevationMapFilterComponent : public autoware::pointcloud_preprocessor::Filter diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp index e5ff8da4e4da9..a2e3afd62cdad 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp @@ -32,8 +32,6 @@ void DistanceBasedStaticMapLoader::onMapCallback( pcl::PointCloud map_pcl; pcl::fromROSMsg(*map, map_pcl); const auto map_pcl_ptr = pcl::make_shared>(map_pcl); - - (*mutex_ptr_).lock(); map_ptr_ = map_pcl_ptr; *tf_map_input_frame_ = map_ptr_->header.frame_id; if (!tree_) { @@ -44,17 +42,19 @@ void DistanceBasedStaticMapLoader::onMapCallback( } } tree_->setInputCloud(map_ptr_); - - (*mutex_ptr_).unlock(); + is_initialized_.store(true, std::memory_order_release); } bool DistanceBasedStaticMapLoader::is_close_to_map( const pcl::PointXYZ & point, const double distance_threshold) { - if (map_ptr_ == NULL) { + if (!is_initialized_.load(std::memory_order_acquire)) { + return false; + } + if (map_ptr_ == nullptr) { return false; } - if (tree_ == NULL) { + if (tree_ == nullptr) { return false; } @@ -89,8 +89,8 @@ bool DistanceBasedDynamicMapLoader::is_close_to_map( if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { return false; } - if (current_voxel_grid_array_.at(map_grid_index) != NULL) { - if (current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree == NULL) { + if (current_voxel_grid_array_.at(map_grid_index) != nullptr) { + if (current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree == nullptr) { return false; } std::vector nn_indices(1); @@ -126,10 +126,10 @@ DistanceBasedCompareMapFilterComponent::DistanceBasedCompareMapFilterComponent( rclcpp::CallbackGroup::SharedPtr main_callback_group; main_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); distance_based_map_loader_ = std::make_unique( - this, distance_threshold_, &tf_input_frame_, &mutex_, main_callback_group); + this, distance_threshold_, &tf_input_frame_, main_callback_group); } else { - distance_based_map_loader_ = std::make_unique( - this, distance_threshold_, &tf_input_frame_, &mutex_); + distance_based_map_loader_ = + std::make_unique(this, distance_threshold_, &tf_input_frame_); } } diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp index d0cb5b3c62992..d6b65daa82267 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp @@ -24,14 +24,13 @@ #include #include -#include namespace autoware::compare_map_segmentation { -typedef typename pcl::Filter::PointCloud PointCloud; -typedef typename PointCloud::Ptr PointCloudPtr; -typedef typename PointCloud::ConstPtr PointCloudConstPtr; +using PointCloud = typename pcl::Filter::PointCloud; +using PointCloudPtr = typename PointCloud::Ptr; +using PointCloudConstPtr = typename PointCloud::ConstPtr; class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { @@ -41,8 +40,8 @@ class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader public: DistanceBasedStaticMapLoader( - rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, std::mutex * mutex) - : VoxelGridStaticMapLoader(node, leaf_size, 1.0, tf_map_input_frame, mutex) + rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame) + : VoxelGridStaticMapLoader(node, leaf_size, 1.0, tf_map_input_frame) { RCLCPP_INFO(logger_, "DistanceBasedStaticMapLoader initialized.\n"); } @@ -55,9 +54,9 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader { public: DistanceBasedDynamicMapLoader( - rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, std::mutex * mutex, + rclcpp::Node * node, double leaf_size, std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group) - : VoxelGridDynamicMapLoader(node, leaf_size, 1.0, tf_map_input_frame, mutex, main_callback_group) + : VoxelGridDynamicMapLoader(node, leaf_size, 1.0, tf_map_input_frame, main_callback_group) { RCLCPP_INFO(logger_, "DistanceBasedDynamicMapLoader initialized.\n"); } @@ -94,17 +93,16 @@ class DistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader current_voxel_grid_list_item.map_cell_kdtree = tree_tmp; // add - (*mutex_ptr_).lock(); + std::lock_guard lock(dynamic_map_loader_mutex_); current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); - (*mutex_ptr_).unlock(); } }; class DistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; private: double distance_threshold_; diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp index 3a04c3dc20902..a02a6865ef9ef 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp @@ -29,7 +29,7 @@ namespace autoware::compare_map_segmentation bool VoxelBasedApproximateStaticMapLoader::is_close_to_map( const pcl::PointXYZ & point, [[maybe_unused]] const double distance_threshold) { - if (voxel_map_ptr_ == NULL) { + if (voxel_map_ptr_ == nullptr) { return false; } const int index = @@ -55,7 +55,7 @@ bool VoxelBasedApproximateDynamicMapLoader::is_close_to_map( if (static_cast(map_grid_index) >= current_voxel_grid_array_.size()) { return false; } - if (current_voxel_grid_array_.at(map_grid_index) != NULL) { + if (current_voxel_grid_array_.at(map_grid_index) != nullptr) { const int index = current_voxel_grid_array_.at(map_grid_index) ->map_cell_voxel_grid.getCentroidIndexAt( current_voxel_grid_array_.at(map_grid_index) @@ -95,11 +95,10 @@ VoxelBasedApproximateCompareMapFilterComponent::VoxelBasedApproximateCompareMapF rclcpp::CallbackGroup::SharedPtr main_callback_group; main_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); voxel_based_approximate_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_, - main_callback_group); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, main_callback_group); } else { voxel_based_approximate_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_); } } diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp index 0466d20403ca3..1cbf9c0571b73 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp @@ -23,7 +23,6 @@ #include #include -#include namespace autoware::compare_map_segmentation { @@ -33,8 +32,8 @@ class VoxelBasedApproximateStaticMapLoader : public VoxelGridStaticMapLoader public: explicit VoxelBasedApproximateStaticMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) - : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + std::string * tf_map_input_frame) + : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame) { RCLCPP_INFO(logger_, "VoxelBasedApproximateStaticMapLoader initialized.\n"); } @@ -46,10 +45,9 @@ class VoxelBasedApproximateDynamicMapLoader : public VoxelGridDynamicMapLoader public: VoxelBasedApproximateDynamicMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group) + std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group) : VoxelGridDynamicMapLoader( - node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex, main_callback_group) + node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, main_callback_group) { RCLCPP_INFO(logger_, "VoxelBasedApproximateDynamicMapLoader initialized.\n"); } @@ -60,8 +58,8 @@ class VoxelBasedApproximateCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; private: double distance_threshold_; diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp index a3eb866d77e31..cdad52b5a278d 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp @@ -22,11 +22,9 @@ #include #include -#include namespace autoware::compare_map_segmentation { -using autoware::pointcloud_preprocessor::get_param; VoxelBasedCompareMapFilterComponent::VoxelBasedCompareMapFilterComponent( const rclcpp::NodeOptions & options) @@ -54,11 +52,10 @@ VoxelBasedCompareMapFilterComponent::VoxelBasedCompareMapFilterComponent( rclcpp::CallbackGroup::SharedPtr main_callback_group; main_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); voxel_grid_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_, - main_callback_group); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, main_callback_group); } else { voxel_grid_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_); } tf_input_frame_ = *(voxel_grid_map_loader_->tf_map_input_frame_); RCLCPP_INFO(this->get_logger(), "tf_map_input_frame: %s", tf_input_frame_.c_str()); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp index ac81eae85b8a0..ba29f9ac25af0 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp @@ -22,15 +22,14 @@ #include #include -#include namespace autoware::compare_map_segmentation { class VoxelBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; private: // pcl::SegmentDifferences impl_; @@ -39,8 +38,6 @@ class VoxelBasedCompareMapFilterComponent : public autoware::pointcloud_preproce double distance_threshold_; bool set_map_in_voxel_grid_; - bool dynamic_map_load_enable_; - public: PCL_MAKE_ALIGNED_OPERATOR_NEW explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp index 7fdeb5d8ea163..291a19d02ed4b 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp @@ -33,7 +33,6 @@ void VoxelDistanceBasedStaticMapLoader::onMapCallback( pcl::fromROSMsg(*map, map_pcl); const auto map_pcl_ptr = pcl::make_shared>(map_pcl); - (*mutex_ptr_).lock(); map_ptr_ = map_pcl_ptr; *tf_map_input_frame_ = map_ptr_->header.frame_id; // voxel @@ -53,19 +52,22 @@ void VoxelDistanceBasedStaticMapLoader::onMapCallback( } } tree_->setInputCloud(map_ptr_); - (*mutex_ptr_).unlock(); + is_initialized_.store(true, std::memory_order_release); } bool VoxelDistanceBasedStaticMapLoader::is_close_to_map( const pcl::PointXYZ & point, const double distance_threshold) { - if (voxel_map_ptr_ == NULL) { + if (!is_initialized_.load(std::memory_order_acquire)) { return false; } - if (map_ptr_ == NULL) { + if (voxel_map_ptr_ == nullptr) { return false; } - if (tree_ == NULL) { + if (map_ptr_ == nullptr) { + return false; + } + if (tree_ == nullptr) { return false; } if (is_close_to_neighbor_voxels(point, distance_threshold, voxel_grid_, tree_)) { @@ -89,7 +91,7 @@ bool VoxelDistanceBasedDynamicMapLoader::is_close_to_map( return false; } if ( - current_voxel_grid_array_.at(map_grid_index) != NULL && + current_voxel_grid_array_.at(map_grid_index) != nullptr && is_close_to_neighbor_voxels( point, distance_threshold, current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid, current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree)) { @@ -124,11 +126,10 @@ VoxelDistanceBasedCompareMapFilterComponent::VoxelDistanceBasedCompareMapFilterC rclcpp::CallbackGroup::SharedPtr main_callback_group; main_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); voxel_distance_based_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_, - main_callback_group); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, main_callback_group); } else { voxel_distance_based_map_loader_ = std::make_unique( - this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_, &mutex_); + this, distance_threshold_, downsize_ratio_z_axis, &tf_input_frame_); } } diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp index 15ed2a32ff213..218f19601cd41 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp @@ -25,14 +25,13 @@ #include #include #include -#include namespace autoware::compare_map_segmentation { -typedef typename pcl::Filter::PointCloud PointCloud; -typedef typename PointCloud::Ptr PointCloudPtr; -typedef typename PointCloud::ConstPtr PointCloudConstPtr; +using PointCloud = typename pcl::Filter::PointCloud; +using PointCloudPtr = typename PointCloud::Ptr; +using PointCloudConstPtr = typename PointCloud::ConstPtr; class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader { @@ -43,8 +42,8 @@ class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader public: explicit VoxelDistanceBasedStaticMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) - : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + std::string * tf_map_input_frame) + : VoxelGridStaticMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame) { RCLCPP_INFO(logger_, "VoxelDistanceBasedStaticMapLoader initialized.\n"); } @@ -61,10 +60,9 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader public: explicit VoxelDistanceBasedDynamicMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group) + std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group) : VoxelGridDynamicMapLoader( - node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex, main_callback_group) + node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, main_callback_group) { RCLCPP_INFO(logger_, "VoxelDistanceBasedDynamicMapLoader initialized.\n"); } @@ -117,17 +115,16 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader current_voxel_grid_list_item.map_cell_kdtree = tree_tmp; // add - (*mutex_ptr_).lock(); + std::lock_guard lock(dynamic_map_loader_mutex_); current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); - (*mutex_ptr_).unlock(); } }; class VoxelDistanceBasedCompareMapFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - virtual void filter( - const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); + void filter( + const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override; void input_target_callback(const PointCloud2ConstPtr map); diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index 195e09e4b406e..6e927db4e298b 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -18,13 +18,12 @@ namespace autoware::compare_map_segmentation { VoxelGridMapLoader::VoxelGridMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) + std::string * tf_map_input_frame) : logger_(node->get_logger()), voxel_leaf_size_(leaf_size), downsize_ratio_z_axis_(downsize_ratio_z_axis) { tf_map_input_frame_ = tf_map_input_frame; - mutex_ptr_ = mutex; downsampled_map_pub_ = node->create_publisher( "debug/downsampled_map/pointcloud", rclcpp::QoS{1}.transient_local()); @@ -48,7 +47,7 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels( if (index != -1) { return true; } - if (tree == NULL) { + if (tree == nullptr) { return false; } std::vector nn_indices(1); @@ -65,7 +64,7 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels( { // check map downsampled pc double distance_threshold_z = downsize_ratio_z_axis_ * distance_threshold; - if (map == NULL) { + if (map == nullptr) { return false; } if (is_in_voxel( @@ -245,8 +244,8 @@ bool VoxelGridMapLoader::is_in_voxel( VoxelGridStaticMapLoader::VoxelGridStaticMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex) -: VoxelGridMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + std::string * tf_map_input_frame) +: VoxelGridMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame) { voxel_leaf_size_z_ = voxel_leaf_size_ * downsize_ratio_z_axis_; sub_map_ = node->create_subscription( @@ -262,13 +261,12 @@ void VoxelGridStaticMapLoader::onMapCallback( pcl::fromROSMsg(*map, map_pcl); const auto map_pcl_ptr = pcl::make_shared>(map_pcl); *tf_map_input_frame_ = map_pcl_ptr->header.frame_id; - (*mutex_ptr_).lock(); voxel_map_ptr_.reset(new pcl::PointCloud); voxel_grid_.setLeafSize(voxel_leaf_size_, voxel_leaf_size_, voxel_leaf_size_z_); voxel_grid_.setInputCloud(map_pcl_ptr); voxel_grid_.setSaveLeafLayout(true); voxel_grid_.filter(*voxel_map_ptr_); - (*mutex_ptr_).unlock(); + is_initialized_.store(true, std::memory_order_release); if (debug_) { publish_downsampled_map(*voxel_map_ptr_); @@ -277,6 +275,9 @@ void VoxelGridStaticMapLoader::onMapCallback( bool VoxelGridStaticMapLoader::is_close_to_map( const pcl::PointXYZ & point, const double distance_threshold) { + if (!is_initialized_.load(std::memory_order_acquire)) { + return false; + } if (is_close_to_neighbor_voxels(point, distance_threshold, voxel_map_ptr_, voxel_grid_)) { return true; } @@ -285,14 +286,14 @@ bool VoxelGridStaticMapLoader::is_close_to_map( VoxelGridDynamicMapLoader::VoxelGridDynamicMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group) -: VoxelGridMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame, mutex) + std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group) +: VoxelGridMapLoader(node, leaf_size, downsize_ratio_z_axis, tf_map_input_frame) { voxel_leaf_size_z_ = voxel_leaf_size_ * downsize_ratio_z_axis_; auto timer_interval_ms = node->declare_parameter("timer_interval_ms"); map_update_distance_threshold_ = node->declare_parameter("map_update_distance_threshold"); map_loader_radius_ = node->declare_parameter("map_loader_radius"); + max_map_grid_size_ = node->declare_parameter("max_map_grid_size"); auto main_sub_opt = rclcpp::SubscriptionOptions(); main_sub_opt.callback_group = main_callback_group; sub_kinematic_state_ = node->create_subscription( @@ -330,7 +331,7 @@ bool VoxelGridDynamicMapLoader::is_close_to_next_map_grid( if ( static_cast(neighbor_map_grid_index) >= current_voxel_grid_array_.size() || neighbor_map_grid_index == current_map_grid_index || - current_voxel_grid_array_.at(neighbor_map_grid_index) != NULL) { + current_voxel_grid_array_.at(neighbor_map_grid_index) != nullptr) { return false; } if (is_close_to_neighbor_voxels( @@ -359,7 +360,7 @@ bool VoxelGridDynamicMapLoader::is_close_to_map( return false; } if ( - current_voxel_grid_array_.at(map_grid_index) != NULL && + current_voxel_grid_array_.at(map_grid_index) != nullptr && is_close_to_neighbor_voxels( point, distance_threshold, current_voxel_grid_array_.at(map_grid_index)->map_cell_pc_ptr, current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid)) { diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index 4a044596b3dee..b24286874801f 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -26,10 +26,10 @@ #include #include +#include #include #include #include -#include #include #include @@ -85,7 +85,6 @@ class VoxelGridMapLoader { protected: rclcpp::Logger logger_; - std::mutex * mutex_ptr_; double voxel_leaf_size_; double voxel_leaf_size_z_{}; double downsize_ratio_z_axis_; @@ -93,12 +92,14 @@ class VoxelGridMapLoader bool debug_ = false; public: - typedef VoxelGridEx VoxelGridPointXYZ; - typedef typename pcl::Filter::PointCloud PointCloud; - typedef typename PointCloud::Ptr PointCloudPtr; + using VoxelGridPointXYZ = VoxelGridEx; + using PointCloud = typename pcl::Filter::PointCloud; + using PointCloudPtr = typename PointCloud::Ptr; explicit VoxelGridMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex); + std::string * tf_map_input_frame); + + virtual ~VoxelGridMapLoader() = default; virtual bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) = 0; static bool is_close_to_neighbor_voxels( @@ -121,11 +122,12 @@ class VoxelGridStaticMapLoader : public VoxelGridMapLoader rclcpp::Subscription::SharedPtr sub_map_; VoxelGridPointXYZ voxel_grid_; PointCloudPtr voxel_map_ptr_; + std::atomic_bool is_initialized_{false}; public: explicit VoxelGridStaticMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex); + std::string * tf_map_input_frame); virtual void onMapCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr map); bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override; }; @@ -141,10 +143,11 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader pcl::search::Search::Ptr map_cell_kdtree; }; - typedef typename std::map VoxelGridDict; + using VoxelGridDict = typename std::map; /** \brief Map to hold loaded map grid id and it's voxel filter */ VoxelGridDict current_voxel_grid_dict_; + std::mutex dynamic_map_loader_mutex_; rclcpp::Subscription::SharedPtr sub_kinematic_state_; std::optional current_position_ = std::nullopt; @@ -152,6 +155,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader rclcpp::TimerBase::SharedPtr map_update_timer_; double map_update_distance_threshold_; double map_loader_radius_; + double max_map_grid_size_; rclcpp::Client::SharedPtr map_update_client_; rclcpp::CallbackGroup::SharedPtr client_callback_group_; @@ -181,8 +185,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader public: explicit VoxelGridDynamicMapLoader( rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis, - std::string * tf_map_input_frame, std::mutex * mutex, - rclcpp::CallbackGroup::SharedPtr main_callback_group); + std::string * tf_map_input_frame, rclcpp::CallbackGroup::SharedPtr main_callback_group); void onEstimatedPoseCallback(nav_msgs::msg::Odometry::ConstSharedPtr msg); void timer_callback(); @@ -193,17 +196,19 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader bool is_close_to_next_map_grid( const pcl::PointXYZ & point, const int current_map_grid_index, const double distance_threshold); - inline pcl::PointCloud getCurrentDownsampledMapPc() const + inline pcl::PointCloud getCurrentDownsampledMapPc() { pcl::PointCloud output; + std::lock_guard lock(dynamic_map_loader_mutex_); for (const auto & kv : current_voxel_grid_dict_) { output = output + *(kv.second.map_cell_pc_ptr); } return output; } - inline std::vector getCurrentMapIDs() const + inline std::vector getCurrentMapIDs() { std::vector current_map_ids{}; + std::lock_guard lock(dynamic_map_loader_mutex_); for (auto & kv : current_voxel_grid_dict_) { current_map_ids.push_back(kv.first); } @@ -242,9 +247,9 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader return; } - (*mutex_ptr_).lock(); current_voxel_grid_array_.assign( map_grids_x_ * map_grid_size_y_, std::make_shared()); + std::lock_guard lock(dynamic_map_loader_mutex_); for (const auto & kv : current_voxel_grid_dict_) { int index = static_cast( std::floor((kv.second.min_b_x - origin_x_) / map_grid_size_x_) + @@ -255,14 +260,12 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader } current_voxel_grid_array_.at(index) = std::make_shared(kv.second); } - (*mutex_ptr_).unlock(); } inline void removeMapCell(const std::string & map_cell_id_to_remove) { - (*mutex_ptr_).lock(); + std::lock_guard lock(dynamic_map_loader_mutex_); current_voxel_grid_dict_.erase(map_cell_id_to_remove); - (*mutex_ptr_).unlock(); } virtual inline void addMapCellAndFilter( @@ -270,6 +273,13 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader { map_grid_size_x_ = map_cell_to_add.metadata.max_x - map_cell_to_add.metadata.min_x; map_grid_size_y_ = map_cell_to_add.metadata.max_y - map_cell_to_add.metadata.min_y; + if (map_grid_size_x_ > max_map_grid_size_ || map_grid_size_y_ > max_map_grid_size_) { + RCLCPP_ERROR( + logger_, + "Map was not split or split map grid size is too large. Split map with grid size smaller " + "than %f", + max_map_grid_size_); + } origin_x_remainder_ = std::remainder(map_cell_to_add.metadata.min_x, map_grid_size_x_); origin_y_remainder_ = std::remainder(map_cell_to_add.metadata.min_y, map_grid_size_y_); @@ -302,9 +312,8 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader current_voxel_grid_list_item.map_cell_pc_ptr.reset(new pcl::PointCloud); current_voxel_grid_list_item.map_cell_pc_ptr = std::move(map_cell_downsampled_pc_ptr_tmp); // add - (*mutex_ptr_).lock(); + std::lock_guard lock(dynamic_map_loader_mutex_); current_voxel_grid_dict_.insert({map_cell_to_add.cell_id, current_voxel_grid_list_item}); - (*mutex_ptr_).unlock(); } }; diff --git a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp index 3d4ee272d7eaf..2ed66b9875ef8 100644 --- a/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_distance_based_compare_map_filter.cpp @@ -15,7 +15,7 @@ #include "../src/distance_based_compare_map_filter/node.hpp" #include -#include +#include #include #include @@ -24,8 +24,8 @@ #include using autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using sensor_msgs::msg::PointCloud2; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp index e165efa640d15..816ba7e8174c7 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_approximate_compare_map_filter.cpp @@ -15,7 +15,7 @@ #include "../src/voxel_based_approximate_compare_map_filter/node.hpp" #include -#include +#include #include #include @@ -24,8 +24,8 @@ #include using autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using sensor_msgs::msg::PointCloud2; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp index 654d7443bd8d0..4fa0ab6321f1c 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_based_compare_map_filter.cpp @@ -15,7 +15,7 @@ #include "../src/voxel_based_compare_map_filter/node.hpp" #include -#include +#include #include #include @@ -24,8 +24,8 @@ #include using autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using sensor_msgs::msg::PointCloud2; diff --git a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp index 4440a5eddc426..946eef9bd0a0e 100644 --- a/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp +++ b/perception/autoware_compare_map_segmentation/test/test_voxel_distance_based_compare_map_filter.cpp @@ -15,7 +15,7 @@ #include "../src/voxel_distance_based_compare_map_filter/node.hpp" #include -#include +#include #include #include @@ -24,8 +24,8 @@ #include using autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using sensor_msgs::msg::PointCloud2; diff --git a/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp b/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp index 571b6682eb5b0..8db8f6cb631d8 100644 --- a/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp +++ b/perception/autoware_detection_by_tracker/src/detection_by_tracker_node.cpp @@ -287,6 +287,7 @@ float DetectionByTracker::optimizeUnderSegmentedObject( // iterate to find best fit divided object float highest_iou = 0.0; tier4_perception_msgs::msg::DetectedObjectWithFeature highest_iou_object; + boost::optional ref_pose = boost::none; for (int iter_count = 0; iter_count < iter_max_count; ++iter_count, cluster_range *= iter_rate, voxel_size *= iter_rate) { // divide under segmented cluster @@ -304,7 +305,7 @@ float DetectionByTracker::optimizeUnderSegmentedObject( label, divided_cluster, getReferenceYawInfo( label, tf2::getYaw(target_object.kinematics.pose_with_covariance.pose.orientation)), - getReferenceShapeSizeInfo(label, target_object.shape), + getReferenceShapeSizeInfo(label, target_object.shape), ref_pose, highest_iou_object_in_current_iter.object.shape, highest_iou_object_in_current_iter.object.kinematics.pose_with_covariance.pose); if (!is_shape_estimated) { @@ -393,7 +394,8 @@ void DetectionByTracker::mergeOverSegmentedObjects( label, pcl_merged_cluster, getReferenceYawInfo( label, tf2::getYaw(tracked_object.kinematics.pose_with_covariance.pose.orientation)), - getReferenceShapeSizeInfo(label, tracked_object.shape), feature_object.object.shape, + getReferenceShapeSizeInfo(label, tracked_object.shape), + tracked_object.kinematics.pose_with_covariance.pose, feature_object.object.shape, feature_object.object.kinematics.pose_with_covariance.pose); if (!is_shape_estimated) { out_no_found_tracked_objects.objects.push_back(tracked_object); diff --git a/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp b/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp index 8eed81155cf96..969c287622757 100644 --- a/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp +++ b/perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp @@ -16,7 +16,7 @@ #include "elevation_map_loader_node.hpp" -#include "autoware_grid_map_utils/polygon_iterator.hpp" +#include "autoware/grid_map_utils/polygon_iterator.hpp" #include #include diff --git a/perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml b/perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml index 26b027f0077aa..15f03fb95911e 100644 --- a/perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml +++ b/perception/autoware_euclidean_cluster/config/voxel_grid_based_euclidean_cluster.param.yaml @@ -15,3 +15,4 @@ min_y: -200.0 max_z: 2.0 min_z: -10.0 + negative: false diff --git a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp index 7d2edbe0de0d7..759e2b3653868 100644 --- a/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp +++ b/perception/autoware_euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp @@ -14,7 +14,7 @@ #include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp" -#include +#include #include #include @@ -23,7 +23,7 @@ #include -using autoware_point_types::PointXYZI; +using autoware::point_types::PointXYZI; void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) { pointcloud.fields.resize(4); diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp index c0419c7121c64..0d7c41802cca9 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp @@ -42,15 +42,19 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & elevation_grid_mode_ = declare_parameter("elevation_grid_mode"); // common parameters - radial_divider_angle_rad_ = deg2rad(declare_parameter("radial_divider_angle_deg")); + radial_divider_angle_rad_ = + static_cast(deg2rad(declare_parameter("radial_divider_angle_deg"))); radial_dividers_num_ = std::ceil(2.0 * M_PI / radial_divider_angle_rad_); // common thresholds - global_slope_max_angle_rad_ = deg2rad(declare_parameter("global_slope_max_angle_deg")); - local_slope_max_angle_rad_ = deg2rad(declare_parameter("local_slope_max_angle_deg")); + global_slope_max_angle_rad_ = + static_cast(deg2rad(declare_parameter("global_slope_max_angle_deg"))); + local_slope_max_angle_rad_ = + static_cast(deg2rad(declare_parameter("local_slope_max_angle_deg"))); global_slope_max_ratio_ = std::tan(global_slope_max_angle_rad_); local_slope_max_ratio_ = std::tan(local_slope_max_angle_rad_); - split_points_distance_tolerance_ = declare_parameter("split_points_distance_tolerance"); + split_points_distance_tolerance_ = + static_cast(declare_parameter("split_points_distance_tolerance")); split_points_distance_tolerance_square_ = split_points_distance_tolerance_ * split_points_distance_tolerance_; @@ -59,19 +63,21 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & // non-grid parameters use_virtual_ground_point_ = declare_parameter("use_virtual_ground_point"); - split_height_distance_ = declare_parameter("split_height_distance"); + split_height_distance_ = static_cast(declare_parameter("split_height_distance")); // grid mode parameters use_recheck_ground_cluster_ = declare_parameter("use_recheck_ground_cluster"); use_lowest_point_ = declare_parameter("use_lowest_point"); - detection_range_z_max_ = declare_parameter("detection_range_z_max"); - low_priority_region_x_ = declare_parameter("low_priority_region_x"); - center_pcl_shift_ = declare_parameter("center_pcl_shift"); - non_ground_height_threshold_ = declare_parameter("non_ground_height_threshold"); + detection_range_z_max_ = static_cast(declare_parameter("detection_range_z_max")); + low_priority_region_x_ = static_cast(declare_parameter("low_priority_region_x")); + center_pcl_shift_ = static_cast(declare_parameter("center_pcl_shift")); + non_ground_height_threshold_ = + static_cast(declare_parameter("non_ground_height_threshold")); // grid parameters - grid_size_m_ = declare_parameter("grid_size_m"); - grid_mode_switch_radius_ = declare_parameter("grid_mode_switch_radius"); + grid_size_m_ = static_cast(declare_parameter("grid_size_m")); + grid_mode_switch_radius_ = + static_cast(declare_parameter("grid_mode_switch_radius")); gnd_grid_buffer_size_ = declare_parameter("gnd_grid_buffer_size"); virtual_lidar_z_ = vehicle_info_.vehicle_height_m; @@ -250,62 +256,95 @@ void ScanGroundFilterComponent::calcVirtualGroundOrigin(pcl::PointXYZ & point) c void ScanGroundFilterComponent::initializeFirstGndGrids( const float h, const float r, const uint16_t id, std::vector & gnd_grids) const { - 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_); + // initialize gnd_grids + gnd_grids.clear(); + gnd_grids.reserve(gnd_grid_buffer_size_); + + // Index of grids + // id is the first grid, will be filled by initial centroid_bin + // id - gnd_grid_buffer_size_ is the first grid of zero-zero position + // the intermediate grids are generated by linear interpolation + const uint16_t estimating_grid_num = gnd_grid_buffer_size_ + 1; + const uint16_t idx_estimate_from = id - estimating_grid_num; + const float gradient = h / r; - curr_gnd_grid.radius = ind_gnd_radius; - curr_gnd_grid.avg_height = ind_gnd_z; - curr_gnd_grid.max_height = ind_gnd_z; + GridCenter curr_gnd_grid; + for (uint16_t idx = 1; idx < estimating_grid_num; ++idx) { + float interpolation_ratio = static_cast(idx) / static_cast(estimating_grid_num); + const uint16_t ind_grid = idx_estimate_from + idx; + + const float interpolated_r = r * interpolation_ratio; + const float interpolated_z = gradient * interpolated_r; + + curr_gnd_grid.radius = interpolated_r; + curr_gnd_grid.avg_height = interpolated_z; + curr_gnd_grid.max_height = interpolated_z; + curr_gnd_grid.gradient = gradient; + curr_gnd_grid.intercept = 0.0f; curr_gnd_grid.grid_id = ind_grid; gnd_grids.push_back(curr_gnd_grid); } } +void ScanGroundFilterComponent::fitLineFromGndGrid( + const std::vector & gnd_grids_list, const size_t start_idx, const size_t end_idx, + float & a, float & b) const +{ + // calculate local gradient by least square method + float sum_x = 0.0f; + float sum_y = 0.0f; + float sum_xy = 0.0f; + float sum_x2 = 0.0f; + for (auto it = gnd_grids_list.begin() + start_idx; it < gnd_grids_list.begin() + end_idx; ++it) { + sum_x += it->radius; + sum_y += it->avg_height; + sum_xy += it->radius * it->avg_height; + sum_x2 += it->radius * it->radius; + } + const float n = static_cast(end_idx - start_idx); + + // y = a * x + b + a = (n * sum_xy - sum_x * sum_y) / (n * sum_x2 - sum_x * sum_x); + b = (sum_y - a * sum_x) / n; +} + void ScanGroundFilterComponent::checkContinuousGndGrid( PointData & pd, const pcl::PointXYZ & point_curr, const std::vector & gnd_grids_list) const { - float next_gnd_z = 0.0f; - float curr_gnd_slope_ratio = 0.0f; - float gnd_buff_z_mean = 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; + // 1. check local slope + { + // reference gird is the last-1 + const auto reference_grid_it = gnd_grids_list.end() - 2; + const float delta_z = point_curr.z - reference_grid_it->avg_height; + const float delta_radius = pd.radius - reference_grid_it->radius; + const float local_slope_ratio = delta_z / delta_radius; + + if (abs(local_slope_ratio) < local_slope_max_ratio_) { + pd.point_state = PointLabel::GROUND; + return; + } } - gnd_buff_radius /= 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; + // 2. mean of grid buffer(filtering) + const float gradient = + std::clamp(gnd_grids_list.back().gradient, -global_slope_max_ratio_, global_slope_max_ratio_); + const float & intercept = gnd_grids_list.back().intercept; - curr_gnd_slope_ratio = tmp_delta_mean_z / tmp_delta_radius; - curr_gnd_slope_ratio = curr_gnd_slope_ratio < -global_slope_max_ratio_ ? -global_slope_max_ratio_ - : curr_gnd_slope_ratio; - curr_gnd_slope_ratio = - curr_gnd_slope_ratio > global_slope_max_ratio_ ? global_slope_max_ratio_ : curr_gnd_slope_ratio; + // extrapolate next ground height + const float next_gnd_z = gradient * pd.radius + intercept; - next_gnd_z = curr_gnd_slope_ratio * (pd.radius - gnd_buff_radius) + gnd_buff_z_mean; + // calculate fixed angular threshold from the reference position + const float gnd_z_local_thresh = + std::tan(DEG2RAD(5.0)) * (pd.radius - gnd_grids_list.back().radius); - float gnd_z_local_thresh = std::tan(DEG2RAD(5.0)) * (pd.radius - gnd_grids_list.back().radius); - - tmp_delta_mean_z = point_curr.z - (gnd_grids_list.end() - 2)->avg_height; - tmp_delta_radius = pd.radius - (gnd_grids_list.end() - 2)->radius; - float local_slope_ratio = tmp_delta_mean_z / tmp_delta_radius; - if ( - abs(point_curr.z - next_gnd_z) <= non_ground_height_threshold_ + gnd_z_local_thresh || - abs(local_slope_ratio) <= local_slope_max_ratio_) { + if (abs(point_curr.z - next_gnd_z) <= non_ground_height_threshold_ + gnd_z_local_thresh) { pd.point_state = PointLabel::GROUND; - } else if (point_curr.z - next_gnd_z > non_ground_height_threshold_ + gnd_z_local_thresh) { + return; + } + if (point_curr.z - next_gnd_z >= non_ground_height_threshold_ + gnd_z_local_thresh) { pd.point_state = PointLabel::NON_GROUND; + return; } } @@ -313,18 +352,26 @@ void ScanGroundFilterComponent::checkDiscontinuousGndGrid( PointData & pd, const pcl::PointXYZ & point_curr, const std::vector & gnd_grids_list) const { - float tmp_delta_max_z = point_curr.z - gnd_grids_list.back().max_height; - float tmp_delta_avg_z = point_curr.z - gnd_grids_list.back().avg_height; - float tmp_delta_radius = pd.radius - gnd_grids_list.back().radius; - float local_slope_ratio = tmp_delta_avg_z / tmp_delta_radius; - - if ( - abs(local_slope_ratio) < local_slope_max_ratio_ || - abs(tmp_delta_avg_z) < non_ground_height_threshold_ || - abs(tmp_delta_max_z) < non_ground_height_threshold_) { + const auto & grid_ref = gnd_grids_list.back(); + const float delta_avg_z = point_curr.z - grid_ref.avg_height; + if (abs(delta_avg_z) < non_ground_height_threshold_) { + pd.point_state = PointLabel::GROUND; + return; + } + const float delta_max_z = point_curr.z - grid_ref.max_height; + if (abs(delta_max_z) < non_ground_height_threshold_) { + pd.point_state = PointLabel::GROUND; + return; + } + const float delta_radius = pd.radius - grid_ref.radius; + const float local_slope_ratio = delta_avg_z / delta_radius; + if (abs(local_slope_ratio) < local_slope_max_ratio_) { pd.point_state = PointLabel::GROUND; - } else if (local_slope_ratio > global_slope_max_ratio_) { + return; + } + if (local_slope_ratio >= local_slope_max_ratio_) { pd.point_state = PointLabel::NON_GROUND; + return; } } @@ -332,13 +379,17 @@ void ScanGroundFilterComponent::checkBreakGndGrid( PointData & pd, const pcl::PointXYZ & point_curr, const std::vector & gnd_grids_list) const { - float tmp_delta_avg_z = point_curr.z - gnd_grids_list.back().avg_height; - float tmp_delta_radius = pd.radius - gnd_grids_list.back().radius; - float local_slope_ratio = tmp_delta_avg_z / tmp_delta_radius; + const auto & grid_ref = gnd_grids_list.back(); + const float delta_avg_z = point_curr.z - grid_ref.avg_height; + const float delta_radius = pd.radius - grid_ref.radius; + const float local_slope_ratio = delta_avg_z / delta_radius; if (abs(local_slope_ratio) < global_slope_max_ratio_) { pd.point_state = PointLabel::GROUND; - } else if (local_slope_ratio > global_slope_max_ratio_) { + return; + } + if (local_slope_ratio >= global_slope_max_ratio_) { pd.point_state = PointLabel::NON_GROUND; + return; } } @@ -346,7 +397,7 @@ void ScanGroundFilterComponent::recheckGroundCluster( const PointsCentroid & gnd_cluster, const float non_ground_threshold, const bool use_lowest_point, pcl::PointIndices & non_ground_indices) const { - float reference_height = + const float reference_height = use_lowest_point ? gnd_cluster.getMinHeight() : gnd_cluster.getAverageHeight(); const pcl::PointIndices & gnd_indices = gnd_cluster.getIndicesRef(); const std::vector & height_list = gnd_cluster.getHeightListRef(); @@ -379,62 +430,70 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( } bool initialized_first_gnd_grid = false; - bool prev_list_init = false; PointData pd_curr, pd_prev; pcl::PointXYZ point_curr, point_prev; // initialize the previous point - pd_curr = in_radial_ordered_clouds[i][0]; + { + pd_curr = in_radial_ordered_clouds[i][0]; + const size_t data_index = in_cloud->point_step * pd_curr.orig_index; + get_point_from_data_index(in_cloud, data_index, point_curr); + } // iterate over the points in the ray for (const auto & point : in_radial_ordered_clouds[i]) { // set the previous point - point_prev = point_curr; pd_prev = pd_curr; + point_prev = point_curr; // set the current point pd_curr = point; const size_t data_index = in_cloud->point_step * pd_curr.orig_index; get_point_from_data_index(in_cloud, data_index, point_curr); - // set the thresholds - const float global_slope_ratio_p = point_curr.z / pd_curr.radius; - float non_ground_height_threshold_local = non_ground_height_threshold_; - if (point_curr.x < low_priority_region_x_) { - non_ground_height_threshold_local = - non_ground_height_threshold_ * abs(point_curr.x / low_priority_region_x_); - } + // determine if the current point is in new grid + const bool is_curr_in_next_grid = pd_curr.grid_id > pd_prev.grid_id; + // initialization process for the first grid and interpolate the previous grids if (!initialized_first_gnd_grid) { - // classify first grid's point cloud + // set the thresholds + const float global_slope_ratio_p = point_prev.z / pd_prev.radius; + float non_ground_height_threshold_local = non_ground_height_threshold_; + if (point_prev.x < low_priority_region_x_) { + non_ground_height_threshold_local = + non_ground_height_threshold_ * abs(point_prev.x / low_priority_region_x_); + } + // non_ground_height_threshold_local is only for initialization + + // prepare centroid_bin for the first grid if ( + // classify previous point global_slope_ratio_p >= global_slope_max_ratio_ && - point_curr.z > non_ground_height_threshold_local) { - out_no_ground_indices.indices.push_back(pd_curr.orig_index); - pd_curr.point_state = PointLabel::NON_GROUND; + point_prev.z > non_ground_height_threshold_local) { + out_no_ground_indices.indices.push_back(pd_prev.orig_index); + pd_prev.point_state = PointLabel::NON_GROUND; } else if ( abs(global_slope_ratio_p) < global_slope_max_ratio_ && - abs(point_curr.z) < non_ground_height_threshold_local) { - centroid_bin.addPoint(pd_curr.radius, point_curr.z, pd_curr.orig_index); - pd_curr.point_state = PointLabel::GROUND; - // if the gird id is not the initial grid_id, then the first gnd grid is initialized - initialized_first_gnd_grid = static_cast(pd_curr.grid_id - pd_prev.grid_id); + abs(point_prev.z) < non_ground_height_threshold_local) { + centroid_bin.addPoint(pd_prev.radius, point_prev.z, pd_prev.orig_index); + pd_prev.point_state = PointLabel::GROUND; + // centroid_bin is filled at least once + // if the current point is in the next gird, it is ready to be initialized + initialized_first_gnd_grid = is_curr_in_next_grid; } - // else, the point is not classified - continue; - } - - // initialize gnd_grids based on the initial centroid_bin - if (!prev_list_init) { + // keep filling the centroid_bin until it is ready to be initialized + if (!initialized_first_gnd_grid) { + continue; + } + // estimate previous grids by linear interpolation float h = centroid_bin.getAverageHeight(); float r = centroid_bin.getAverageRadius(); - initializeFirstGndGrids(h, r, pd_curr.grid_id, gnd_grids); - prev_list_init = true; + initializeFirstGndGrids(h, r, pd_prev.grid_id, gnd_grids); } // finalize the current centroid_bin and update the gnd_grids - if (pd_curr.grid_id > pd_prev.grid_id && centroid_bin.getAverageRadius() > 0.0) { + if (is_curr_in_next_grid && centroid_bin.getIndicesRef().indices.size() > 0) { // check if the prev grid have ground point cloud if (use_recheck_ground_cluster_) { recheckGroundCluster( @@ -447,13 +506,28 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( curr_gnd_grid.avg_height = centroid_bin.getAverageHeight(); curr_gnd_grid.max_height = centroid_bin.getMaxHeight(); curr_gnd_grid.grid_id = pd_prev.grid_id; + curr_gnd_grid.gradient = 0.0f; // not calculated yet + curr_gnd_grid.intercept = 0.0f; // not calculated yet gnd_grids.push_back(curr_gnd_grid); // clear the centroid_bin centroid_bin.initialize(); + + // calculate local ground gradient + float gradient, intercept; + fitLineFromGndGrid( + gnd_grids, gnd_grids.size() - gnd_grid_buffer_size_, gnd_grids.size(), gradient, + intercept); + // update the current grid + gnd_grids.back().gradient = gradient; // update the gradient + gnd_grids.back().intercept = intercept; // update the intercept } + // 0: set the thresholds + const float global_slope_ratio_p = point_curr.z / pd_curr.radius; + const auto & grid_ref = gnd_grids.back(); + // 1: height is out-of-range - if (point_curr.z - gnd_grids.back().avg_height > detection_range_z_max_) { + if (point_curr.z - grid_ref.avg_height > detection_range_z_max_) { pd_curr.point_state = PointLabel::OUT_OF_RANGE; continue; } @@ -477,17 +551,17 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( continue; } - uint16_t next_gnd_grid_id_thresh = (gnd_grids.end() - gnd_grid_buffer_size_)->grid_id + - gnd_grid_buffer_size_ + gnd_grid_continual_thresh_; - float curr_grid_size = grid_.getGridSize(pd_curr.radius, pd_curr.grid_id); + const uint16_t next_gnd_grid_id_thresh = (gnd_grids.end() - gnd_grid_buffer_size_)->grid_id + + gnd_grid_buffer_size_ + gnd_grid_continual_thresh_; + const float curr_grid_width = grid_.getGridSize(pd_curr.radius, pd_curr.grid_id); if ( // 4: the point is continuous with the previous grid pd_curr.grid_id < next_gnd_grid_id_thresh && - pd_curr.radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * curr_grid_size) { + pd_curr.radius - grid_ref.radius < gnd_grid_continual_thresh_ * curr_grid_width) { checkContinuousGndGrid(pd_curr, point_curr, gnd_grids); } else if ( // 5: the point is discontinuous with the previous grid - pd_curr.radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * curr_grid_size) { + pd_curr.radius - grid_ref.radius < gnd_grid_continual_thresh_ * curr_grid_width) { checkDiscontinuousGndGrid(pd_curr, point_curr, gnd_grids); } else { // 6: the point is break the previous grid diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp index bccef138e754e..acc6114ed0acc 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp @@ -76,6 +76,8 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt float radius; float avg_height; float max_height; + float gradient; + float intercept; uint16_t grid_id; }; @@ -97,7 +99,7 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt height_sum(0.0f), radius_avg(0.0f), height_avg(0.0f), - height_max(0.0f), + height_max(-10.0f), height_min(10.0f), point_num(0), grid_id(0) @@ -110,7 +112,7 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt height_sum = 0.0f; radius_avg = 0.0f; height_avg = 0.0f; - height_max = 0.0f; + height_max = -10.0f; height_min = 10.0f; point_num = 0; grid_id = 0; @@ -175,21 +177,21 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt float center_pcl_shift_; // virtual center of pcl to center mass // common parameters - double radial_divider_angle_rad_; // distance in rads between dividers + float radial_divider_angle_rad_; // distance in rads between dividers size_t radial_dividers_num_; VehicleInfo vehicle_info_; // common thresholds - double global_slope_max_angle_rad_; // radians - double local_slope_max_angle_rad_; // radians - double global_slope_max_ratio_; - double local_slope_max_ratio_; - double split_points_distance_tolerance_; // distance in meters between concentric divisions - double split_points_distance_tolerance_square_; + float global_slope_max_angle_rad_; // radians + float local_slope_max_angle_rad_; // radians + float global_slope_max_ratio_; + float local_slope_max_ratio_; + float split_points_distance_tolerance_; // distance in meters between concentric divisions + float split_points_distance_tolerance_square_; // non-grid mode parameters bool use_virtual_ground_point_; - double // minimum height threshold regardless the slope, + float // minimum height threshold regardless the slope, split_height_distance_; // useful for close points // grid mode parameters @@ -255,6 +257,9 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt void initializeFirstGndGrids( const float h, const float r, const uint16_t id, std::vector & gnd_grids) const; + void fitLineFromGndGrid( + const std::vector & gnd_grids_list, const size_t start_idx, const size_t end_idx, + float & a, float & b) const; void checkContinuousGndGrid( PointData & pd, const pcl::PointXYZ & point_curr, const std::vector & gnd_grids_list) const; diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp index f999dcd8b0f3f..ba3f848a0e9a7 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -14,7 +14,7 @@ #include "autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp" -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include #include @@ -293,15 +293,15 @@ void PointPaintingFusionNode::fuseOnSingleImage( // sensor_msgs::msg::PointCloud2 transformed_pointcloud; // tf2::doTransform(painted_pointcloud_msg, transformed_pointcloud, transform_stamped); - const auto x_offset = - painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointXYZIRCIndex::X)) - .offset; - const auto y_offset = - painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointXYZIRCIndex::Y)) - .offset; - const auto z_offset = - painted_pointcloud_msg.fields.at(static_cast(autoware_point_types::PointXYZIRCIndex::Z)) - .offset; + const auto x_offset = painted_pointcloud_msg.fields + .at(static_cast(autoware::point_types::PointXYZIRCIndex::X)) + .offset; + const auto y_offset = painted_pointcloud_msg.fields + .at(static_cast(autoware::point_types::PointXYZIRCIndex::Y)) + .offset; + const auto z_offset = painted_pointcloud_msg.fields + .at(static_cast(autoware::point_types::PointXYZIRCIndex::Z)) + .offset; const auto class_offset = painted_pointcloud_msg.fields.at(4).offset; const auto p_step = painted_pointcloud_msg.point_step; // projection matrix @@ -350,7 +350,7 @@ dc | dc dc dc dc ||zc| sensor_msgs::msg::RegionOfInterest roi = feature_object.feature.roi; // paint current point if it is inside bbox int label2d = feature_object.object.classification.front().label; - if (!isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, p_z)) { + if (!isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, 1.0)) { // cppcheck-suppress invalidPointerCast auto p_class = reinterpret_cast(&output[stride + class_offset]); for (const auto & cls : isClassTable_) { diff --git a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp index 5fbd313d75dfe..ac179c66dd3d0 100644 --- a/perception/autoware_image_projection_based_fusion/test/test_utils.cpp +++ b/perception/autoware_image_projection_based_fusion/test/test_utils.cpp @@ -13,11 +13,11 @@ // limitations under the License. #include -#include +#include #include -using autoware_point_types::PointXYZI; +using autoware::point_types::PointXYZI; void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) { diff --git a/perception/autoware_lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/autoware_lidar_apollo_instance_segmentation/CMakeLists.txt index b08fd94b192e2..5da8ed745be15 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/CMakeLists.txt +++ b/perception/autoware_lidar_apollo_instance_segmentation/CMakeLists.txt @@ -12,9 +12,9 @@ find_package(autoware_universe_utils REQUIRED) find_package(tier4_debug_msgs REQUIRED) find_package(tier4_perception_msgs REQUIRED) -find_package(tensorrt_common) -if(NOT ${tensorrt_common_FOUND}) - message(WARNING "The tensorrt_common package is not found. Please check its dependencies.") +find_package(autoware_tensorrt_common) +if(NOT ${autoware_tensorrt_common_FOUND}) + message(WARNING "The autoware_tensorrt_common package is not found. Please check its dependencies.") # to avoid launch file missing without a gpu ament_package() install( @@ -48,8 +48,8 @@ target_link_libraries(${PROJECT_NAME} pcl_common rclcpp::rclcpp rclcpp_components::component - tensorrt_common::tensorrt_common tf2_eigen::tf2_eigen + ${autoware_tensorrt_common_TARGETS} ${tier4_debug_msgs_TARGETS} ${tier4_perception_msgs_TARGETS} ) diff --git a/perception/autoware_lidar_apollo_instance_segmentation/include/autoware/lidar_apollo_instance_segmentation/detector.hpp b/perception/autoware_lidar_apollo_instance_segmentation/include/autoware/lidar_apollo_instance_segmentation/detector.hpp index 053cdcfdd8d76..c724a5ed31706 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/include/autoware/lidar_apollo_instance_segmentation/detector.hpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/include/autoware/lidar_apollo_instance_segmentation/detector.hpp @@ -19,10 +19,10 @@ #include "autoware/lidar_apollo_instance_segmentation/feature_generator.hpp" #include "autoware/lidar_apollo_instance_segmentation/node.hpp" +#include #include #include #include -#include #include #include @@ -54,7 +54,7 @@ class LidarApolloInstanceSegmentation : public LidarInstanceSegmentationInterfac const sensor_msgs::msg::PointCloud2 & input, sensor_msgs::msg::PointCloud2 & transformed_cloud, float z_offset); - std::unique_ptr trt_common_; + std::unique_ptr trt_common_; rclcpp::Node * node_; std::shared_ptr cluster2d_; diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index 57bcc9c6881c6..c924701841d7e 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -14,13 +14,13 @@ ament_cmake autoware_perception_msgs + autoware_tensorrt_common autoware_universe_utils cuda_utils libpcl-all-dev pcl_conversions rclcpp rclcpp_components - tensorrt_common tf2_eigen tier4_debug_msgs tier4_perception_msgs diff --git a/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp b/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp index ff96bad131aee..a0f48a39ecc6a 100644 --- a/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp +++ b/perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp @@ -47,8 +47,8 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node * z_offset_ = node_->declare_parameter("z_offset", -2.0); const auto precision = node_->declare_parameter("precision", "fp32"); - trt_common_ = std::make_unique( - onnx_file, precision, nullptr, tensorrt_common::BatchConfig{1, 1, 1}, 1 << 30); + trt_common_ = std::make_unique( + onnx_file, precision, nullptr, autoware::tensorrt_common::BatchConfig{1, 1, 1}, 1 << 30); trt_common_->setup(); if (!trt_common_->isInitialized()) { diff --git a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp index d4c9fc85a085d..d56ccc699add3 100644 --- a/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp +++ b/perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/network/tensorrt_wrapper.hpp @@ -17,7 +17,7 @@ #include "NvInfer.h" #include "autoware/lidar_centerpoint/centerpoint_config.hpp" -#include "tensorrt_common/tensorrt_common.hpp" +#include "autoware/tensorrt_common/tensorrt_common.hpp" #include #include @@ -36,7 +36,7 @@ class TensorRTWrapper bool init( const std::string & onnx_path, const std::string & engine_path, const std::string & precision); - tensorrt_common::TrtUniquePtr context_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr context_{nullptr}; protected: virtual bool setProfile( @@ -44,7 +44,7 @@ class TensorRTWrapper nvinfer1::IBuilderConfig & config) = 0; CenterPointConfig config_; - tensorrt_common::Logger logger_; + autoware::tensorrt_common::Logger logger_; private: bool parseONNX( @@ -57,9 +57,9 @@ class TensorRTWrapper bool createContext(); - tensorrt_common::TrtUniquePtr runtime_{nullptr}; - tensorrt_common::TrtUniquePtr plan_{nullptr}; - tensorrt_common::TrtUniquePtr engine_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr runtime_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr plan_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr engine_{nullptr}; }; } // namespace autoware::lidar_centerpoint diff --git a/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp index e7484b21d2fd2..d0c0bb156f4a2 100644 --- a/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_centerpoint/lib/network/network_trt.cpp @@ -63,7 +63,7 @@ bool HeadTRT::setProfile( if ( out_name == std::string("heatmap") && network.getOutput(ci)->getDimensions().d[1] != static_cast(out_channel_sizes_[ci])) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Expected and actual number of classes do not match" << std::endl; return false; } diff --git a/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp b/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp index 6fbc09c968594..6d4c2e053b34f 100644 --- a/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp +++ b/perception/autoware_lidar_centerpoint/lib/network/tensorrt_wrapper.cpp @@ -37,10 +37,10 @@ TensorRTWrapper::~TensorRTWrapper() bool TensorRTWrapper::init( const std::string & onnx_path, const std::string & engine_path, const std::string & precision) { - runtime_ = - tensorrt_common::TrtUniquePtr(nvinfer1::createInferRuntime(logger_)); + runtime_ = autoware::tensorrt_common::TrtUniquePtr( + nvinfer1::createInferRuntime(logger_)); if (!runtime_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create runtime" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create runtime" << std::endl; return false; } @@ -63,15 +63,15 @@ bool TensorRTWrapper::init( bool TensorRTWrapper::createContext() { if (!engine_) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create context: Engine was not created" << std::endl; return false; } - context_ = - tensorrt_common::TrtUniquePtr(engine_->createExecutionContext()); + context_ = autoware::tensorrt_common::TrtUniquePtr( + engine_->createExecutionContext()); if (!context_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create context" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create context" << std::endl; return false; } @@ -82,17 +82,17 @@ bool TensorRTWrapper::parseONNX( const std::string & onnx_path, const std::string & engine_path, const std::string & precision, const std::size_t workspace_size) { - auto builder = - tensorrt_common::TrtUniquePtr(nvinfer1::createInferBuilder(logger_)); + auto builder = autoware::tensorrt_common::TrtUniquePtr( + nvinfer1::createInferBuilder(logger_)); if (!builder) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create builder" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create builder" << std::endl; return false; } - auto config = - tensorrt_common::TrtUniquePtr(builder->createBuilderConfig()); + auto config = autoware::tensorrt_common::TrtUniquePtr( + builder->createBuilderConfig()); if (!config) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create config" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create config" << std::endl; return false; } #if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400 @@ -102,42 +102,43 @@ bool TensorRTWrapper::parseONNX( #endif if (precision == "fp16") { if (builder->platformHasFastFp16()) { - tensorrt_common::LOG_INFO(logger_) << "Using TensorRT FP16 Inference" << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Using TensorRT FP16 Inference" << std::endl; config->setFlag(nvinfer1::BuilderFlag::kFP16); } else { - tensorrt_common::LOG_INFO(logger_) + autoware::tensorrt_common::LOG_INFO(logger_) << "TensorRT FP16 Inference isn't supported in this environment" << std::endl; } } const auto flag = 1U << static_cast(nvinfer1::NetworkDefinitionCreationFlag::kEXPLICIT_BATCH); - auto network = - tensorrt_common::TrtUniquePtr(builder->createNetworkV2(flag)); + auto network = autoware::tensorrt_common::TrtUniquePtr( + builder->createNetworkV2(flag)); if (!network) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create network" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create network" << std::endl; return false; } - auto parser = tensorrt_common::TrtUniquePtr( + auto parser = autoware::tensorrt_common::TrtUniquePtr( nvonnxparser::createParser(*network, logger_)); parser->parseFromFile(onnx_path.c_str(), static_cast(nvinfer1::ILogger::Severity::kERROR)); if (!setProfile(*builder, *network, *config)) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to set profile" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to set profile" << std::endl; return false; } - plan_ = tensorrt_common::TrtUniquePtr( + plan_ = autoware::tensorrt_common::TrtUniquePtr( builder->buildSerializedNetwork(*network, *config)); if (!plan_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create serialized network" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) + << "Failed to create serialized network" << std::endl; return false; } - engine_ = tensorrt_common::TrtUniquePtr( + engine_ = autoware::tensorrt_common::TrtUniquePtr( runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create engine" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create engine" << std::endl; return false; } @@ -146,7 +147,7 @@ bool TensorRTWrapper::parseONNX( bool TensorRTWrapper::saveEngine(const std::string & engine_path) { - tensorrt_common::LOG_INFO(logger_) << "Writing to " << engine_path << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Writing to " << engine_path << std::endl; std::ofstream file(engine_path, std::ios::out | std::ios::binary); file.write(reinterpret_cast(plan_->data()), plan_->size()); return true; @@ -158,9 +159,10 @@ bool TensorRTWrapper::loadEngine(const std::string & engine_path) std::stringstream engine_buffer; engine_buffer << engine_file.rdbuf(); std::string engine_str = engine_buffer.str(); - engine_ = tensorrt_common::TrtUniquePtr(runtime_->deserializeCudaEngine( - reinterpret_cast(engine_str.data()), engine_str.size())); - tensorrt_common::LOG_INFO(logger_) << "Loaded engine from " << engine_path << std::endl; + engine_ = + autoware::tensorrt_common::TrtUniquePtr(runtime_->deserializeCudaEngine( + reinterpret_cast(engine_str.data()), engine_str.size())); + autoware::tensorrt_common::LOG_INFO(logger_) << "Loaded engine from " << engine_path << std::endl; return true; } diff --git a/perception/autoware_lidar_centerpoint/package.xml b/perception/autoware_lidar_centerpoint/package.xml index 29a7bc122707e..b16133f3c6079 100644 --- a/perception/autoware_lidar_centerpoint/package.xml +++ b/perception/autoware_lidar_centerpoint/package.xml @@ -14,11 +14,11 @@ autoware_object_recognition_utils autoware_perception_msgs + autoware_tensorrt_common autoware_universe_utils pcl_ros rclcpp rclcpp_components - tensorrt_common tf2_eigen tf2_geometry_msgs tf2_sensor_msgs diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp index 1057703643ec1..71cd08acdb8c8 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/network/network_trt.hpp @@ -18,7 +18,7 @@ #include "autoware/lidar_transfusion/transfusion_config.hpp" #include "autoware/lidar_transfusion/utils.hpp" -#include +#include #include @@ -57,8 +57,8 @@ class NetworkTRT const std::string & onnx_path, const std::string & engine_path, const std::string & precision); const char * getTensorName(NetworkIO name); - tensorrt_common::TrtUniquePtr engine{nullptr}; - tensorrt_common::TrtUniquePtr context{nullptr}; + autoware::tensorrt_common::TrtUniquePtr engine{nullptr}; + autoware::tensorrt_common::TrtUniquePtr context{nullptr}; private: bool parseONNX( @@ -73,9 +73,9 @@ class NetworkTRT bool validateNetworkIO(); nvinfer1::Dims validateTensorShape(NetworkIO name, const std::vector shape); - tensorrt_common::TrtUniquePtr runtime_{nullptr}; - tensorrt_common::TrtUniquePtr plan_{nullptr}; - tensorrt_common::Logger logger_; + autoware::tensorrt_common::TrtUniquePtr runtime_{nullptr}; + autoware::tensorrt_common::TrtUniquePtr plan_{nullptr}; + autoware::tensorrt_common::Logger logger_; TransfusionConfig config_; std::vector tensors_names_; diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp index 9f32c27a8841b..d420da6716cb1 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/preprocess/voxel_generator.hpp @@ -27,7 +27,7 @@ #include #endif -#include +#include #include @@ -39,7 +39,7 @@ namespace autoware::lidar_transfusion { constexpr std::size_t AFF_MAT_SIZE = 16; // 4x4 matrix -constexpr std::size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware_point_types::PointXYZIRCAEDT); +constexpr std::size_t MAX_CLOUD_STEP_SIZE = sizeof(autoware::point_types::PointXYZIRCAEDT); class VoxelGenerator { diff --git a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp index 37b364ecf8a9d..c203693426ab3 100644 --- a/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp +++ b/perception/autoware_lidar_transfusion/include/autoware/lidar_transfusion/ros_utils.hpp @@ -17,7 +17,7 @@ #include "autoware/lidar_transfusion/utils.hpp" -#include +#include #include #include @@ -45,10 +45,10 @@ namespace autoware::lidar_transfusion { using sensor_msgs::msg::PointField; -CHECK_FIELD(0, float, autoware_point_types::PointXYZIRCAEDT, x); -CHECK_FIELD(4, float, autoware_point_types::PointXYZIRCAEDT, y); -CHECK_FIELD(8, float, autoware_point_types::PointXYZIRCAEDT, z); -CHECK_FIELD(12, uint8_t, autoware_point_types::PointXYZIRCAEDT, intensity); +CHECK_FIELD(0, float, autoware::point_types::PointXYZIRCAEDT, x); +CHECK_FIELD(4, float, autoware::point_types::PointXYZIRCAEDT, y); +CHECK_FIELD(8, float, autoware::point_types::PointXYZIRCAEDT, z); +CHECK_FIELD(12, uint8_t, autoware::point_types::PointXYZIRCAEDT, intensity); struct CloudInfo { @@ -64,7 +64,7 @@ struct CloudInfo uint8_t y_count{1}; uint8_t z_count{1}; uint8_t intensity_count{1}; - uint32_t point_step{sizeof(autoware_point_types::PointXYZIRCAEDT)}; + uint32_t point_step{sizeof(autoware::point_types::PointXYZIRCAEDT)}; bool is_bigendian{false}; bool operator!=(const CloudInfo & rhs) const diff --git a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp index 48e8c1014199c..052b7627166f9 100644 --- a/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp +++ b/perception/autoware_lidar_transfusion/lib/network/network_trt.cpp @@ -93,10 +93,10 @@ NetworkTRT::~NetworkTRT() bool NetworkTRT::init( const std::string & onnx_path, const std::string & engine_path, const std::string & precision) { - runtime_ = - tensorrt_common::TrtUniquePtr(nvinfer1::createInferRuntime(logger_)); + runtime_ = autoware::tensorrt_common::TrtUniquePtr( + nvinfer1::createInferRuntime(logger_)); if (!runtime_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create runtime" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create runtime" << std::endl; return false; } @@ -157,15 +157,15 @@ bool NetworkTRT::setProfile( bool NetworkTRT::createContext() { if (!engine) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create context: Engine was not created" << std::endl; return false; } - context = - tensorrt_common::TrtUniquePtr(engine->createExecutionContext()); + context = autoware::tensorrt_common::TrtUniquePtr( + engine->createExecutionContext()); if (!context) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create context" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create context" << std::endl; return false; } @@ -176,17 +176,17 @@ bool NetworkTRT::parseONNX( const std::string & onnx_path, const std::string & engine_path, const std::string & precision, const size_t workspace_size) { - auto builder = - tensorrt_common::TrtUniquePtr(nvinfer1::createInferBuilder(logger_)); + auto builder = autoware::tensorrt_common::TrtUniquePtr( + nvinfer1::createInferBuilder(logger_)); if (!builder) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create builder" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create builder" << std::endl; return false; } - auto config = - tensorrt_common::TrtUniquePtr(builder->createBuilderConfig()); + auto config = autoware::tensorrt_common::TrtUniquePtr( + builder->createBuilderConfig()); if (!config) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create config" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create config" << std::endl; return false; } #if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8400 @@ -196,42 +196,43 @@ bool NetworkTRT::parseONNX( #endif if (precision == "fp16") { if (builder->platformHasFastFp16()) { - tensorrt_common::LOG_INFO(logger_) << "Using TensorRT FP16 Inference" << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Using TensorRT FP16 Inference" << std::endl; config->setFlag(nvinfer1::BuilderFlag::kFP16); } else { - tensorrt_common::LOG_INFO(logger_) + autoware::tensorrt_common::LOG_INFO(logger_) << "TensorRT FP16 Inference isn't supported in this environment" << std::endl; } } const auto flag = 1U << static_cast(nvinfer1::NetworkDefinitionCreationFlag::kEXPLICIT_BATCH); - auto network = - tensorrt_common::TrtUniquePtr(builder->createNetworkV2(flag)); + auto network = autoware::tensorrt_common::TrtUniquePtr( + builder->createNetworkV2(flag)); if (!network) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create network" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create network" << std::endl; return false; } - auto parser = tensorrt_common::TrtUniquePtr( + auto parser = autoware::tensorrt_common::TrtUniquePtr( nvonnxparser::createParser(*network, logger_)); parser->parseFromFile(onnx_path.c_str(), static_cast(nvinfer1::ILogger::Severity::kERROR)); if (!setProfile(*builder, *network, *config)) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to set profile" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to set profile" << std::endl; return false; } - plan_ = tensorrt_common::TrtUniquePtr( + plan_ = autoware::tensorrt_common::TrtUniquePtr( builder->buildSerializedNetwork(*network, *config)); if (!plan_) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create serialized network" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) + << "Failed to create serialized network" << std::endl; return false; } - engine = tensorrt_common::TrtUniquePtr( + engine = autoware::tensorrt_common::TrtUniquePtr( runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine) { - tensorrt_common::LOG_ERROR(logger_) << "Failed to create engine" << std::endl; + autoware::tensorrt_common::LOG_ERROR(logger_) << "Failed to create engine" << std::endl; return false; } @@ -240,7 +241,7 @@ bool NetworkTRT::parseONNX( bool NetworkTRT::saveEngine(const std::string & engine_path) { - tensorrt_common::LOG_INFO(logger_) << "Writing to " << engine_path << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Writing to " << engine_path << std::endl; std::ofstream file(engine_path, std::ios::out | std::ios::binary); file.write(reinterpret_cast(plan_->data()), plan_->size()); return validateNetworkIO(); @@ -252,9 +253,10 @@ bool NetworkTRT::loadEngine(const std::string & engine_path) std::stringstream engine_buffer; engine_buffer << engine_file.rdbuf(); std::string engine_str = engine_buffer.str(); - engine = tensorrt_common::TrtUniquePtr(runtime_->deserializeCudaEngine( - reinterpret_cast(engine_str.data()), engine_str.size())); - tensorrt_common::LOG_INFO(logger_) << "Loaded engine from " << engine_path << std::endl; + engine = + autoware::tensorrt_common::TrtUniquePtr(runtime_->deserializeCudaEngine( + reinterpret_cast(engine_str.data()), engine_str.size())); + autoware::tensorrt_common::LOG_INFO(logger_) << "Loaded engine from " << engine_path << std::endl; return validateNetworkIO(); } @@ -262,7 +264,7 @@ bool NetworkTRT::validateNetworkIO() { // Whether the number of IO match the expected size if (engine->getNbIOTensors() != NetworkIO::ENUM_SIZE) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Invalid network IO. Expected size: " << NetworkIO::ENUM_SIZE << ". Actual size: " << engine->getNbIOTensors() << "." << std::endl; throw std::runtime_error("Failed to initialize TRT network."); @@ -281,7 +283,7 @@ bool NetworkTRT::validateNetworkIO() std::string tensors = std::accumulate( tensors_names_.begin(), tensors_names_.end(), std::string(), [](const std::string & a, const std::string & b) -> std::string { return a + b + " "; }); - tensorrt_common::LOG_INFO(logger_) << "Network IO: " << tensors << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) << "Network IO: " << tensors << std::endl; // Whether the current engine input profile match the config input profile for (int i = 0; i <= NetworkIO::coors; ++i) { @@ -290,11 +292,11 @@ bool NetworkTRT::validateNetworkIO() engine->getProfileShape(tensors_names_[i], 0, nvinfer1::OptProfileSelector::kOPT), engine->getProfileShape(tensors_names_[i], 0, nvinfer1::OptProfileSelector::kMAX)}; - tensorrt_common::LOG_INFO(logger_) + autoware::tensorrt_common::LOG_INFO(logger_) << "Profile for " << tensors_names_[i] << ": " << engine_dims << std::endl; if (engine_dims != in_profile_dims_[i]) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Invalid network input dimension. Config: " << in_profile_dims_[i] << ". Please change the input profile or delete the engine file and build engine again." << std::endl; @@ -312,7 +314,8 @@ bool NetworkTRT::validateNetworkIO() NetworkIO::cls_score, {static_cast(config_.batch_size_), static_cast(config_.num_classes_), static_cast(config_.num_proposals_)}); - tensorrt_common::LOG_INFO(logger_) << "Network num classes: " << cls_score.d[1] << std::endl; + autoware::tensorrt_common::LOG_INFO(logger_) + << "Network num classes: " << cls_score.d[1] << std::endl; validateTensorShape( NetworkIO::dir_pred, {static_cast(config_.batch_size_), 2, static_cast(config_.num_proposals_)}); // x, y @@ -333,14 +336,14 @@ nvinfer1::Dims NetworkTRT::validateTensorShape(NetworkIO name, const std::vector { auto tensor_shape = engine->getTensorShape(tensors_names_[name]); if (tensor_shape.nbDims != static_cast(shape.size())) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Invalid tensor shape for " << tensors_names_[name] << ". Expected size: " << shape.size() << ". Actual size: " << tensor_shape.nbDims << "." << std::endl; throw std::runtime_error("Failed to initialize TRT network."); } for (int i = 0; i < tensor_shape.nbDims; ++i) { if (tensor_shape.d[i] != static_cast(shape[i])) { - tensorrt_common::LOG_ERROR(logger_) + autoware::tensorrt_common::LOG_ERROR(logger_) << "Invalid tensor shape for " << tensors_names_[name] << ". Expected: " << shape[i] << ". Actual: " << tensor_shape.d[i] << "." << std::endl; throw std::runtime_error("Failed to initialize TRT network."); diff --git a/perception/autoware_lidar_transfusion/package.xml b/perception/autoware_lidar_transfusion/package.xml index 791832ef44bda..211011918b04e 100644 --- a/perception/autoware_lidar_transfusion/package.xml +++ b/perception/autoware_lidar_transfusion/package.xml @@ -15,12 +15,12 @@ autoware_object_recognition_utils autoware_perception_msgs autoware_point_types + autoware_tensorrt_common autoware_universe_utils launch_ros pcl_ros rclcpp rclcpp_components - tensorrt_common tf2_eigen tf2_geometry_msgs tf2_sensor_msgs diff --git a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp index 5a60c206314bf..df546dbde6d97 100644 --- a/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp +++ b/perception/autoware_lidar_transfusion/test/test_voxel_generator.cpp @@ -18,7 +18,7 @@ #include "autoware/lidar_transfusion/utils.hpp" #include "gtest/gtest.h" -#include +#include #include "sensor_msgs/point_cloud2_iterator.hpp" @@ -52,7 +52,7 @@ void VoxelGeneratorTest::SetUp() // Set up the fields point_cloud_msg_wrapper::PointCloud2Modifier< - autoware_point_types::PointXYZIRCAEDT, autoware_point_types::PointXYZIRCAEDTGenerator> + autoware::point_types::PointXYZIRCAEDT, autoware::point_types::PointXYZIRCAEDTGenerator> modifier{*cloud1_, lidar_frame_}; // Resize the cloud to hold points_per_pointcloud_ points diff --git a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp index d1d8bb172d247..cf1ed28a037cb 100644 --- a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp +++ b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp @@ -59,19 +59,15 @@ namespace std { template <> -struct hash +struct hash { // 0x9e3779b9 is a magic number. See // https://stackoverflow.com/questions/4948780/magic-number-in-boosthash-combine - size_t operator()(const lanelet::routing::LaneletPaths & paths) const + size_t operator()(const lanelet::routing::LaneletPath & path) const { size_t seed = 0; - for (const auto & path : paths) { - for (const auto & lanelet : path) { - seed ^= hash{}(lanelet.id()) + 0x9e3779b9 + (seed << 6U) + (seed >> 2U); - } - // Add a separator between paths - seed ^= hash{}(0) + 0x9e3779b9 + (seed << 6U) + (seed >> 2U); + for (const auto & lanelet : path) { + seed ^= hash{}(lanelet.id()) + 0x9e3779b9 + (seed << 6U) + (seed >> 2U); } return seed; } @@ -158,6 +154,7 @@ using autoware_perception_msgs::msg::TrafficLightGroupArray; using autoware_planning_msgs::msg::TrajectoryPoint; using tier4_debug_msgs::msg::StringStamped; using TrajectoryPoints = std::vector; +using LaneletPathWithPathInfo = std::pair; class MapBasedPredictionNode : public rclcpp::Node { public: @@ -294,12 +291,15 @@ class MapBasedPredictionNode : public rclcpp::Node const std::string & object_id, std::unordered_map & current_users); std::optional searchProperStartingRefPathIndex( const TrackedObject & object, const PosePath & pose_path) const; - std::vector getPredictedReferencePath( + std::vector getPredictedReferencePath( const TrackedObject & object, const LaneletsData & current_lanelets_data, const double object_detected_time, const double time_horizon); + std::vector convertPredictedReferencePath( + const TrackedObject & object, + const std::vector & lanelet_ref_paths) const; Maneuver predictObjectManeuver( - const TrackedObject & object, const LaneletData & current_lanelet_data, - const double object_detected_time); + const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, + const LaneletData & current_lanelet_data, const double object_detected_time); geometry_msgs::msg::Pose compensateTimeDelay( const geometry_msgs::msg::Pose & delayed_pose, const geometry_msgs::msg::Twist & twist, const double dt) const; @@ -308,24 +308,16 @@ class MapBasedPredictionNode : public rclcpp::Node double calcLeftLateralOffset( const lanelet::ConstLineString2d & boundary_line, const geometry_msgs::msg::Pose & search_pose); ManeuverProbability calculateManeuverProbability( - const Maneuver & predicted_maneuver, const lanelet::routing::LaneletPaths & left_paths, - const lanelet::routing::LaneletPaths & right_paths, - const lanelet::routing::LaneletPaths & center_paths); - - void addReferencePaths( - const TrackedObject & object, const lanelet::routing::LaneletPaths & candidate_paths, - const float path_probability, const ManeuverProbability & maneuver_probability, - const Maneuver & maneuver, std::vector & reference_paths, - const double speed_limit = 0.0); - - mutable universe_utils::LRUCache< - lanelet::routing::LaneletPaths, std::vector>> + const Maneuver & predicted_maneuver, const bool & left_paths_exists, + const bool & right_paths_exists, const bool & center_paths_exists) const; + + mutable universe_utils::LRUCache> lru_cache_of_convert_path_type_{1000}; - std::vector> convertPathType( - const lanelet::routing::LaneletPaths & paths) const; + std::pair convertLaneletPathToPosePath( + const lanelet::routing::LaneletPath & path) const; void updateFuturePossibleLanelets( - const TrackedObject & object, const lanelet::routing::LaneletPaths & paths); + const std::string & object_id, const lanelet::routing::LaneletPaths & paths); bool isDuplicated( const std::pair & target_lanelet, @@ -342,11 +334,11 @@ class MapBasedPredictionNode : public rclcpp::Node const TrackedObject & object, const Maneuver & maneuver, const size_t obj_num); Maneuver predictObjectManeuverByTimeToLaneChange( - const TrackedObject & object, const LaneletData & current_lanelet_data, + const std::string & object_id, const LaneletData & current_lanelet_data, const double object_detected_time); Maneuver predictObjectManeuverByLatDiffDistance( - const TrackedObject & object, const LaneletData & current_lanelet_data, - const double object_detected_time); + const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, + const LaneletData & current_lanelet_data, const double object_detected_time); void publish( const PredictedObjects & output, diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index cd0b42f030eaf..fbb760b45bc63 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -9,6 +9,8 @@ Takayuki Murooka Kyoichi Sugahara Kotaro Uetake + Mamoru Sobue + Taekjin Lee Apache License 2.0 ament_cmake diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index 5a43a8fb25633..d9097f1907f51 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -1109,9 +1109,10 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt // Get Predicted Reference Path for Each Maneuver and current lanelets // return: - const auto ref_paths = getPredictedReferencePath( + const auto lanelet_ref_paths = getPredictedReferencePath( transformed_object, current_lanelets, objects_detected_time, prediction_time_horizon_.vehicle); + const auto ref_paths = convertPredictedReferencePath(transformed_object, lanelet_ref_paths); // If predicted reference path is empty, assume this object is out of the lane if (ref_paths.empty()) { @@ -1845,101 +1846,7 @@ void MapBasedPredictionNode::updateRoadUsersHistory( } } -std::optional MapBasedPredictionNode::searchProperStartingRefPathIndex( - const TrackedObject & object, const PosePath & pose_path) const -{ - std::unique_ptr st1_ptr; - if (time_keeper_) st1_ptr = std::make_unique(__func__, *time_keeper_); - - bool is_position_found = false; - std::optional opt_index{std::nullopt}; - auto & index = opt_index.emplace(); - - // starting segment index is a segment close enough to the object - const auto obj_point = object.kinematics.pose_with_covariance.pose.position; - { - std::unique_ptr st2_ptr; - if (time_keeper_) - st2_ptr = std::make_unique("find_close_segment_index", *time_keeper_); - double min_dist_sq = std::numeric_limits::max(); - constexpr double acceptable_dist_sq = 1.0; // [m2] - for (size_t i = 0; i < pose_path.size(); i++) { - const double dx = pose_path.at(i).position.x - obj_point.x; - const double dy = pose_path.at(i).position.y - obj_point.y; - const double dist_sq = dx * dx + dy * dy; - if (dist_sq < min_dist_sq) { - min_dist_sq = dist_sq; - index = i; - } - if (dist_sq < acceptable_dist_sq) { - break; - } - } - } - - // calculate score that object can reach the target path smoothly, and search the - // starting segment index that have the best score - size_t idx = 0; - { // find target segmentation index - std::unique_ptr st3_ptr; - if (time_keeper_) - st3_ptr = std::make_unique("find_target_seg_index", *time_keeper_); - - constexpr double search_distance = 22.0; // [m] - constexpr double yaw_diff_limit = M_PI / 3.0; // 60 degrees - - const double obj_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - const size_t search_segment_count = - static_cast(std::floor(search_distance / reference_path_resolution_)); - const size_t search_segment_num = - std::min(search_segment_count, static_cast(pose_path.size() - index)); - - // search for the best score, which is the smallest - double best_score = 1e9; // initial value is large enough - for (size_t i = 0; i < search_segment_num; ++i) { - const auto & path_pose = pose_path.at(index + i); - // yaw difference - const double path_yaw = tf2::getYaw(path_pose.orientation); - const double relative_path_yaw = autoware_utils::normalize_radian(path_yaw - obj_yaw); - if (std::abs(relative_path_yaw) > yaw_diff_limit) { - continue; - } - - const double dx = path_pose.position.x - obj_point.x; - const double dy = path_pose.position.y - obj_point.y; - const double dx_cp = std::cos(obj_yaw) * dx + std::sin(obj_yaw) * dy; - const double dy_cp = -std::sin(obj_yaw) * dx + std::cos(obj_yaw) * dy; - const double neutral_yaw = std::atan2(dy_cp, dx_cp) * 2.0; - const double delta_yaw = autoware_utils::normalize_radian(path_yaw - obj_yaw - neutral_yaw); - if (std::abs(delta_yaw) > yaw_diff_limit) { - continue; - } - - // objective function score - constexpr double weight_ratio = 0.01; - double score = delta_yaw * delta_yaw + weight_ratio * neutral_yaw * neutral_yaw; - constexpr double acceptable_score = 1e-3; - - if (score < best_score) { - best_score = score; - idx = i; - is_position_found = true; - if (score < acceptable_score) { - // if the score is small enough, we can break the loop - break; - } - } - } - } - - // update starting segment index - index += idx; - index = std::clamp(index, 0ul, pose_path.size() - 1); - - return is_position_found ? opt_index : std::nullopt; -} - -std::vector MapBasedPredictionNode::getPredictedReferencePath( +std::vector MapBasedPredictionNode::getPredictedReferencePath( const TrackedObject & object, const LaneletsData & current_lanelets_data, const double object_detected_time, const double time_horizon) { @@ -1959,11 +1866,14 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( : 0.0; const double t_h = time_horizon; const double lambda = std::log(2) / acceleration_exponential_half_life_; + const double validate_time_horizon = t_h * prediction_time_horizon_rate_for_validate_lane_length_; + const double final_speed_after_acceleration = + obj_vel + obj_acc * (1.0 / lambda) * (1.0 - std::exp(-lambda * t_h)); auto get_search_distance_with_decaying_acc = [&]() -> double { const double acceleration_distance = obj_acc * (1.0 / lambda) * t_h + - obj_acc * (1.0 / std::pow(lambda, 2)) * std::expm1(-lambda * t_h); + obj_acc * (1.0 / (lambda * lambda)) * std::expm1(-lambda * t_h); double search_dist = acceleration_distance + obj_vel * t_h; return search_dist; }; @@ -1987,29 +1897,31 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( return search_dist; }; + std::string object_id = autoware::universe_utils::toHexString(object.object_id); + geometry_msgs::msg::Pose object_pose = object.kinematics.pose_with_covariance.pose; + // Step 2. Get possible paths for each lanelet - std::vector all_ref_paths; + std::vector lanelet_ref_paths; for (const auto & current_lanelet_data : current_lanelets_data) { - // Set condition on each lanelet - const lanelet::traffic_rules::SpeedLimitInformation limit = - traffic_rules_ptr_->speedLimit(current_lanelet_data.lanelet); - const double legal_speed_limit = static_cast(limit.speedLimit.value()); + std::vector ref_paths_per_lanelet; - double final_speed_after_acceleration = - obj_vel + obj_acc * (1.0 / lambda) * (1.0 - std::exp(-lambda * t_h)); - - const double final_speed_limit = legal_speed_limit * speed_limit_multiplier_; - const bool final_speed_surpasses_limit = final_speed_after_acceleration > final_speed_limit; - const bool object_has_surpassed_limit_already = obj_vel > final_speed_limit; - - double search_dist = (final_speed_surpasses_limit && !object_has_surpassed_limit_already) - ? get_search_distance_with_partial_acc(final_speed_limit) - : get_search_distance_with_decaying_acc(); - search_dist += lanelet::utils::getLaneletLength3d(current_lanelet_data.lanelet); - - lanelet::routing::PossiblePathsParams possible_params{search_dist, {}, 0, false, true}; - const double validate_time_horizon = - t_h * prediction_time_horizon_rate_for_validate_lane_length_; + // Set condition on each lanelet + lanelet::routing::PossiblePathsParams possible_params{0, {}, 0, false, true}; + double target_speed_limit = 0.0; + { + const lanelet::traffic_rules::SpeedLimitInformation limit = + traffic_rules_ptr_->speedLimit(current_lanelet_data.lanelet); + const double legal_speed_limit = static_cast(limit.speedLimit.value()); + target_speed_limit = legal_speed_limit * speed_limit_multiplier_; + const bool final_speed_surpasses_limit = final_speed_after_acceleration > target_speed_limit; + const bool object_has_surpassed_limit_already = obj_vel > target_speed_limit; + + double search_dist = (final_speed_surpasses_limit && !object_has_surpassed_limit_already) + ? get_search_distance_with_partial_acc(target_speed_limit) + : get_search_distance_with_decaying_acc(); + search_dist += lanelet::utils::getLaneletLength3d(current_lanelet_data.lanelet); + possible_params.routingCostLimit = search_dist; + } // lambda function to get possible paths for isolated lanelet // isolated is often caused by lanelet with no connection e.g. shoulder-lane @@ -2056,74 +1968,94 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( return std::nullopt; }; + bool left_paths_exists = false; + bool right_paths_exists = false; + bool center_paths_exists = false; + // a-1. Get the left lanelet - lanelet::routing::LaneletPaths left_paths; - const auto left_lanelet = getLeftOrRightLanelets(current_lanelet_data.lanelet, true); - if (!!left_lanelet) { - left_paths = getPathsForNormalOrIsolatedLanelet(left_lanelet.value()); + { + PredictedRefPath ref_path_info; + lanelet::routing::LaneletPaths left_paths; + const auto left_lanelet = getLeftOrRightLanelets(current_lanelet_data.lanelet, true); + if (!!left_lanelet) { + left_paths = getPathsForNormalOrIsolatedLanelet(left_lanelet.value()); + left_paths_exists = !left_paths.empty(); + } + ref_path_info.speed_limit = target_speed_limit; + ref_path_info.maneuver = Maneuver::LEFT_LANE_CHANGE; + for (auto & path : left_paths) { + ref_paths_per_lanelet.emplace_back(path, ref_path_info); + } } // a-2. Get the right lanelet - lanelet::routing::LaneletPaths right_paths; - const auto right_lanelet = getLeftOrRightLanelets(current_lanelet_data.lanelet, false); - if (!!right_lanelet) { - right_paths = getPathsForNormalOrIsolatedLanelet(right_lanelet.value()); + { + PredictedRefPath ref_path_info; + lanelet::routing::LaneletPaths right_paths; + const auto right_lanelet = getLeftOrRightLanelets(current_lanelet_data.lanelet, false); + if (!!right_lanelet) { + right_paths = getPathsForNormalOrIsolatedLanelet(right_lanelet.value()); + right_paths_exists = !right_paths.empty(); + } + ref_path_info.speed_limit = target_speed_limit; + ref_path_info.maneuver = Maneuver::RIGHT_LANE_CHANGE; + for (auto & path : right_paths) { + ref_paths_per_lanelet.emplace_back(path, ref_path_info); + } } // a-3. Get the center lanelet - lanelet::routing::LaneletPaths center_paths = - getPathsForNormalOrIsolatedLanelet(current_lanelet_data.lanelet); + { + PredictedRefPath ref_path_info; + lanelet::routing::LaneletPaths center_paths = + getPathsForNormalOrIsolatedLanelet(current_lanelet_data.lanelet); + center_paths_exists = !center_paths.empty(); + ref_path_info.speed_limit = target_speed_limit; + ref_path_info.maneuver = Maneuver::LANE_FOLLOW; + for (auto & path : center_paths) { + ref_paths_per_lanelet.emplace_back(path, ref_path_info); + } + } // Skip calculations if all paths are empty - if (left_paths.empty() && right_paths.empty() && center_paths.empty()) { + if (ref_paths_per_lanelet.empty()) { continue; } // b. Predict Object Maneuver const Maneuver predicted_maneuver = - predictObjectManeuver(object, current_lanelet_data, object_detected_time); + predictObjectManeuver(object_id, object_pose, current_lanelet_data, object_detected_time); // c. Allocate probability for each predicted maneuver - const auto maneuver_prob = - calculateManeuverProbability(predicted_maneuver, left_paths, right_paths, center_paths); - - // d. add candidate reference paths to the all_ref_paths - const float path_prob = current_lanelet_data.probability; - const auto addReferencePathsLocal = [&](const auto & paths, const auto & maneuver) { - addReferencePaths( - object, paths, path_prob, maneuver_prob, maneuver, all_ref_paths, final_speed_limit); - }; - addReferencePathsLocal(left_paths, Maneuver::LEFT_LANE_CHANGE); - addReferencePathsLocal(right_paths, Maneuver::RIGHT_LANE_CHANGE); - addReferencePathsLocal(center_paths, Maneuver::LANE_FOLLOW); - } - - // Step 3. Search starting point for each reference path - for (auto it = all_ref_paths.begin(); it != all_ref_paths.end();) { - std::unique_ptr st1_ptr; - if (time_keeper_) - st1_ptr = - std::make_unique("searching_ref_path_starting_point", *time_keeper_); - - auto & pose_path = it->path; - if (pose_path.empty()) { - continue; + const float & path_prob = current_lanelet_data.probability; + const auto maneuver_prob = calculateManeuverProbability( + predicted_maneuver, left_paths_exists, right_paths_exists, center_paths_exists); + for (auto & ref_path : ref_paths_per_lanelet) { + auto & ref_path_info = ref_path.second; + ref_path_info.probability = maneuver_prob.at(ref_path_info.maneuver) * path_prob; } - const std::optional opt_starting_idx = - searchProperStartingRefPathIndex(object, pose_path); + // move the calculated ref paths to the lanelet_ref_paths + lanelet_ref_paths.insert( + lanelet_ref_paths.end(), ref_paths_per_lanelet.begin(), ref_paths_per_lanelet.end()); + } - if (opt_starting_idx.has_value()) { - // Trim the reference path - pose_path.erase(pose_path.begin(), pose_path.begin() + opt_starting_idx.value()); - ++it; - } else { - // Proper starting point is not found, remove the reference path - it = all_ref_paths.erase(it); + // update future possible lanelets + if (road_users_history.count(object_id) != 0) { + std::vector & possible_lanelets = + road_users_history.at(object_id).back().future_possible_lanelets; + for (const auto & ref_path : lanelet_ref_paths) { + for (const auto & lanelet : ref_path.first) { + if ( + std::find(possible_lanelets.begin(), possible_lanelets.end(), lanelet) == + possible_lanelets.end()) { + possible_lanelets.push_back(lanelet); + } + } } } - return all_ref_paths; + return lanelet_ref_paths; } /** @@ -2131,8 +2063,8 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( * @return predicted manuever (lane follow, left/right lane change) */ Maneuver MapBasedPredictionNode::predictObjectManeuver( - const TrackedObject & object, const LaneletData & current_lanelet_data, - const double object_detected_time) + const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, + const LaneletData & current_lanelet_data, const double object_detected_time) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); @@ -2141,15 +2073,14 @@ Maneuver MapBasedPredictionNode::predictObjectManeuver( const auto current_maneuver = [&]() { if (lane_change_detection_method_ == "time_to_change_lane") { return predictObjectManeuverByTimeToLaneChange( - object, current_lanelet_data, object_detected_time); + object_id, current_lanelet_data, object_detected_time); } else if (lane_change_detection_method_ == "lat_diff_distance") { return predictObjectManeuverByLatDiffDistance( - object, current_lanelet_data, object_detected_time); + object_id, object_pose, current_lanelet_data, object_detected_time); } throw std::logic_error("Lane change detection method is invalid."); }(); - const std::string object_id = autoware::universe_utils::toHexString(object.object_id); if (road_users_history.count(object_id) == 0) { return current_maneuver; } @@ -2184,14 +2115,13 @@ Maneuver MapBasedPredictionNode::predictObjectManeuver( } Maneuver MapBasedPredictionNode::predictObjectManeuverByTimeToLaneChange( - const TrackedObject & object, const LaneletData & current_lanelet_data, + const std::string & object_id, const LaneletData & current_lanelet_data, const double /*object_detected_time*/) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); // Step1. Check if we have the object in the buffer - const std::string object_id = autoware::universe_utils::toHexString(object.object_id); if (road_users_history.count(object_id) == 0) { return Maneuver::LANE_FOLLOW; } @@ -2258,14 +2188,13 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByTimeToLaneChange( } Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance( - const TrackedObject & object, const LaneletData & current_lanelet_data, - const double /*object_detected_time*/) + const std::string & object_id, const geometry_msgs::msg::Pose & object_pose, + const LaneletData & current_lanelet_data, const double /*object_detected_time*/) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); // Step1. Check if we have the object in the buffer - const std::string object_id = autoware::universe_utils::toHexString(object.object_id); if (road_users_history.count(object_id) == 0) { return Maneuver::LANE_FOLLOW; } @@ -2312,7 +2241,7 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance( // Step4. Check if the vehicle has changed lane const auto current_lanelet = current_lanelet_data.lanelet; - const auto current_pose = object.kinematics.pose_with_covariance.pose; + const auto current_pose = object_pose; const double dist = autoware::universe_utils::calcDistance2d(prev_pose, current_pose); lanelet::routing::LaneletPaths possible_paths = routing_graph_ptr_->possiblePaths(prev_lanelet, dist + 2.0, 0, false); @@ -2424,12 +2353,11 @@ double MapBasedPredictionNode::calcLeftLateralOffset( } void MapBasedPredictionNode::updateFuturePossibleLanelets( - const TrackedObject & object, const lanelet::routing::LaneletPaths & paths) + const std::string & object_id, const lanelet::routing::LaneletPaths & paths) { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - std::string object_id = autoware::universe_utils::toHexString(object.object_id); if (road_users_history.count(object_id) == 0) { return; } @@ -2447,34 +2375,9 @@ void MapBasedPredictionNode::updateFuturePossibleLanelets( } } -void MapBasedPredictionNode::addReferencePaths( - const TrackedObject & object, const lanelet::routing::LaneletPaths & candidate_paths, - const float path_probability, const ManeuverProbability & maneuver_probability, - const Maneuver & maneuver, std::vector & reference_paths, - const double speed_limit) -{ - std::unique_ptr st_ptr; - if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - - if (!candidate_paths.empty()) { - updateFuturePossibleLanelets(object, candidate_paths); - const auto converted_paths = convertPathType(candidate_paths); - for (const auto & converted_path : converted_paths) { - PredictedRefPath predicted_path; - predicted_path.probability = maneuver_probability.at(maneuver) * path_probability; - predicted_path.path = converted_path.first; - predicted_path.width = converted_path.second; - predicted_path.maneuver = maneuver; - predicted_path.speed_limit = speed_limit; - reference_paths.push_back(predicted_path); - } - } -} - ManeuverProbability MapBasedPredictionNode::calculateManeuverProbability( - const Maneuver & predicted_maneuver, const lanelet::routing::LaneletPaths & left_paths, - const lanelet::routing::LaneletPaths & right_paths, - const lanelet::routing::LaneletPaths & center_paths) + const Maneuver & predicted_maneuver, const bool & left_paths_exists, + const bool & right_paths_exists, const bool & center_paths_exists) const { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); @@ -2482,29 +2385,29 @@ ManeuverProbability MapBasedPredictionNode::calculateManeuverProbability( float left_lane_change_probability = 0.0; float right_lane_change_probability = 0.0; float lane_follow_probability = 0.0; - if (!left_paths.empty() && predicted_maneuver == Maneuver::LEFT_LANE_CHANGE) { + if (left_paths_exists && predicted_maneuver == Maneuver::LEFT_LANE_CHANGE) { constexpr float LF_PROB_WHEN_LC = 0.9; // probability for lane follow during lane change constexpr float LC_PROB_WHEN_LC = 1.0; // probability for left lane change left_lane_change_probability = LC_PROB_WHEN_LC; right_lane_change_probability = 0.0; lane_follow_probability = LF_PROB_WHEN_LC; - } else if (!right_paths.empty() && predicted_maneuver == Maneuver::RIGHT_LANE_CHANGE) { + } else if (right_paths_exists && predicted_maneuver == Maneuver::RIGHT_LANE_CHANGE) { constexpr float LF_PROB_WHEN_LC = 0.9; // probability for lane follow during lane change constexpr float RC_PROB_WHEN_LC = 1.0; // probability for right lane change left_lane_change_probability = 0.0; right_lane_change_probability = RC_PROB_WHEN_LC; lane_follow_probability = LF_PROB_WHEN_LC; - } else if (!center_paths.empty()) { + } else if (center_paths_exists) { constexpr float LF_PROB = 1.0; // probability for lane follow constexpr float LC_PROB = 0.3; // probability for left lane change constexpr float RC_PROB = 0.3; // probability for right lane change if (predicted_maneuver == Maneuver::LEFT_LANE_CHANGE) { // If prediction says left change, but left lane is empty, assume lane follow left_lane_change_probability = 0.0; - right_lane_change_probability = (!right_paths.empty()) ? RC_PROB : 0.0; + right_lane_change_probability = (right_paths_exists) ? RC_PROB : 0.0; } else if (predicted_maneuver == Maneuver::RIGHT_LANE_CHANGE) { // If prediction says right change, but right lane is empty, assume lane follow - left_lane_change_probability = (!left_paths.empty()) ? LC_PROB : 0.0; + left_lane_change_probability = (left_paths_exists) ? LC_PROB : 0.0; right_lane_change_probability = 0.0; } else { // Predicted Maneuver is Lane Follow @@ -2519,8 +2422,8 @@ ManeuverProbability MapBasedPredictionNode::calculateManeuverProbability( lane_follow_probability = 0.0; // If the given lane is empty, the probability goes to 0 - left_lane_change_probability = left_paths.empty() ? 0.0 : LC_PROB; - right_lane_change_probability = right_paths.empty() ? 0.0 : RC_PROB; + left_lane_change_probability = left_paths_exists ? LC_PROB : 0.0; + right_lane_change_probability = right_paths_exists ? RC_PROB : 0.0; } const float MIN_PROBABILITY = 1e-3; @@ -2538,18 +2441,64 @@ ManeuverProbability MapBasedPredictionNode::calculateManeuverProbability( return maneuver_prob; } -std::vector> MapBasedPredictionNode::convertPathType( - const lanelet::routing::LaneletPaths & paths) const +std::vector MapBasedPredictionNode::convertPredictedReferencePath( + const TrackedObject & object, + const std::vector & lanelet_ref_paths) const { std::unique_ptr st_ptr; if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); - if (lru_cache_of_convert_path_type_.contains(paths)) { - return *lru_cache_of_convert_path_type_.get(paths); + std::vector converted_ref_paths; + + // Step 1. Convert lanelet path to pose path + for (const auto & ref_path : lanelet_ref_paths) { + const auto & lanelet_path = ref_path.first; + const auto & ref_path_info = ref_path.second; + const auto converted_path = convertLaneletPathToPosePath(lanelet_path); + PredictedRefPath predicted_path; + predicted_path.probability = ref_path_info.probability; + predicted_path.path = converted_path.first; + predicted_path.width = converted_path.second; + predicted_path.maneuver = ref_path_info.maneuver; + predicted_path.speed_limit = ref_path_info.speed_limit; + converted_ref_paths.push_back(predicted_path); } - std::vector> converted_paths; - for (const auto & path : paths) { + // Step 2. Search starting point for each reference path + for (auto it = converted_ref_paths.begin(); it != converted_ref_paths.end();) { + auto & pose_path = it->path; + if (pose_path.empty()) { + continue; + } + + const std::optional opt_starting_idx = + searchProperStartingRefPathIndex(object, pose_path); + + if (opt_starting_idx.has_value()) { + // Trim the reference path + pose_path.erase(pose_path.begin(), pose_path.begin() + opt_starting_idx.value()); + ++it; + } else { + // Proper starting point is not found, remove the reference path + it = converted_ref_paths.erase(it); + } + } + + return converted_ref_paths; +} + +std::pair MapBasedPredictionNode::convertLaneletPathToPosePath( + const lanelet::routing::LaneletPath & path) const +{ + std::unique_ptr st_ptr; + if (time_keeper_) st_ptr = std::make_unique(__func__, *time_keeper_); + + if (lru_cache_of_convert_path_type_.contains(path)) { + return *lru_cache_of_convert_path_type_.get(path); + } + + std::pair converted_path_and_width; + { PosePath converted_path; double width = 10.0; // Initialize with a large value @@ -2638,11 +2587,105 @@ std::vector> MapBasedPredictionNode::convertPathType // interpolation for xy const auto resampled_converted_path = autoware::motion_utils::resamplePoseVector( converted_path, reference_path_resolution_, use_akima_spline_for_xy, use_lerp_for_z); - converted_paths.push_back(std::make_pair(resampled_converted_path, width)); + converted_path_and_width = std::make_pair(resampled_converted_path, width); + } + + lru_cache_of_convert_path_type_.put(path, converted_path_and_width); + return converted_path_and_width; +} + +std::optional MapBasedPredictionNode::searchProperStartingRefPathIndex( + const TrackedObject & object, const PosePath & pose_path) const +{ + std::unique_ptr st1_ptr; + if (time_keeper_) st1_ptr = std::make_unique(__func__, *time_keeper_); + + bool is_position_found = false; + std::optional opt_index{std::nullopt}; + auto & index = opt_index.emplace(0); + + // starting segment index is a segment close enough to the object + const auto obj_point = object.kinematics.pose_with_covariance.pose.position; + { + std::unique_ptr st2_ptr; + if (time_keeper_) + st2_ptr = std::make_unique("find_close_segment_index", *time_keeper_); + double min_dist_sq = std::numeric_limits::max(); + constexpr double acceptable_dist_sq = 1.0; // [m2] + for (size_t i = 0; i < pose_path.size(); i++) { + const double dx = pose_path.at(i).position.x - obj_point.x; + const double dy = pose_path.at(i).position.y - obj_point.y; + const double dist_sq = dx * dx + dy * dy; + if (dist_sq < min_dist_sq) { + min_dist_sq = dist_sq; + index = i; + } + if (dist_sq < acceptable_dist_sq) { + break; + } + } + } + + // calculate score that object can reach the target path smoothly, and search the + // starting segment index that have the best score + size_t idx = 0; + { // find target segmentation index + std::unique_ptr st3_ptr; + if (time_keeper_) + st3_ptr = std::make_unique("find_target_seg_index", *time_keeper_); + + constexpr double search_distance = 22.0; // [m] + constexpr double yaw_diff_limit = M_PI / 3.0; // 60 degrees + + const double obj_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const size_t search_segment_count = + static_cast(std::floor(search_distance / reference_path_resolution_)); + const size_t search_segment_num = + std::min(search_segment_count, static_cast(pose_path.size() - index)); + + // search for the best score, which is the smallest + double best_score = 1e9; // initial value is large enough + for (size_t i = 0; i < search_segment_num; ++i) { + const auto & path_pose = pose_path.at(index + i); + // yaw difference + const double path_yaw = tf2::getYaw(path_pose.orientation); + const double relative_path_yaw = autoware_utils::normalize_radian(path_yaw - obj_yaw); + if (std::abs(relative_path_yaw) > yaw_diff_limit) { + continue; + } + + const double dx = path_pose.position.x - obj_point.x; + const double dy = path_pose.position.y - obj_point.y; + const double dx_cp = std::cos(obj_yaw) * dx + std::sin(obj_yaw) * dy; + const double dy_cp = -std::sin(obj_yaw) * dx + std::cos(obj_yaw) * dy; + const double neutral_yaw = std::atan2(dy_cp, dx_cp) * 2.0; + const double delta_yaw = autoware_utils::normalize_radian(path_yaw - obj_yaw - neutral_yaw); + if (std::abs(delta_yaw) > yaw_diff_limit) { + continue; + } + + // objective function score + constexpr double weight_ratio = 0.01; + double score = delta_yaw * delta_yaw + weight_ratio * neutral_yaw * neutral_yaw; + constexpr double acceptable_score = 1e-3; + + if (score < best_score) { + best_score = score; + idx = i; + is_position_found = true; + if (score < acceptable_score) { + // if the score is small enough, we can break the loop + break; + } + } + } } - lru_cache_of_convert_path_type_.put(paths, converted_paths); - return converted_paths; + // update starting segment index + index += idx; + index = std::clamp(index, 0ul, pose_path.size() - 1); + + return is_position_found ? opt_index : std::nullopt; } bool MapBasedPredictionNode::isDuplicated( diff --git a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp index e6d058ef8f437..e7644ce45e443 100644 --- a/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp +++ b/perception/autoware_raindrop_cluster_filter/test/test_low_intensity_cluster_filter.cpp @@ -15,7 +15,7 @@ #include "../src/low_intensity_cluster_filter_node.hpp" #include -#include +#include #include #include @@ -27,9 +27,9 @@ #include using autoware::low_intensity_cluster_filter::LowIntensityClusterFilter; +using autoware::point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRCGenerator; using autoware_perception_msgs::msg::ObjectClassification; -using autoware_point_types::PointXYZIRC; -using autoware_point_types::PointXYZIRCGenerator; using point_cloud_msg_wrapper::PointCloud2Modifier; using tier4_perception_msgs::msg::DetectedObjectsWithFeature; using tier4_perception_msgs::msg::DetectedObjectWithFeature; @@ -64,7 +64,7 @@ DetectedObjectsWithFeature create_cluster( feature_obj.object.classification.resize(1); feature_obj.object.classification[0].label = label; sensor_msgs::msg::PointCloud2 cluster; - PointCloud2Modifier modifier( + PointCloud2Modifier modifier( cluster, "base_link"); for (int i = 0; i < cluster_size; i++) { PointXYZIRC point; diff --git a/perception/autoware_shape_estimation/CMakeLists.txt b/perception/autoware_shape_estimation/CMakeLists.txt index 6cf93599f9964..d0eb2aa5535a8 100644 --- a/perception/autoware_shape_estimation/CMakeLists.txt +++ b/perception/autoware_shape_estimation/CMakeLists.txt @@ -34,6 +34,7 @@ set(${PROJECT_NAME}_SOURCES lib/corrector/utils.cpp lib/corrector/no_corrector.cpp lib/corrector/vehicle_corrector.cpp + lib/corrector/reference_object_based_corrector.cpp lib/corrector/reference_shape_size_corrector.cpp ) diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp index dd4c4f68d3f46..090102a69afbf 100644 --- a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp @@ -20,6 +20,7 @@ #include "autoware/shape_estimation/corrector/car_corrector.hpp" #include "autoware/shape_estimation/corrector/corrector_interface.hpp" #include "autoware/shape_estimation/corrector/no_corrector.hpp" +#include "autoware/shape_estimation/corrector/reference_object_based_corrector.hpp" #include "autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp" #include "autoware/shape_estimation/corrector/trailer_corrector.hpp" #include "autoware/shape_estimation/corrector/truck_corrector.hpp" diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_object_based_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_object_based_corrector.hpp new file mode 100644 index 0000000000000..afc85a2204458 --- /dev/null +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_object_based_corrector.hpp @@ -0,0 +1,47 @@ +// Copyright 2024 Autoware Foundation. All rights reserved. +// +// 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__SHAPE_ESTIMATION__CORRECTOR__REFERENCE_OBJECT_BASED_CORRECTOR_HPP_ +#define AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__REFERENCE_OBJECT_BASED_CORRECTOR_HPP_ + +#include "autoware/shape_estimation/corrector/corrector_interface.hpp" +#include "autoware/shape_estimation/shape_estimator.hpp" +#include "utils.hpp" + +namespace autoware::shape_estimation +{ +namespace corrector +{ + +class ReferenceObjectBasedVehicleCorrector : public ShapeEstimationCorrectorInterface +{ + ReferenceShapeSizeInfo ref_shape_size_info_; + geometry_msgs::msg::Pose ref_pose_; + +public: + explicit ReferenceObjectBasedVehicleCorrector( + const ReferenceShapeSizeInfo & ref_shape_size_info, const geometry_msgs::msg::Pose & ref_pose) + : ref_shape_size_info_(ref_shape_size_info), ref_pose_(ref_pose) + { + } + + virtual ~ReferenceObjectBasedVehicleCorrector() = default; + + bool correct( + autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) override; +}; + +} // namespace corrector +} // namespace autoware::shape_estimation +#endif // AUTOWARE__SHAPE_ESTIMATION__CORRECTOR__REFERENCE_OBJECT_BASED_CORRECTOR_HPP_ diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp index a16cb146ca4a3..e42bc60324dff 100644 --- a/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp @@ -47,6 +47,10 @@ bool correctWithReferenceYaw( const CorrectionBBParameters & param, autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output); +bool correctWithReferenceShapeAndPose( + const ReferenceShapeSizeInfo & ref_shape_size_info, const geometry_msgs::msg::Pose & ref_pose, + autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose); + } // namespace corrector_utils } // namespace autoware::shape_estimation diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp index 9759c7c77855e..0731cd478e56a 100644 --- a/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp @@ -61,6 +61,7 @@ class ShapeEstimator bool applyCorrector( const uint8_t label, const bool use_reference_yaw, const boost::optional & ref_shape_size_info, + const boost::optional & ref_pose, autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose); bool use_corrector_; @@ -76,6 +77,7 @@ class ShapeEstimator const uint8_t label, const pcl::PointCloud & cluster, const boost::optional & ref_yaw_info, const boost::optional & ref_shape_size_info, + const boost::optional & ref_pose, autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output); }; } // namespace autoware::shape_estimation diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp index d046e1d717b89..e74b3c6e8e809 100644 --- a/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp @@ -15,11 +15,11 @@ #ifndef AUTOWARE__SHAPE_ESTIMATION__TENSORRT_SHAPE_ESTIMATOR_HPP_ #define AUTOWARE__SHAPE_ESTIMATION__TENSORRT_SHAPE_ESTIMATOR_HPP_ +#include #include #include #include #include -#include #include #include @@ -49,9 +49,10 @@ class TrtShapeEstimator public: TrtShapeEstimator( const std::string & model_path, const std::string & precision, - const tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size = (1 << 30), - const tensorrt_common::BuildConfig build_config = - tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0)); + const autoware::tensorrt_common::BatchConfig & batch_config, + const size_t max_workspace_size = (1 << 30), + const autoware::tensorrt_common::BuildConfig build_config = + autoware::tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0)); ~TrtShapeEstimator() = default; @@ -68,7 +69,7 @@ class TrtShapeEstimator static double class2angle(int pred_cls, double residual, int num_class); StreamUniquePtr stream_{makeCudaStream()}; - std::unique_ptr trt_common_; + std::unique_ptr trt_common_; std::vector input_pc_h_; CudaUniquePtr input_pc_d_; diff --git a/perception/autoware_shape_estimation/lib/corrector/reference_object_based_corrector.cpp b/perception/autoware_shape_estimation/lib/corrector/reference_object_based_corrector.cpp new file mode 100644 index 0000000000000..b32073a6c8f5f --- /dev/null +++ b/perception/autoware_shape_estimation/lib/corrector/reference_object_based_corrector.cpp @@ -0,0 +1,29 @@ +// Copyright 2024 TIER IV, Inc. All rights reserved. +// +// 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 "autoware/shape_estimation/corrector/reference_object_based_corrector.hpp" + +namespace autoware::shape_estimation +{ +namespace corrector +{ +bool ReferenceObjectBasedVehicleCorrector::correct( + autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) +{ + return corrector_utils::correctWithReferenceShapeAndPose( + ref_shape_size_info_, ref_pose_, shape, pose); +} + +} // namespace corrector +} // namespace autoware::shape_estimation diff --git a/perception/autoware_shape_estimation/lib/corrector/utils.cpp b/perception/autoware_shape_estimation/lib/corrector/utils.cpp index a18e09d5b8a04..5e90c9d54f78a 100644 --- a/perception/autoware_shape_estimation/lib/corrector/utils.cpp +++ b/perception/autoware_shape_estimation/lib/corrector/utils.cpp @@ -401,6 +401,81 @@ bool correctWithReferenceYawAndShapeSize( pose.position.z = new_centroid.z(); return true; } + +// use the reference object to correct the initial bounding box +bool correctWithReferenceShapeAndPose( + const ReferenceShapeSizeInfo & ref_shape_size_info, const geometry_msgs::msg::Pose & ref_pose, + autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) +{ + /* + c1 is farthest point from ref_pose and other points are arranged like below + c is center of bounding box + width + 4---2 + | | + length | c | → ey + | | + 3---1 + ↓ + ex + */ + + Eigen::Affine3d base2obj_transform; + tf2::fromMsg(pose, base2obj_transform); + + Eigen::Vector3d local_c1; + Eigen::Vector3d ref_center = Eigen::Vector3d(ref_pose.position.x, ref_pose.position.y, 0.0); + // local points + std::vector v_points; + v_points.push_back(Eigen::Vector3d(shape.dimensions.x * 0.5, shape.dimensions.y * 0.5, 0.0)); + v_points.push_back(Eigen::Vector3d(-shape.dimensions.x * 0.5, shape.dimensions.y * 0.5, 0.0)); + v_points.push_back(Eigen::Vector3d(shape.dimensions.x * 0.5, -shape.dimensions.y * 0.5, 0.0)); + v_points.push_back(Eigen::Vector3d(-shape.dimensions.x * 0.5, -shape.dimensions.y * 0.5, 0.0)); + + double max_dist = -1.0; + // search the most distant index (c1) from the reference object's center + for (std::size_t i = 0; i < v_points.size(); ++i) { + const double tmp_dist = ((base2obj_transform * v_points[i]) - ref_center).squaredNorm(); + if (tmp_dist > max_dist) { + local_c1 = v_points[i]; + max_dist = tmp_dist; + } + } + + Eigen::Vector3d ex = (Eigen::Vector3d(local_c1.x() / std::abs(local_c1.x()), 0, 0)); + Eigen::Vector3d ey = (Eigen::Vector3d(0, local_c1.y() / std::abs(local_c1.y()), 0)); + + double length; + if ( + ref_shape_size_info.mode == ReferenceShapeSizeInfo::Mode::Min && + ref_shape_size_info.shape.dimensions.x < shape.dimensions.x) { + length = shape.dimensions.x; + } else { + length = ref_shape_size_info.shape.dimensions.x; + } + + double width; + if ( + ref_shape_size_info.mode == ReferenceShapeSizeInfo::Mode::Min && + ref_shape_size_info.shape.dimensions.y < shape.dimensions.y) { + width = shape.dimensions.y; + } else { + width = ref_shape_size_info.shape.dimensions.y; + } + + shape.dimensions.x = length; + shape.dimensions.y = width; + + // compute a new center with correction vector + Eigen::Vector3d new_centroid = + (base2obj_transform * local_c1) - + (base2obj_transform.rotation() * (ex * length * 0.5 + ey * width * 0.5)); + pose.position.x = new_centroid.x(); + pose.position.y = new_centroid.y(); + pose.position.z = new_centroid.z(); + + return true; +} } // namespace corrector_utils } // namespace autoware::shape_estimation diff --git a/perception/autoware_shape_estimation/lib/shape_estimator.cpp b/perception/autoware_shape_estimation/lib/shape_estimator.cpp index 34eed5e641368..e5e1061075e4c 100644 --- a/perception/autoware_shape_estimation/lib/shape_estimator.cpp +++ b/perception/autoware_shape_estimation/lib/shape_estimator.cpp @@ -37,6 +37,7 @@ bool ShapeEstimator::estimateShapeAndPose( const uint8_t label, const pcl::PointCloud & cluster, const boost::optional & ref_yaw_info, const boost::optional & ref_shape_size_info, + const boost::optional & ref_pose, autoware_perception_msgs::msg::Shape & shape_output, geometry_msgs::msg::Pose & pose_output) { autoware_perception_msgs::msg::Shape shape; @@ -57,7 +58,7 @@ bool ShapeEstimator::estimateShapeAndPose( // rule based corrector if (use_corrector_) { bool use_reference_yaw = ref_yaw_info ? true : false; - if (!applyCorrector(label, use_reference_yaw, ref_shape_size_info, shape, pose)) { + if (!applyCorrector(label, use_reference_yaw, ref_shape_size_info, ref_pose, shape, pose)) { reverse_to_unknown = true; } } @@ -115,13 +116,19 @@ bool ShapeEstimator::applyFilter( bool ShapeEstimator::applyCorrector( const uint8_t label, const bool use_reference_yaw, const boost::optional & ref_shape_size_info, + const boost::optional & ref_pose, autoware_perception_msgs::msg::Shape & shape, geometry_msgs::msg::Pose & pose) { std::unique_ptr corrector_ptr; if (ref_shape_size_info && use_reference_yaw) { - corrector_ptr.reset( - new corrector::ReferenceShapeBasedVehicleCorrector(ref_shape_size_info.get())); + if (ref_pose) { + corrector_ptr.reset(new corrector::ReferenceObjectBasedVehicleCorrector( + ref_shape_size_info.get(), ref_pose.get())); + } else { + corrector_ptr.reset( + new corrector::ReferenceShapeBasedVehicleCorrector(ref_shape_size_info.get())); + } } else if (label == Label::CAR) { corrector_ptr.reset(new corrector::CarCorrector(use_reference_yaw)); } else if (label == Label::BUS) { diff --git a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp index a097060081dc9..05f5d59813c2b 100644 --- a/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp +++ b/perception/autoware_shape_estimation/lib/tensorrt_shape_estimator.cpp @@ -25,10 +25,10 @@ namespace autoware::shape_estimation { TrtShapeEstimator::TrtShapeEstimator( const std::string & model_path, const std::string & precision, - const tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size, - const tensorrt_common::BuildConfig build_config) + const autoware::tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size, + const autoware::tensorrt_common::BuildConfig build_config) { - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, nullptr, batch_config, max_workspace_size, build_config); trt_common_->setup(); diff --git a/perception/autoware_shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml index 644a9de661eca..cad2d93e38f1c 100644 --- a/perception/autoware_shape_estimation/package.xml +++ b/perception/autoware_shape_estimation/package.xml @@ -18,6 +18,7 @@ tensorrt_cmake_module autoware_perception_msgs + autoware_tensorrt_common autoware_universe_utils cuda_utils eigen @@ -26,7 +27,6 @@ pcl_conversions rclcpp rclcpp_components - tensorrt_common tf2 tf2_eigen tf2_geometry_msgs diff --git a/perception/autoware_shape_estimation/src/shape_estimation_node.cpp b/perception/autoware_shape_estimation/src/shape_estimation_node.cpp index 9c9c996ba0c6d..67402f68d63ef 100644 --- a/perception/autoware_shape_estimation/src/shape_estimation_node.cpp +++ b/perception/autoware_shape_estimation/src/shape_estimation_node.cpp @@ -63,7 +63,7 @@ ShapeEstimationNode::ShapeEstimationNode(const rclcpp::NodeOptions & node_option min_points_ = declare_parameter("model_params.minimum_points"); std::string precision = declare_parameter("model_params.precision"); int batch_size = declare_parameter("model_params.batch_size"); - tensorrt_common::BatchConfig batch_config{batch_size, batch_size, batch_size}; + autoware::tensorrt_common::BatchConfig batch_config{batch_size, batch_size, batch_size}; tensorrt_shape_estimator_ = std::make_unique(model_path, precision, batch_config); if (this->declare_parameter("model_params.build_only", false)) { @@ -142,6 +142,7 @@ void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstShared geometry_msgs::msg::Pose pose; boost::optional ref_yaw_info = boost::none; boost::optional ref_shape_size_info = boost::none; + boost::optional ref_pose = boost::none; if (use_vehicle_reference_yaw_ && is_vehicle) { ref_yaw_info = ReferenceYawInfo{ static_cast(tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation)), @@ -151,7 +152,7 @@ void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstShared ref_shape_size_info = ReferenceShapeSizeInfo{object.shape, ReferenceShapeSizeInfo::Mode::Min}; } const bool estimated_success = estimator_->estimateShapeAndPose( - label, *cluster, ref_yaw_info, ref_shape_size_info, shape, pose); + label, *cluster, ref_yaw_info, ref_shape_size_info, ref_pose, shape, pose); // If the shape estimation fails, change to Unknown object. if (!fix_filtered_objects_label_to_unknown_ && !estimated_success) { diff --git a/perception/autoware_shape_estimation/src/shape_estimation_node.hpp b/perception/autoware_shape_estimation/src/shape_estimation_node.hpp index a98d45453086b..afb020de5838d 100644 --- a/perception/autoware_shape_estimation/src/shape_estimation_node.hpp +++ b/perception/autoware_shape_estimation/src/shape_estimation_node.hpp @@ -20,7 +20,7 @@ #ifdef USE_CUDA #include "autoware/shape_estimation/tensorrt_shape_estimator.hpp" -#include +#include #endif #include diff --git a/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp b/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp index 2e6dcc62d8699..b4f1ef7b35b38 100644 --- a/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp +++ b/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp @@ -207,6 +207,7 @@ TEST(ShapeEstimator, test_estimateShapeAndPose) boost::optional ref_yaw_info = boost::none; boost::optional ref_shape_size_info = boost::none; + boost::optional ref_shape = boost::none; ref_yaw_info = autoware::shape_estimation::ReferenceYawInfo{ static_cast(yaw), static_cast(deg2rad(10.0))}; @@ -218,7 +219,7 @@ TEST(ShapeEstimator, test_estimateShapeAndPose) // Test estimateShapeAndPose const bool result = shape_estimator.estimateShapeAndPose( - label, cluster, ref_yaw_info, ref_shape_size_info, shape_output, pose_output); + label, cluster, ref_yaw_info, ref_shape_size_info, ref_shape, shape_output, pose_output); EXPECT_TRUE(result); // Check shape_output diff --git a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp index 9fb1beaac39de..f5bafbd04cd51 100644 --- a/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp +++ b/perception/autoware_tensorrt_classifier/include/autoware/tensorrt_classifier/tensorrt_classifier.hpp @@ -15,11 +15,11 @@ #ifndef AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ #define AUTOWARE__TENSORRT_CLASSIFIER__TENSORRT_CLASSIFIER_HPP_ +#include #include #include #include #include -#include #include #include @@ -54,12 +54,12 @@ class TrtClassifier */ TrtClassifier( const std::string & model_path, const std::string & precision, - const tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, + const autoware::tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, const std::vector & mean = {123.675, 116.28, 103.53}, const std::vector & std = {58.395, 57.12, 57.375}, const size_t max_workspace_size = (1 << 30), const std::string & calibration_images = "", - const tensorrt_common::BuildConfig build_config = - tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0), + const autoware::tensorrt_common::BuildConfig build_config = + autoware::tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0), const bool cuda = false); /** * @brief Deconstruct TrtClassifier @@ -102,7 +102,7 @@ class TrtClassifier const std::vector & images, std::vector & results, std::vector & probabilities); - std::unique_ptr trt_common_; + std::unique_ptr trt_common_; std::vector input_h_; CudaUniquePtr input_d_; diff --git a/perception/autoware_tensorrt_classifier/package.xml b/perception/autoware_tensorrt_classifier/package.xml index e41625886d8ae..a3daf27f8dbf2 100644 --- a/perception/autoware_tensorrt_classifier/package.xml +++ b/perception/autoware_tensorrt_classifier/package.xml @@ -19,10 +19,10 @@ autoware_cmake + autoware_tensorrt_common cuda_utils libopencv-dev rclcpp - tensorrt_common ament_lint_auto autoware_lint_common diff --git a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp index 19d3fb3036471..8889406e48eaa 100644 --- a/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp +++ b/perception/autoware_tensorrt_classifier/src/tensorrt_classifier.cpp @@ -99,10 +99,10 @@ namespace autoware::tensorrt_classifier { TrtClassifier::TrtClassifier( const std::string & model_path, const std::string & precision, - const tensorrt_common::BatchConfig & batch_config, const std::vector & mean, + const autoware::tensorrt_common::BatchConfig & batch_config, const std::vector & mean, const std::vector & std, const size_t max_workspace_size, - const std::string & calibration_image_list_path, tensorrt_common::BuildConfig build_config, - const bool cuda) + const std::string & calibration_image_list_path, + autoware::tensorrt_common::BuildConfig build_config, const bool cuda) { src_width_ = -1; src_height_ = -1; @@ -115,7 +115,7 @@ TrtClassifier::TrtClassifier( batch_size_ = batch_config[2]; if (precision == "int8") { int max_batch_size = batch_config[2]; - nvinfer1::Dims input_dims = tensorrt_common::get_input_dims(model_path); + nvinfer1::Dims input_dims = autoware::tensorrt_common::get_input_dims(model_path); std::vector calibration_images; if (calibration_image_list_path != "") { calibration_images = loadImageList(calibration_image_list_path, ""); @@ -152,10 +152,10 @@ TrtClassifier::TrtClassifier( calibrator.reset(new autoware::tensorrt_classifier::Int8MinMaxCalibrator( stream, calibration_table, mean_, std_)); } - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, std::move(calibrator), batch_config, max_workspace_size, build_config); } else { - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, nullptr, batch_config, max_workspace_size, build_config); } trt_common_->setup(); diff --git a/common/tensorrt_common/CMakeLists.txt b/perception/autoware_tensorrt_common/CMakeLists.txt similarity index 92% rename from common/tensorrt_common/CMakeLists.txt rename to perception/autoware_tensorrt_common/CMakeLists.txt index cb24448f1a993..3105523a509e3 100644 --- a/common/tensorrt_common/CMakeLists.txt +++ b/perception/autoware_tensorrt_common/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.17) -project(tensorrt_common) +project(autoware_tensorrt_common) find_package(ament_cmake REQUIRED) find_package(cudnn_cmake_module REQUIRED) @@ -42,7 +42,7 @@ set_target_properties(${PROJECT_NAME} CXX_EXTENSIONS NO ) -# TODO(tensorrt_common): Remove -Wno-deprecated-declarations once upgrading to TensorRT 8.5 is complete +# TODO(autoware_tensorrt_common): Remove -Wno-deprecated-declarations once upgrading to TensorRT 8.5 is complete target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wno-deprecated-declarations ) diff --git a/common/tensorrt_common/README.md b/perception/autoware_tensorrt_common/README.md similarity index 88% rename from common/tensorrt_common/README.md rename to perception/autoware_tensorrt_common/README.md index 18625d0961ce3..c828be58c1c1c 100644 --- a/common/tensorrt_common/README.md +++ b/perception/autoware_tensorrt_common/README.md @@ -1,4 +1,4 @@ -# tensorrt_common +# autoware_tensorrt_common ## Purpose diff --git a/common/tensorrt_common/include/tensorrt_common/logger.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp similarity index 98% rename from common/tensorrt_common/include/tensorrt_common/logger.hpp rename to perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp index 355efe5167885..cf5ebdc525a89 100644 --- a/common/tensorrt_common/include/tensorrt_common/logger.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/logger.hpp @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef TENSORRT_COMMON__LOGGER_HPP_ -#define TENSORRT_COMMON__LOGGER_HPP_ +#ifndef AUTOWARE__TENSORRT_COMMON__LOGGER_HPP_ +#define AUTOWARE__TENSORRT_COMMON__LOGGER_HPP_ #include "NvInferRuntimeCommon.h" @@ -29,6 +29,8 @@ #include #include +namespace autoware +{ namespace tensorrt_common { using Severity = nvinfer1::ILogger::Severity; @@ -548,5 +550,6 @@ inline LogStreamConsumer LOG_FATAL(const Logger & logger) } // anonymous namespace } // namespace tensorrt_common +} // namespace autoware -#endif // TENSORRT_COMMON__LOGGER_HPP_ +#endif // AUTOWARE__TENSORRT_COMMON__LOGGER_HPP_ diff --git a/common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/simple_profiler.hpp similarity index 88% rename from common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp rename to perception/autoware_tensorrt_common/include/autoware/tensorrt_common/simple_profiler.hpp index b89950b86ee19..a8d504fb2861a 100644 --- a/common/tensorrt_common/include/tensorrt_common/simple_profiler.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/simple_profiler.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ -#define TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ +#ifndef AUTOWARE__TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ +#define AUTOWARE__TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ #include @@ -22,6 +22,8 @@ #include #include +namespace autoware +{ namespace tensorrt_common { struct LayerInfo @@ -67,4 +69,5 @@ class SimpleProfiler : public nvinfer1::IProfiler std::map m_layer_dict; }; } // namespace tensorrt_common -#endif // TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ +} // namespace autoware +#endif // AUTOWARE__TENSORRT_COMMON__SIMPLE_PROFILER_HPP_ diff --git a/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp similarity index 95% rename from common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp rename to perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp index 9e11f5f220492..6fb90d1415244 100644 --- a/common/tensorrt_common/include/tensorrt_common/tensorrt_common.hpp +++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef TENSORRT_COMMON__TENSORRT_COMMON_HPP_ -#define TENSORRT_COMMON__TENSORRT_COMMON_HPP_ +#ifndef AUTOWARE__TENSORRT_COMMON__TENSORRT_COMMON_HPP_ +#define AUTOWARE__TENSORRT_COMMON__TENSORRT_COMMON_HPP_ #ifndef YOLOX_STANDALONE #include @@ -30,14 +30,16 @@ namespace fs = ::std::filesystem; namespace fs = ::std::experimental::filesystem; #endif -#include -#include +#include +#include #include #include #include #include +namespace autoware +{ namespace tensorrt_common { /** @@ -236,5 +238,6 @@ class TrtCommon // NOLINT }; } // namespace tensorrt_common +} // namespace autoware -#endif // TENSORRT_COMMON__TENSORRT_COMMON_HPP_ +#endif // AUTOWARE__TENSORRT_COMMON__TENSORRT_COMMON_HPP_ diff --git a/common/tensorrt_common/package.xml b/perception/autoware_tensorrt_common/package.xml similarity index 96% rename from common/tensorrt_common/package.xml rename to perception/autoware_tensorrt_common/package.xml index f124dc4c29dc6..b6bf89dd652a3 100644 --- a/common/tensorrt_common/package.xml +++ b/perception/autoware_tensorrt_common/package.xml @@ -1,6 +1,6 @@ - tensorrt_common + autoware_tensorrt_common 0.0.1 tensorrt utility wrapper diff --git a/common/tensorrt_common/src/simple_profiler.cpp b/perception/autoware_tensorrt_common/src/simple_profiler.cpp similarity index 97% rename from common/tensorrt_common/src/simple_profiler.cpp rename to perception/autoware_tensorrt_common/src/simple_profiler.cpp index b9400c284c2eb..c538470711fb8 100644 --- a/common/tensorrt_common/src/simple_profiler.cpp +++ b/perception/autoware_tensorrt_common/src/simple_profiler.cpp @@ -12,10 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include +namespace autoware +{ namespace tensorrt_common { @@ -130,3 +132,4 @@ std::ostream & operator<<(std::ostream & out, const SimpleProfiler & value) return out; } } // namespace tensorrt_common +} // namespace autoware diff --git a/common/tensorrt_common/src/tensorrt_common.cpp b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp similarity index 99% rename from common/tensorrt_common/src/tensorrt_common.cpp rename to perception/autoware_tensorrt_common/src/tensorrt_common.cpp index 9024207d9fe50..632501c0dc057 100644 --- a/common/tensorrt_common/src/tensorrt_common.cpp +++ b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include @@ -33,6 +33,8 @@ bool contain(const std::string & s, const T & v) } } // anonymous namespace +namespace autoware +{ namespace tensorrt_common { nvinfer1::Dims get_input_dims(const std::string & onnx_file_path) @@ -632,3 +634,4 @@ std::string TrtCommon::getLayerInformation(nvinfer1::LayerInformationFormat form #endif } // namespace tensorrt_common +} // namespace autoware diff --git a/perception/autoware_tensorrt_yolox/CMakeLists.txt b/perception/autoware_tensorrt_yolox/CMakeLists.txt index 1f54326f2b33a..17b31fc7e8df1 100644 --- a/perception/autoware_tensorrt_yolox/CMakeLists.txt +++ b/perception/autoware_tensorrt_yolox/CMakeLists.txt @@ -1,9 +1,9 @@ cmake_minimum_required(VERSION 3.17) project(autoware_tensorrt_yolox) -find_package(tensorrt_common) -if(NOT ${tensorrt_common_FOUND}) - message(WARNING "The tensorrt_common package is not found. Please check its dependencies.") +find_package(autoware_tensorrt_common) +if(NOT ${autoware_tensorrt_common_FOUND}) + message(WARNING "The autoware_tensorrt_common package is not found. Please check its dependencies.") return() endif() @@ -107,12 +107,12 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) ) target_link_libraries(${PROJECT_NAME} - ${tensorrt_common_LIBRARIES} + ${autoware_tensorrt_common_LIBRARIES} ${PROJECT_NAME}_gpu_preprocess ) else() target_link_libraries(${PROJECT_NAME} - ${tensorrt_common_LIBRARIES} + ${autoware_tensorrt_common_LIBRARIES} ) endif() diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp index 6fba801d1072b..c9f14e818a781 100644 --- a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp +++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp @@ -15,11 +15,11 @@ #ifndef AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_ #define AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_ +#include #include #include #include #include -#include #include #include @@ -88,11 +88,12 @@ class TrtYoloX TrtYoloX( const std::string & model_path, const std::string & precision, const int num_class = 8, const float score_threshold = 0.3, const float nms_threshold = 0.7, - const tensorrt_common::BuildConfig build_config = tensorrt_common::BuildConfig(), + const autoware::tensorrt_common::BuildConfig build_config = + autoware::tensorrt_common::BuildConfig(), const bool use_gpu_preprocess = false, const uint8_t gpu_id = 0, std::string calibration_image_list_file = std::string(), const double norm_factor = 1.0, [[maybe_unused]] const std::string & cache_dir = "", - const tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, + const autoware::tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, const size_t max_workspace_size = (1 << 30), const std::string & color_map_path = ""); /** * @brief Deconstruct TrtYoloX @@ -265,7 +266,7 @@ class TrtYoloX */ cv::Mat getMaskImageGpu(float * d_prob, nvinfer1::Dims dims, int out_w, int out_h, int b); - std::unique_ptr trt_common_; + std::unique_ptr trt_common_; std::vector input_h_; CudaUniquePtr input_d_; diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 749624bcbe5a3..b9f2feaf7464c 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -21,6 +21,7 @@ autoware_object_recognition_utils autoware_perception_msgs + autoware_tensorrt_common cuda_utils cv_bridge image_transport @@ -29,7 +30,6 @@ rclcpp rclcpp_components sensor_msgs - tensorrt_common tier4_perception_msgs autoware_image_transport_decompressor diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp index b6da363a9a237..ab2d772be0c20 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp @@ -155,10 +155,11 @@ namespace autoware::tensorrt_yolox { TrtYoloX::TrtYoloX( const std::string & model_path, const std::string & precision, const int num_class, - const float score_threshold, const float nms_threshold, tensorrt_common::BuildConfig build_config, - const bool use_gpu_preprocess, const uint8_t gpu_id, std::string calibration_image_list_path, - const double norm_factor, [[maybe_unused]] const std::string & cache_dir, - const tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size, + const float score_threshold, const float nms_threshold, + autoware::tensorrt_common::BuildConfig build_config, const bool use_gpu_preprocess, + const uint8_t gpu_id, std::string calibration_image_list_path, const double norm_factor, + [[maybe_unused]] const std::string & cache_dir, + const autoware::tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size, const std::string & color_map_path) : gpu_id_(gpu_id), is_gpu_initialized_(false) { @@ -188,7 +189,7 @@ TrtYoloX::TrtYoloX( } int max_batch_size = batch_size_; - nvinfer1::Dims input_dims = tensorrt_common::get_input_dims(model_path); + nvinfer1::Dims input_dims = autoware::tensorrt_common::get_input_dims(model_path); std::vector calibration_images; if (calibration_image_list_path != "") { calibration_images = loadImageList(calibration_image_list_path, ""); @@ -226,10 +227,10 @@ TrtYoloX::TrtYoloX( calibrator.reset( new tensorrt_yolox::Int8MinMaxCalibrator(stream, calibration_table, norm_factor_)); } - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, std::move(calibrator), batch_config, max_workspace_size, build_config); } else { - trt_common_ = std::make_unique( + trt_common_ = std::make_unique( model_path, precision, nullptr, batch_config, max_workspace_size, build_config); } trt_common_->setup(); diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp index 753e51d51265c..94a3a37a4d08f 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -83,13 +83,13 @@ TrtYoloXNode::TrtYoloXNode(const rclcpp::NodeOptions & node_options) roi_overlay_segment_labels_.ANIMAL = declare_parameter("roi_overlay_segment_label.ANIMAL"); replaceLabelMap(); - tensorrt_common::BuildConfig build_config( + autoware::tensorrt_common::BuildConfig build_config( calibration_algorithm, dla_core_id, quantize_first_layer, quantize_last_layer, profile_per_layer, clip_value); const double norm_factor = 1.0; const std::string cache_dir = ""; - const tensorrt_common::BatchConfig batch_config{1, 1, 1}; + const autoware::tensorrt_common::BatchConfig batch_config{1, 1, 1}; const size_t max_workspace_size = (1 << 30); trt_yolox_ = std::make_unique( diff --git a/perception/autoware_traffic_light_arbiter/CMakeLists.txt b/perception/autoware_traffic_light_arbiter/CMakeLists.txt index 607f5f2e55b7a..503312b17d6dd 100644 --- a/perception/autoware_traffic_light_arbiter/CMakeLists.txt +++ b/perception/autoware_traffic_light_arbiter/CMakeLists.txt @@ -13,4 +13,10 @@ rclcpp_components_register_nodes(${PROJECT_NAME} "autoware::TrafficLightArbiter" ) +if(BUILD_TESTING) + ament_auto_add_gtest(${PROJECT_NAME}_test + test/test_node.cpp + ) +endif() + ament_auto_package(INSTALL_TO_SHARE launch config) diff --git a/perception/autoware_traffic_light_arbiter/package.xml b/perception/autoware_traffic_light_arbiter/package.xml index 3ebf90c9ba6e8..3636726bc6972 100644 --- a/perception/autoware_traffic_light_arbiter/package.xml +++ b/perception/autoware_traffic_light_arbiter/package.xml @@ -14,6 +14,7 @@ autoware_lanelet2_extension autoware_map_msgs autoware_perception_msgs + autoware_test_utils lanelet2_core rclcpp rclcpp_components diff --git a/perception/autoware_traffic_light_arbiter/test/test_node.cpp b/perception/autoware_traffic_light_arbiter/test/test_node.cpp new file mode 100644 index 0000000000000..1419f8675d0fa --- /dev/null +++ b/perception/autoware_traffic_light_arbiter/test/test_node.cpp @@ -0,0 +1,277 @@ +// Copyright 2024 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 "autoware/traffic_light_arbiter/traffic_light_arbiter.hpp" + +#include +#include +#include + +#include + +#include +#include + +using autoware::TrafficLightArbiter; +using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin; +using TrafficSignalArray = autoware_perception_msgs::msg::TrafficLightGroupArray; +using TrafficSignal = autoware_perception_msgs::msg::TrafficLightGroup; +using TrafficElement = autoware_perception_msgs::msg::TrafficLightElement; + +std::shared_ptr generateTestManager() +{ + auto test_manager = std::make_shared(); + return test_manager; +} + +std::shared_ptr generateNode() +{ + auto node_options = rclcpp::NodeOptions{}; + const auto package_dir = + ament_index_cpp::get_package_share_directory("autoware_traffic_light_arbiter"); + node_options.arguments( + {"--ros-args", "--params-file", package_dir + "/config/traffic_light_arbiter.param.yaml"}); + return std::make_shared(node_options); +} + +void generateMap(LaneletMapBin & vector_map_msg) +{ + const auto package_dir = ament_index_cpp::get_package_share_directory("autoware_test_utils"); + lanelet::LaneletMapPtr vector_map_ptr = + autoware::test_utils::loadMap(package_dir + "/test_map/lanelet2_map.osm"); + vector_map_msg.header.frame_id = "base_link"; + lanelet::utils::conversion::toBinMsg(vector_map_ptr, &vector_map_msg); +} + +void generatePerceptionMsg(TrafficSignalArray & perception_msg) +{ + // traffic_light_group_id 1: 1012 + { + TrafficSignal traffic_light_groups; + traffic_light_groups.traffic_light_group_id = 1012; + // elements 1: red + circle + { + TrafficElement elements; + elements.color = TrafficElement::RED; + elements.shape = TrafficElement::CIRCLE; + elements.status = TrafficElement::SOLID_ON; + elements.confidence = 0.9; + traffic_light_groups.elements.push_back(elements); + } + // elements 2: green + right arrow + { + TrafficElement elements; + elements.color = TrafficElement::GREEN; + elements.shape = TrafficElement::RIGHT_ARROW; + elements.status = TrafficElement::SOLID_ON; + elements.confidence = 0.8; + traffic_light_groups.elements.push_back(elements); + } + perception_msg.traffic_light_groups.push_back(traffic_light_groups); + } +} + +void generateExternalMsg(TrafficSignalArray & external_msg) +{ + // traffic_light_group_id 1: 1012 + { + TrafficSignal traffic_light_groups; + traffic_light_groups.traffic_light_group_id = 1012; + // elements 1: green + circle + { + TrafficElement elements; + elements.color = TrafficElement::GREEN; + elements.shape = TrafficElement::CIRCLE; + elements.status = TrafficElement::SOLID_ON; + elements.confidence = 0.6; + traffic_light_groups.elements.push_back(elements); + } + // elements 2: green + right arrow + { + TrafficElement elements; + elements.color = TrafficElement::GREEN; + elements.shape = TrafficElement::RIGHT_ARROW; + elements.status = TrafficElement::SOLID_ON; + elements.confidence = 0.5; + traffic_light_groups.elements.push_back(elements); + } + external_msg.traffic_light_groups.push_back(traffic_light_groups); + } +} + +bool isMsgEqual(const TrafficSignalArray & input_msg, const TrafficSignalArray & gt_msg) +{ + // check number of groups + if (input_msg.traffic_light_groups.size() != gt_msg.traffic_light_groups.size()) { + return false; + } + + for (std::size_t group_idx = 0; group_idx < input_msg.traffic_light_groups.size(); ++group_idx) { + const auto & input_traffic_light_group = input_msg.traffic_light_groups.at(group_idx); + const auto & gt_traffic_light_group = gt_msg.traffic_light_groups.at(group_idx); + + // check traffic_light_group_id + if ( + input_traffic_light_group.traffic_light_group_id != + gt_traffic_light_group.traffic_light_group_id) { + return false; + } + + // check number of elements + if (input_traffic_light_group.elements.size() != gt_traffic_light_group.elements.size()) { + std::cout << input_traffic_light_group.elements.size() << std::endl; + std::cout << gt_traffic_light_group.elements.size() << std::endl; + return false; + } + + for (std::size_t element_idx = 0; element_idx < input_traffic_light_group.elements.size(); + ++element_idx) { + const auto & input_traffic_light_element = input_traffic_light_group.elements.at(element_idx); + const auto & gt_traffic_light_element = gt_traffic_light_group.elements.at(element_idx); + + // check color + if (input_traffic_light_element.color != gt_traffic_light_element.color) { + return false; + } + + // check shape + if (input_traffic_light_element.shape != gt_traffic_light_element.shape) { + return false; + } + + // check status + if (input_traffic_light_element.status != gt_traffic_light_element.status) { + return false; + } + + // check confidence + constexpr float error = std::numeric_limits::epsilon(); + if ( + std::fabs(input_traffic_light_element.confidence - gt_traffic_light_element.confidence) > + error) { + return false; + } + } + } + return true; +} + +TEST(TrafficLightArbiterTest, testTrafficSignalOnlyPerceptionMsg) +{ + rclcpp::init(0, nullptr); + const std::string input_map_topic = "/traffic_light_arbiter/sub/vector_map"; + const std::string input_perception_topic = + "/traffic_light_arbiter/sub/perception_traffic_signals"; + const std::string output_topic = "/traffic_light_arbiter/pub/traffic_signals"; + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + + // map msg preparation + LaneletMapBin vector_map_msg; + generateMap(vector_map_msg); + + // perception msg preparation + TrafficSignalArray perception_msg; + generatePerceptionMsg(perception_msg); + + // test callback preparation + TrafficSignalArray latest_msg; + auto callback = [&latest_msg](const TrafficSignalArray::ConstSharedPtr msg) { + latest_msg = *msg; + }; + test_manager->set_subscriber(output_topic, callback); + + test_manager->test_pub_msg( + test_target_node, input_map_topic, vector_map_msg, rclcpp::QoS(1).transient_local()); + test_manager->test_pub_msg( + test_target_node, input_perception_topic, perception_msg); + + EXPECT_EQ(isMsgEqual(latest_msg, perception_msg), true); + rclcpp::shutdown(); +} + +TEST(TrafficLightArbiterTest, testTrafficSignalOnlyExternalMsg) +{ + rclcpp::init(0, nullptr); + const std::string input_map_topic = "/traffic_light_arbiter/sub/vector_map"; + const std::string input_external_topic = "/traffic_light_arbiter/sub/external_traffic_signals"; + const std::string output_topic = "/traffic_light_arbiter/pub/traffic_signals"; + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + + // map msg preparation + LaneletMapBin vector_map_msg; + generateMap(vector_map_msg); + + // external msg preparation + TrafficSignalArray external_msg; + generateExternalMsg(external_msg); + + // test callback preparation + TrafficSignalArray latest_msg; + auto callback = [&latest_msg](const TrafficSignalArray::ConstSharedPtr msg) { + latest_msg = *msg; + }; + test_manager->set_subscriber(output_topic, callback); + + test_manager->test_pub_msg( + test_target_node, input_map_topic, vector_map_msg, rclcpp::QoS(1).transient_local()); + test_manager->test_pub_msg( + test_target_node, input_external_topic, external_msg); + + EXPECT_EQ(isMsgEqual(latest_msg, external_msg), true); + rclcpp::shutdown(); +} + +TEST(TrafficLightArbiterTest, testTrafficSignalBothMsg) +{ + rclcpp::init(0, nullptr); + const std::string input_map_topic = "/traffic_light_arbiter/sub/vector_map"; + const std::string input_perception_topic = + "/traffic_light_arbiter/sub/perception_traffic_signals"; + const std::string input_external_topic = "/traffic_light_arbiter/sub/external_traffic_signals"; + const std::string output_topic = "/traffic_light_arbiter/pub/traffic_signals"; + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + + // map preparation + LaneletMapBin vector_map_msg; + generateMap(vector_map_msg); + + // perception preparation + TrafficSignalArray perception_msg; + generatePerceptionMsg(perception_msg); + + // external preparation + TrafficSignalArray external_msg; + generateExternalMsg(external_msg); + + // test callback preparation + TrafficSignalArray latest_msg; + auto callback = [&latest_msg](const TrafficSignalArray::ConstSharedPtr msg) { + latest_msg = *msg; + }; + test_manager->set_subscriber(output_topic, callback); + + test_manager->test_pub_msg( + test_target_node, input_map_topic, vector_map_msg, rclcpp::QoS(1).transient_local()); + test_manager->test_pub_msg( + test_target_node, input_external_topic, external_msg); + test_manager->test_pub_msg( + test_target_node, input_perception_topic, perception_msg); + + // latest_msg should be equal to perception_msg because it has higher confidence than external_msg + EXPECT_EQ(isMsgEqual(latest_msg, perception_msg), true); + rclcpp::shutdown(); +} diff --git a/perception/autoware_traffic_light_classifier/package.xml b/perception/autoware_traffic_light_classifier/package.xml index 6da678e02cfb2..663c7a91204b1 100644 --- a/perception/autoware_traffic_light_classifier/package.xml +++ b/perception/autoware_traffic_light_classifier/package.xml @@ -15,6 +15,7 @@ autoware_cmake autoware_tensorrt_classifier + autoware_tensorrt_common cuda_utils cv_bridge image_transport @@ -23,7 +24,6 @@ rclcpp rclcpp_components sensor_msgs - tensorrt_common tier4_perception_msgs diff --git a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp index 7a6d00f0135c5..f9bf2509aa2ae 100644 --- a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp +++ b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.cpp @@ -51,11 +51,11 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) } readLabelfile(label_file_path, labels_); - nvinfer1::Dims input_dim = tensorrt_common::get_input_dims(model_file_path); + nvinfer1::Dims input_dim = autoware::tensorrt_common::get_input_dims(model_file_path); assert(input_dim.d[0] > 0); batch_size_ = input_dim.d[0]; - tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; + autoware::tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; classifier_ = std::make_unique( model_file_path, precision, batch_config, mean_, std_); if (node_ptr_->declare_parameter("build_only", false)) { diff --git a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.hpp b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.hpp index 85895cfc9e637..b6338a0d89358 100644 --- a/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.hpp +++ b/perception/autoware_traffic_light_classifier/src/classifier/cnn_classifier.hpp @@ -18,6 +18,7 @@ #include "classifier_interface.hpp" #include +#include #include #include #include @@ -25,7 +26,6 @@ #include #include #include -#include #include diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp index 5963efe611c00..76f5e608ca425 100644 --- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp +++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp @@ -73,17 +73,17 @@ TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOpt RCLCPP_ERROR(this->get_logger(), "Could not find tlr id"); } - const tensorrt_common::BuildConfig build_config = - tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0); + const autoware::tensorrt_common::BuildConfig build_config = + autoware::tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0); const bool cuda_preprocess = true; const std::string calib_image_list = ""; const double scale = 1.0; const std::string cache_dir = ""; - nvinfer1::Dims input_dim = tensorrt_common::get_input_dims(model_path); + nvinfer1::Dims input_dim = autoware::tensorrt_common::get_input_dims(model_path); assert(input_dim.d[0] > 0); batch_size_ = input_dim.d[0]; - const tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; + const autoware::tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_}; trt_yolox_ = std::make_unique( model_path, precision, num_class, score_thresh_, nms_threshold, build_config, cuda_preprocess, diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp index 434440359f282..a26589775ff3e 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/costmap_generator.hpp @@ -70,7 +70,6 @@ #include #include -#include #include namespace autoware::costmap_generator @@ -106,9 +105,9 @@ class CostmapGenerator : public rclcpp::Node tf2_ros::Buffer tf_buffer_; tf2_ros::TransformListener tf_listener_; - std::vector> primitives_points_; + std::vector primitives_polygons_; - PointsToCostmap points2costmap_; + PointsToCostmap points2costmap_{}; ObjectsToCostmap objects2costmap_; tier4_planning_msgs::msg::Scenario::ConstSharedPtr scenario_; @@ -150,19 +149,19 @@ class CostmapGenerator : public rclcpp::Node /// \param[in] gridmap with calculated cost void publishCostmap(const grid_map::GridMap & costmap); - /// \brief set area_points from lanelet polygons - /// \param [in] input lanelet_map - /// \param [out] calculated area_points of lanelet polygons - void loadRoadAreasFromLaneletMap( + /// \brief fill a vector with road area polygons + /// \param [in] lanelet_map input lanelet map + /// \param [out] area_polygons polygon vector to fill + static void loadRoadAreasFromLaneletMap( const lanelet::LaneletMapPtr lanelet_map, - std::vector> * area_points); + std::vector & area_polygons); - /// \brief set area_points from parking-area polygons - /// \param [in] input lanelet_map - /// \param [out] calculated area_points of lanelet polygons - void loadParkingAreasFromLaneletMap( + /// \brief fill a vector with parking-area polygons + /// \param [in] lanelet_map input lanelet map + /// \param [out] area_polygons polygon vector to fill + static void loadParkingAreasFromLaneletMap( const lanelet::LaneletMapPtr lanelet_map, - std::vector> * area_points); + std::vector & area_polygons); /// \brief calculate cost from pointcloud data /// \param[in] in_points: subscribed pointcloud data diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp index 55a032fc8bb5a..737af55aa0b92 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2020-2024 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. @@ -33,46 +33,38 @@ #ifndef AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ #define AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ -#include #include #include +#include #include - -#ifdef ROS_DISTRO_GALACTIC -#include -#else #include -#endif + #include #include #include #include -namespace object_map +namespace autoware::costmap_generator::object_map { /*! - * Projects the in_area_points forming the road, stores the result in out_grid_map. + * Fill the grid_map in the areas defined by the given polygons * @param[out] out_grid_map GridMap object to add the road grid - * @param[in] in_points Array of points containing the selected primitives + * @param[in] in_polygons polygons to fill in the grid map * @param[in] in_grid_layer_name Name to assign to the layer * @param[in] in_layer_background_value Empty state value - * @param[in] in_fill_color Value to fill on selected primitives - * @param[in] in_layer_min_value Minimum value in the layer - * @param[in] in_layer_max_value Maximum value in the layer + * @param[in] in_fill_value Value to fill inside the given polygons * @param[in] in_tf_target_frame Target frame to transform the points * @param[in] in_tf_source_frame Source frame, where the points are located * @param[in] in_tf_listener Valid listener to obtain the transformation */ -void FillPolygonAreas( - grid_map::GridMap & out_grid_map, - const std::vector> & in_points, - const std::string & in_grid_layer_name, const int in_layer_background_value, - const int in_fill_color, const int in_layer_min_value, const int in_layer_max_value, - const std::string & in_tf_target_frame, const std::string & in_tf_source_frame, - const tf2_ros::Buffer & in_tf_buffer); +void fill_polygon_areas( + grid_map::GridMap & out_grid_map, const std::vector & in_polygons, + const std::string & in_grid_layer_name, const float in_layer_background_value, + const float in_fill_value, const std::string & in_tf_target_frame, + const std::string & in_tf_source_frame, const tf2_ros::Buffer & in_tf_buffer); -} // namespace object_map +} // namespace autoware::costmap_generator::object_map #endif // AUTOWARE_COSTMAP_GENERATOR__OBJECT_MAP_UTILS_HPP_ diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp index aa11a98830dc3..a04e139fdaa6e 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/objects_to_costmap.hpp @@ -72,7 +72,7 @@ class ObjectsToCostmap /// \param[out] calculated cost in grid_map::Matrix format grid_map::Matrix makeCostmapFromObjects( const grid_map::GridMap & costmap, const double expand_polygon_size, - const double size_of_expansion_kernel, + const int64_t size_of_expansion_kernel, const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects); private: @@ -103,7 +103,7 @@ class ObjectsToCostmap /// \param[in] in_corner_point one of convex hull points /// \param[in] expand_polygon_size the param for expanding convex_hull points /// \param[out] expanded point - geometry_msgs::msg::Point makeExpandedPoint( + static geometry_msgs::msg::Point makeExpandedPoint( const geometry_msgs::msg::Point & in_centroid, const geometry_msgs::msg::Point32 & in_corner_point, const double expand_polygon_size); @@ -111,7 +111,7 @@ class ObjectsToCostmap /// \param[in] in_centroid: object's centroid /// \param[in] expand_polygon_size: expanding convex_hull points /// \param[out] polygon object with convex hull points - grid_map::Polygon makePolygonFromObjectConvexHull( + static grid_map::Polygon makePolygonFromObjectConvexHull( const std_msgs::msg::Header & header, const autoware_perception_msgs::msg::PredictedObject & in_object, const double expand_polygon_size); @@ -121,7 +121,7 @@ class ObjectsToCostmap /// \param[in] gridmap_layer_name: target gridmap layer name for calculated cost /// \param[in] score: set score as a cost for costmap /// \param[in] objects_costmap: update cost in this objects_costmap[gridmap_layer_name] - void setCostInPolygon( + static void setCostInPolygon( const grid_map::Polygon & polygon, const std::string & gridmap_layer_name, const float score, grid_map::GridMap & objects_costmap); }; diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp index 07bf9eb33ffbe..0a85f7520b317 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp @@ -52,6 +52,7 @@ #include #include +#include #include #include #include @@ -91,15 +92,14 @@ std::shared_ptr findNearestParkinglot( const std::shared_ptr & lanelet_map_ptr, const lanelet::BasicPoint2d & current_position) { - const auto linked_parking_lot = std::make_shared(); + auto linked_parking_lot = std::make_shared(); const auto result = lanelet::utils::query::getLinkedParkingLot( current_position, lanelet_map_ptr, linked_parking_lot.get()); if (result) { return linked_parking_lot; - } else { - return {}; } + return {}; } // copied from scenario selector @@ -120,20 +120,6 @@ bool isInParkingLot( return lanelet::geometry::within(search_point, nearest_parking_lot->basicPolygon()); } -// Convert from Point32 to Point -std::vector poly2vector(const geometry_msgs::msg::Polygon & poly) -{ - std::vector ps; - for (const auto & p32 : poly.points) { - geometry_msgs::msg::Point p; - p.x = p32.x; - p.y = p32.y; - p.z = p32.z; - ps.push_back(p); - } - return ps; -} - pcl::PointCloud getTransformedPointCloud( const sensor_msgs::msg::PointCloud2 & pointcloud_msg, const geometry_msgs::msg::Transform & transform) @@ -206,7 +192,7 @@ CostmapGenerator::CostmapGenerator(const rclcpp::NodeOptions & node_options) void CostmapGenerator::loadRoadAreasFromLaneletMap( const lanelet::LaneletMapPtr lanelet_map, - std::vector> * area_points) + std::vector & area_polygons) { // use all lanelets in map of subtype road to give way area lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map); @@ -215,21 +201,25 @@ void CostmapGenerator::loadRoadAreasFromLaneletMap( // convert lanelets to polygons and put into area_points array for (const auto & ll : road_lanelets) { geometry_msgs::msg::Polygon poly; - lanelet::visualization::lanelet2Polygon(ll, &poly); - area_points->push_back(poly2vector(poly)); + geometry_msgs::msg::Point32 pt; + for (const auto & p : ll.polygon3d().basicPolygon()) { + lanelet::utils::conversion::toGeomMsgPt32(p, &pt); + poly.points.push_back(pt); + } + area_polygons.push_back(poly); } } void CostmapGenerator::loadParkingAreasFromLaneletMap( const lanelet::LaneletMapPtr lanelet_map, - std::vector> * area_points) + std::vector & area_polygons) { // Parking lots lanelet::ConstPolygons3d all_parking_lots = lanelet::utils::query::getAllParkingLots(lanelet_map); for (const auto & ll_poly : all_parking_lots) { geometry_msgs::msg::Polygon poly; lanelet::utils::conversion::toGeomMsgPoly(ll_poly, &poly); - area_points->push_back(poly2vector(poly)); + area_polygons.push_back(poly); } // Parking spaces @@ -238,10 +228,9 @@ void CostmapGenerator::loadParkingAreasFromLaneletMap( for (const auto & parking_space : all_parking_spaces) { lanelet::ConstPolygon3d ll_poly; lanelet::utils::lineStringWithWidthToPolygon(parking_space, &ll_poly); - geometry_msgs::msg::Polygon poly; lanelet::utils::conversion::toGeomMsgPoly(ll_poly, &poly); - area_points->push_back(poly2vector(poly)); + area_polygons.push_back(poly); } } @@ -252,11 +241,11 @@ void CostmapGenerator::onLaneletMapBin( lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_); if (param_->use_wayarea) { - loadRoadAreasFromLaneletMap(lanelet_map_, &primitives_points_); + loadRoadAreasFromLaneletMap(lanelet_map_, primitives_polygons_); } if (param_->use_parkinglot) { - loadParkingAreasFromLaneletMap(lanelet_map_, &primitives_points_); + loadParkingAreasFromLaneletMap(lanelet_map_, primitives_polygons_); } } @@ -346,11 +335,10 @@ bool CostmapGenerator::isActive() } } return false; - } else { - const auto & current_pose_wrt_map = getCurrentPose(tf_buffer_, this->get_logger()); - if (!current_pose_wrt_map) return false; - return isInParkingLot(lanelet_map_, current_pose_wrt_map->pose); } + const auto & current_pose_wrt_map = getCurrentPose(tf_buffer_, this->get_logger()); + if (!current_pose_wrt_map) return false; + return isInParkingLot(lanelet_map_, current_pose_wrt_map->pose); } void CostmapGenerator::initGridmap() @@ -403,7 +391,8 @@ autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr transformObjects } for (auto & object : objects->objects) { - geometry_msgs::msg::PoseStamped output_stamped, input_stamped; + geometry_msgs::msg::PoseStamped output_stamped; + geometry_msgs::msg::PoseStamped input_stamped; input_stamped.pose = object.kinematics.initial_pose_with_covariance.pose; tf2::doTransform(input_stamped, output_stamped, objects2costmap); object.kinematics.initial_pose_with_covariance.pose = output_stamped.pose; @@ -428,11 +417,10 @@ grid_map::Matrix CostmapGenerator::generateObjectsCostmap( grid_map::Matrix CostmapGenerator::generatePrimitivesCostmap() { grid_map::GridMap lanelet2_costmap = costmap_; - if (!primitives_points_.empty()) { - object_map::FillPolygonAreas( - lanelet2_costmap, primitives_points_, LayerName::primitives, param_->grid_max_value, - param_->grid_min_value, param_->grid_min_value, param_->grid_max_value, param_->costmap_frame, - param_->map_frame, tf_buffer_); + if (!primitives_polygons_.empty()) { + object_map::fill_polygon_areas( + lanelet2_costmap, primitives_polygons_, LayerName::primitives, param_->grid_max_value, + param_->grid_min_value, param_->costmap_frame, param_->map_frame, tf_buffer_); } return lanelet2_costmap[LayerName::primitives]; } diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp index 297b6fe984cbd..1b8764e4d3f1c 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2020-2024 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. @@ -32,74 +32,43 @@ #include "autoware_costmap_generator/object_map_utils.hpp" +#include +#include + #include #include #include -namespace object_map +namespace autoware::costmap_generator::object_map { -void FillPolygonAreas( - grid_map::GridMap & out_grid_map, - const std::vector> & in_points, - const std::string & in_grid_layer_name, const int in_layer_background_value, - const int in_fill_color, const int in_layer_min_value, const int in_layer_max_value, - const std::string & in_tf_target_frame, const std::string & in_tf_source_frame, - const tf2_ros::Buffer & in_tf_buffer) +void fill_polygon_areas( + grid_map::GridMap & out_grid_map, const std::vector & in_polygons, + const std::string & in_grid_layer_name, const float in_layer_background_value, + const float in_fill_value, const std::string & in_tf_target_frame, + const std::string & in_tf_source_frame, const tf2_ros::Buffer & in_tf_buffer) { if (!out_grid_map.exists(in_grid_layer_name)) { out_grid_map.add(in_grid_layer_name); } out_grid_map[in_grid_layer_name].setConstant(in_layer_background_value); - cv::Mat original_image; - grid_map::GridMapCvConverter::toImage( - out_grid_map, in_grid_layer_name, CV_8UC1, in_layer_min_value, in_layer_max_value, - original_image); - - cv::Mat merged_filled_image = original_image.clone(); - - geometry_msgs::msg::TransformStamped transform; - transform = + const geometry_msgs::msg::TransformStamped transform = in_tf_buffer.lookupTransform(in_tf_target_frame, in_tf_source_frame, tf2::TimePointZero); - // calculate out_grid_map position - grid_map::Position map_pos = out_grid_map.getPosition(); - const double origin_x_offset = out_grid_map.getLength().x() / 2.0 - map_pos.x(); - const double origin_y_offset = out_grid_map.getLength().y() / 2.0 - map_pos.y(); - - for (const auto & points : in_points) { - std::vector cv_polygon; - - for (const auto & p : points) { - // transform to GridMap coordinate - geometry_msgs::msg::Point transformed_point; - geometry_msgs::msg::PointStamped output_stamped, input_stamped; - input_stamped.point = p; - tf2::doTransform(input_stamped, output_stamped, transform); - transformed_point = output_stamped.point; - - // coordinate conversion for cv image - const double cv_x = (out_grid_map.getLength().y() - origin_y_offset - transformed_point.y) / - out_grid_map.getResolution(); - const double cv_y = (out_grid_map.getLength().x() - origin_x_offset - transformed_point.x) / - out_grid_map.getResolution(); - cv_polygon.emplace_back(cv_x, cv_y); + for (const auto & poly : in_polygons) { + // transform from Map to GridMap coordinates + geometry_msgs::msg::Polygon transformed_poly; + tf2::doTransform(poly, transformed_poly, transform); + grid_map::Polygon grid_map_poly; + for (const auto & p : transformed_poly.points) { + grid_map_poly.addVertex({p.x, p.y}); + } + for (grid_map_utils::PolygonIterator it(out_grid_map, grid_map_poly); !it.isPastEnd(); ++it) { + out_grid_map.at(in_grid_layer_name, *it) = in_fill_value; } - - cv::Mat filled_image = original_image.clone(); - - std::vector> cv_polygons; - cv_polygons.push_back(cv_polygon); - cv::fillPoly(filled_image, cv_polygons, cv::Scalar(in_fill_color)); - - merged_filled_image &= filled_image; } - - // convert to ROS msg - grid_map::GridMapCvConverter::addLayerFromImage( - merged_filled_image, in_grid_layer_name, out_grid_map, in_layer_min_value, in_layer_max_value); } -} // namespace object_map +} // namespace autoware::costmap_generator::object_map diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp index afb2dbb9874c9..efa0ea6651632 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/objects_to_costmap.cpp @@ -44,6 +44,10 @@ #include "autoware_costmap_generator/objects_to_costmap.hpp" +#include +#include + +#include #include #include @@ -148,7 +152,7 @@ void ObjectsToCostmap::setCostInPolygon( const grid_map::Polygon & polygon, const std::string & gridmap_layer_name, const float score, grid_map::GridMap & objects_costmap) { - for (grid_map::PolygonIterator itr(objects_costmap, polygon); !itr.isPastEnd(); ++itr) { + for (grid_map_utils::PolygonIterator itr(objects_costmap, polygon); !itr.isPastEnd(); ++itr) { const float current_score = objects_costmap.at(gridmap_layer_name, *itr); if (score > current_score) { objects_costmap.at(gridmap_layer_name, *itr) = score; @@ -156,14 +160,40 @@ void ObjectsToCostmap::setCostInPolygon( } } +void naive_mean_filter_on_grid_edges( + // cppcheck-suppress constParameterReference + const grid_map::Matrix & input, const int kernel_size, grid_map::Matrix & output) +{ + for (auto i = 0; i < input.rows(); ++i) { + for (auto j = 0; j < input.cols(); ++j) { + const auto is_inside = + (i > kernel_size + 1 && j > kernel_size + 1) && + (i + kernel_size + 1 < input.rows() && j + kernel_size + 1 < input.cols()); + if (is_inside) { + continue; + } + auto size = 0.0f; + auto sum = 0.0f; + for (auto i_offset = std::max(0, i - kernel_size); + i_offset < i + kernel_size && i_offset < input.rows(); ++i_offset) { + for (auto j_offset = std::max(0, j - kernel_size); + j_offset < j + kernel_size && j_offset < input.cols(); ++j_offset) { + ++size; + sum += input(i_offset, j_offset); + } + } + output(i, j) = sum / size; + } + } +} + grid_map::Matrix ObjectsToCostmap::makeCostmapFromObjects( const grid_map::GridMap & costmap, const double expand_polygon_size, - const double size_of_expansion_kernel, + const int64_t size_of_expansion_kernel, const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr in_objects) { grid_map::GridMap objects_costmap = costmap; objects_costmap.add(OBJECTS_COSTMAP_LAYER_, 0); - objects_costmap.add(BLURRED_OBJECTS_COSTMAP_LAYER_, 0); for (const auto & object : in_objects->objects) { grid_map::Polygon polygon; @@ -178,23 +208,28 @@ grid_map::Matrix ObjectsToCostmap::makeCostmapFromObjects( const auto highest_probability_label = *std::max_element( object.classification.begin(), object.classification.end(), [](const auto & c1, const auto & c2) { return c1.probability < c2.probability; }); - const double highest_probability = static_cast(highest_probability_label.probability); - setCostInPolygon(polygon, OBJECTS_COSTMAP_LAYER_, highest_probability, objects_costmap); - setCostInPolygon(polygon, BLURRED_OBJECTS_COSTMAP_LAYER_, highest_probability, objects_costmap); + setCostInPolygon( + polygon, OBJECTS_COSTMAP_LAYER_, highest_probability_label.probability, objects_costmap); } + objects_costmap.add(BLURRED_OBJECTS_COSTMAP_LAYER_, 0.0); // Applying mean filter to expanded gridmap - const grid_map::SlidingWindowIterator::EdgeHandling edge_handling = - grid_map::SlidingWindowIterator::EdgeHandling::CROP; - for (grid_map::SlidingWindowIterator iterator( - objects_costmap, BLURRED_OBJECTS_COSTMAP_LAYER_, edge_handling, size_of_expansion_kernel); - !iterator.isPastEnd(); ++iterator) { - objects_costmap.at(BLURRED_OBJECTS_COSTMAP_LAYER_, *iterator) = - iterator.getData().meanOfFinites(); // Blurring. + const auto & original_matrix = objects_costmap[OBJECTS_COSTMAP_LAYER_]; + Eigen::MatrixXf & filtered_matrix = objects_costmap[BLURRED_OBJECTS_COSTMAP_LAYER_]; + // edge of the grid: naive filter + const auto kernel_size = static_cast(static_cast(size_of_expansion_kernel) / 2.0); + naive_mean_filter_on_grid_edges(original_matrix, kernel_size, filtered_matrix); + // inside the grid: optimized filter using Eigen block + for (auto i = 0; i < filtered_matrix.rows() - size_of_expansion_kernel; ++i) { + for (auto j = 0; j < filtered_matrix.cols() - size_of_expansion_kernel; ++j) { + const auto mean = + original_matrix.block(i, j, size_of_expansion_kernel, size_of_expansion_kernel).mean(); + filtered_matrix(i + kernel_size, j + kernel_size) = mean; + } } - objects_costmap[OBJECTS_COSTMAP_LAYER_] = objects_costmap[OBJECTS_COSTMAP_LAYER_].cwiseMax( - objects_costmap[BLURRED_OBJECTS_COSTMAP_LAYER_]); + objects_costmap[OBJECTS_COSTMAP_LAYER_] = + objects_costmap[OBJECTS_COSTMAP_LAYER_].cwiseMax(filtered_matrix); return objects_costmap[OBJECTS_COSTMAP_LAYER_]; } diff --git a/planning/autoware_costmap_generator/package.xml b/planning/autoware_costmap_generator/package.xml index 29c1be77d3d75..8ad90e12d4cd3 100644 --- a/planning/autoware_costmap_generator/package.xml +++ b/planning/autoware_costmap_generator/package.xml @@ -15,6 +15,7 @@ ament_cmake_auto autoware_cmake + autoware_grid_map_utils autoware_lanelet2_extension autoware_map_msgs autoware_perception_msgs diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp index 992879a5b3b74..2b54160a81038 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp @@ -198,6 +198,7 @@ void MissionPlanner::on_modified_goal(const PoseWithUuidStamped::ConstSharedPtr cancel_route(); change_state(RouteState::SET); RCLCPP_ERROR(get_logger(), "The planned route is empty."); + return; } change_route(route); @@ -395,7 +396,8 @@ LaneletRoute MissionPlanner::create_route(const SetWaypointRoute::Request & req) const auto & uuid = req.uuid; const auto & allow_goal_modification = req.allow_modification; - return create_route(header, waypoints, goal_pose, uuid, allow_goal_modification); + return create_route( + header, waypoints, odometry_->pose.pose, goal_pose, uuid, allow_goal_modification); } LaneletRoute MissionPlanner::create_route(const PoseWithUuidStamped & msg) @@ -405,7 +407,21 @@ LaneletRoute MissionPlanner::create_route(const PoseWithUuidStamped & msg) const auto & uuid = msg.uuid; const auto & allow_goal_modification = current_route_->allow_modification; - return create_route(header, std::vector(), goal_pose, uuid, allow_goal_modification); + // NOTE: Reroute by modifed goal is assumed to be a slight modification near the goal lane. + // It is assumed that ego and goal are on the extension of the current route at least. + // Therefore, the start pose is the start pose of the current route if it exists. + // This prevents the route from becoming shorter due to reroute. + // Also, use start pose and waypoints that are on the preferred lanelet of the current route + // as much as possible. + // For this process, refer to RouteHandler::planPathLaneletsBetweenCheckpoints() or + // https://github.com/autowarefoundation/autoware.universe/pull/8238 too. + const auto & start_pose = current_route_ ? current_route_->start_pose : odometry_->pose.pose; + std::vector waypoints{}; + if (current_route_) { + waypoints.push_back(odometry_->pose.pose); + } + + return create_route(header, waypoints, start_pose, goal_pose, uuid, allow_goal_modification); } LaneletRoute MissionPlanner::create_route( @@ -424,11 +440,11 @@ LaneletRoute MissionPlanner::create_route( } LaneletRoute MissionPlanner::create_route( - const Header & header, const std::vector & waypoints, const Pose & goal_pose, - const UUID & uuid, const bool allow_goal_modification) + const Header & header, const std::vector & waypoints, const Pose & start_pose, + const Pose & goal_pose, const UUID & uuid, const bool allow_goal_modification) { PlannerPlugin::RoutePoints points; - points.push_back(odometry_->pose.pose); + points.push_back(start_pose); for (const auto & waypoint : waypoints) { points.push_back(transform_pose(waypoint, header)); } diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp index 99384e9ddeb3b..9342bc7840641 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp @@ -125,8 +125,8 @@ class MissionPlanner : public rclcpp::Node const Header & header, const std::vector & segments, const Pose & goal_pose, const UUID & uuid, const bool allow_goal_modification); LaneletRoute create_route( - const Header & header, const std::vector & waypoints, const Pose & goal_pose, - const UUID & uuid, const bool allow_goal_modification); + const Header & header, const std::vector & waypoints, const Pose & start_pose, + const Pose & goal_pose, const UUID & uuid, const bool allow_goal_modification); void publish_pose_log(const Pose & pose, const std::string & pose_type); diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp index 52c60a612d1bd..f26f9c8eb6dde 100644 --- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp @@ -30,7 +30,7 @@ << std::endl; \ } -#include +#include #include #include diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp index 9a93b647dac02..63ad2ecce09cc 100644 --- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_ #define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_ #include +#include #include #include diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index f2aa5513ee81a..898c78391fb72 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -13,6 +13,7 @@ ament_cmake_auto autoware_cmake + autoware_component_interface_specs autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -23,7 +24,6 @@ autoware_test_utils autoware_universe_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils lanelet2_io nav_msgs diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp index e507cc910cf86..383e85731604e 100644 --- a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp +++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp @@ -143,8 +143,9 @@ void RemainingDistanceTimeCalculatorNode::calculate_remaining_distance() for (auto & llt : remaining_shortest_path) { if (remaining_shortest_path.size() == 1) { - remaining_distance_ += autoware::universe_utils::calcDistance2d( - current_vehicle_pose_.position, goal_pose_.position); + auto arc_coord_cur = lanelet::utils::getArcCoordinates({llt}, current_vehicle_pose_); + auto arc_coord_goal = lanelet::utils::getArcCoordinates({llt}, goal_pose_); + remaining_distance_ += arc_coord_goal.length - arc_coord_cur.length; break; } diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp index 616b91d1bc5f9..ec5f7bb5e0080 100644 --- a/planning/autoware_route_handler/src/route_handler.cpp +++ b/planning/autoware_route_handler/src/route_handler.cpp @@ -1898,17 +1898,34 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints( std::remove_if( candidates.begin(), candidates.end(), [&](const auto & l) { return !isRoadLanelet(l); }), candidates.end()); - if (!lanelet::utils::query::getClosestLanelet(candidates, goal_checkpoint, &goal_lanelet)) { - RCLCPP_WARN_STREAM( - logger_, "Failed to find closest lanelet." - << std::endl - << " - start checkpoint: " << toString(start_checkpoint) << std::endl - << " - goal checkpoint: " << toString(goal_checkpoint) << std::endl); - return false; + // if there is a lanelet in candidates that is included in previous preferred lanelets, + // set it as goal_lanelet. + // this is to select the same lane as much as possible when rerouting with waypoints. + const auto findGoalClosestPreferredLanelet = [&]() -> std::optional { + lanelet::ConstLanelet closest_lanelet; + if (getClosestPreferredLaneletWithinRoute(goal_checkpoint, &closest_lanelet)) { + if (std::find(candidates.begin(), candidates.end(), closest_lanelet) != candidates.end()) { + if (lanelet::utils::isInLanelet(goal_checkpoint, closest_lanelet)) { + return closest_lanelet; + } + } + } + return std::nullopt; + }; + if (auto closest_lanelet = findGoalClosestPreferredLanelet()) { + goal_lanelet = closest_lanelet.value(); + } else { + if (!lanelet::utils::query::getClosestLanelet(candidates, goal_checkpoint, &goal_lanelet)) { + RCLCPP_WARN_STREAM( + logger_, "Failed to find closest lanelet." + << std::endl + << " - start checkpoint: " << toString(start_checkpoint) << std::endl + << " - goal checkpoint: " << toString(goal_checkpoint) << std::endl); + return false; + } } lanelet::Optional optional_route; - std::vector candidate_paths; lanelet::routing::LaneletPath shortest_path; bool is_route_found = false; diff --git a/planning/autoware_route_handler/test/test_route_handler.hpp b/planning/autoware_route_handler/test/test_route_handler.hpp index cd7813243c25e..1a9359dc8e17d 100644 --- a/planning/autoware_route_handler/test/test_route_handler.hpp +++ b/planning/autoware_route_handler/test/test_route_handler.hpp @@ -68,7 +68,7 @@ class TestRouteHandler : public ::testing::Test { const auto rh_test_route = get_absolute_path_to_route(autoware_route_handler_dir, route_filename); - route_handler_->setRoute(autoware::test_utils::parse_lanelet_route_file(rh_test_route)); + route_handler_->setRoute(autoware::test_utils::parse(rh_test_route)); } lanelet::ConstLanelets get_current_lanes() diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp index 7e9ccea9ac0c2..af64dc5220010 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map.cpp @@ -12,13 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/behavior_path_goal_planner_module/goal_searcher.hpp" +#include "autoware/behavior_path_goal_planner_module/util.hpp" + #include #include #include #include #include +#include +#include #include #include +#include #include #include #include @@ -36,19 +42,73 @@ #include #include +#include #include using namespace std::chrono_literals; // NOLINT +using autoware::behavior_path_planner::BehaviorModuleOutput; +using autoware::behavior_path_planner::GoalCandidate; +using autoware::behavior_path_planner::GoalCandidates; +using autoware::behavior_path_planner::GoalPlannerParameters; +using autoware::behavior_path_planner::PlannerData; +using autoware::behavior_path_planner::PullOverPath; +using autoware::behavior_path_planner::utils::parking_departure::calcFeasibleDecelDistance; +using autoware_planning_msgs::msg::LaneletRoute; +using tier4_planning_msgs::msg::PathWithLaneId; + +void plot_footprint( + matplotlibcpp17::axes::Axes & axes, const autoware::universe_utils::LinearRing2d & footprint, + const std::string & color = "blue") +{ + std::vector xs, ys; + for (const auto & pt : footprint) { + xs.push_back(pt.x()); + ys.push_back(pt.y()); + } + xs.push_back(xs.front()); + ys.push_back(ys.front()); + axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linestyle"_a = "dotted")); +} + +void plot_goal_candidates( + matplotlibcpp17::axes::Axes & axes, const GoalCandidates & goals, + const autoware::universe_utils::LinearRing2d & local_footprint, + const std::string & color = "green") +{ + std::vector xs, ys; + std::vector yaw_cos, yaw_sin; + for (const auto & goal : goals) { + const auto goal_footprint = + transformVector(local_footprint, autoware::universe_utils::pose2transform(goal.goal_pose)); + plot_footprint(axes, goal_footprint); + xs.push_back(goal.goal_pose.position.x); + ys.push_back(goal.goal_pose.position.y); + axes.text(Args(xs.back(), ys.back(), std::to_string(goal.id))); + const double yaw = autoware::universe_utils::getRPY(goal.goal_pose).z; + yaw_cos.push_back(std::cos(yaw)); + yaw_sin.push_back(std::sin(yaw)); + } + axes.scatter(Args(xs, ys), Kwargs("color"_a = color)); + axes.quiver( + Args(xs, ys, yaw_cos, yaw_sin), + Kwargs("angles"_a = "xy", "scale_units"_a = "xy", "scale"_a = 1.0)); +} + void plot_path_with_lane_id( - matplotlibcpp17::axes::Axes & axes, const tier4_planning_msgs::msg::PathWithLaneId path) + matplotlibcpp17::axes::Axes & axes, const PathWithLaneId & path, + const std::string & color = "red", const std::string & label = "") { std::vector xs, ys; for (const auto & point : path.points) { xs.push_back(point.point.pose.position.x); ys.push_back(point.point.pose.position.y); } - axes.plot(Args(xs, ys), Kwargs("color"_a = "red", "linewidth"_a = 1.0)); + if (label == "") { + axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linewidth"_a = 1.0)); + } else { + axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linewidth"_a = 1.0, "label"_a = label)); + } } void plot_lanelet( @@ -82,135 +142,362 @@ void plot_lanelet( Kwargs("color"_a = "black", "linewidth"_a = linewidth, "linestyle"_a = "dashed")); } -int main(int argc, char ** argv) +std::shared_ptr instantiate_planner_data( + rclcpp::Node::SharedPtr node, const std::string & map_path, const LaneletRoute & route_msg) { - rclcpp::init(argc, argv); - - const auto road_shoulder_test_map_path = - ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner_common") + - "/test_map/road_shoulder/lanelet2_map.osm"; - lanelet::ErrorMessages errors{}; lanelet::projection::MGRSProjector projector{}; - const lanelet::LaneletMapPtr lanelet_map_ptr = - lanelet::load(road_shoulder_test_map_path, projector, &errors); + const lanelet::LaneletMapPtr lanelet_map_ptr = lanelet::load(map_path, projector, &errors); if (!errors.empty()) { for (const auto & error : errors) { std::cout << error << std::endl; } - return 1; + return nullptr; } + autoware_map_msgs::msg::LaneletMapBin map_bin; + lanelet::utils::conversion::toBinMsg( + lanelet_map_ptr, &map_bin); // TODO(soblin): pass lanelet_map_ptr to RouteHandler - autoware_planning_msgs::msg::LaneletRoute route_msg; - route_msg.start_pose = geometry_msgs::build() - .position(geometry_msgs::build() - .x(530.707103865218) - .y(436.8758309382301) - .z(100.0)) - .orientation(geometry_msgs::build() - .x(0.0) - .y(0.0) - .z(0.2187392230193602) - .w(0.9757833531644647)); - route_msg.goal_pose = geometry_msgs::build() - .position(geometry_msgs::build() - .x(571.8018955394537) - .y(435.6819504507543) - .z(100.0)) - .orientation(geometry_msgs::build() - .x(0.0) - .y(0.0) - .z(-0.3361155457734493) - .w(0.9418207578352774)); + auto planner_data = std::make_shared(); + planner_data->init_parameters(*node); + planner_data->route_handler->setMap(map_bin); + planner_data->route_handler->setRoute(route_msg); + + nav_msgs::msg::Odometry odom; + odom.pose.pose = route_msg.start_pose; + auto odometry = std::make_shared(odom); + planner_data->self_odometry = odometry; + + geometry_msgs::msg::AccelWithCovarianceStamped accel; + accel.accel.accel.linear.x = 0.537018510955429; + accel.accel.accel.linear.y = -0.2435352815388478; + auto accel_ptr = std::make_shared(accel); + planner_data->self_acceleration = accel_ptr; + return planner_data; +} + +bool hasEnoughDistance( + const PullOverPath & pull_over_path, const PathWithLaneId & long_tail_reference_path, + const std::shared_ptr planner_data, const GoalPlannerParameters & parameters) +{ + using autoware::motion_utils::calcSignedArcLength; + + const Pose & current_pose = planner_data->self_odometry->pose.pose; + const double current_vel = planner_data->self_odometry->twist.twist.linear.x; + + // when the path is separated and start_pose is close, + // once stopped, the vehicle cannot start again. + // so need enough distance to restart. + // distance to restart should be less than decide_path_distance. + // otherwise, the goal would change immediately after departure. + const bool is_separated_path = pull_over_path.partial_paths().size() > 1; + const double distance_to_start = calcSignedArcLength( + long_tail_reference_path.points, current_pose.position, pull_over_path.start_pose().position); + const double distance_to_restart = parameters.decide_path_distance / 2; + const double eps_vel = 0.01; + const bool is_stopped = std::abs(current_vel) < eps_vel; + if (is_separated_path && is_stopped && distance_to_start < distance_to_restart) { + return false; + } + + const auto current_to_stop_distance = calcFeasibleDecelDistance( + planner_data, parameters.maximum_deceleration, parameters.maximum_jerk, 0.0); + if (!current_to_stop_distance) { + return false; + } + + /* + // If the stop line is subtly exceeded, it is assumed that there is not enough distance to the + // starting point of parking, so to prevent this, once the vehicle has stopped, it also has a + // stop_distance_buffer to allow for the amount exceeded. + const double buffer = is_stopped ? stop_distance_buffer_ : 0.0; + if (distance_to_start + buffer < *current_to_stop_distance) { + return false; + }*/ + + return true; +} + +std::vector selectPullOverPaths( + const std::vector & pull_over_path_candidates, + const GoalCandidates & goal_candidates, const std::shared_ptr planner_data, + const GoalPlannerParameters & parameters, const BehaviorModuleOutput & previous_module_output) +{ + using autoware::behavior_path_planner::utils::getExtendedCurrentLanesFromPath; + using autoware::motion_utils::calcSignedArcLength; + + const auto & goal_pose = planner_data->route_handler->getOriginalGoalPose(); + const double backward_length = + parameters.backward_goal_search_length + parameters.decide_path_distance; + + std::vector sorted_path_indices; + sorted_path_indices.reserve(pull_over_path_candidates.size()); + + std::unordered_map goal_candidate_map; + for (const auto & goal_candidate : goal_candidates) { + goal_candidate_map[goal_candidate.id] = goal_candidate; + } + for (size_t i = 0; i < pull_over_path_candidates.size(); ++i) { + const auto & path = pull_over_path_candidates[i]; + const auto goal_candidate_it = goal_candidate_map.find(path.goal_id()); + if (goal_candidate_it != goal_candidate_map.end() && goal_candidate_it->second.is_safe) { + sorted_path_indices.push_back(i); + } + } + + const double prev_path_front_to_goal_dist = calcSignedArcLength( + previous_module_output.path.points, + previous_module_output.path.points.front().point.pose.position, goal_pose.position); + const auto & long_tail_reference_path = [&]() { + if (prev_path_front_to_goal_dist > backward_length) { + return previous_module_output.path; + } + // get road lanes which is at least backward_length[m] behind the goal + const auto road_lanes = getExtendedCurrentLanesFromPath( + previous_module_output.path, planner_data, backward_length, 0.0, false); + const auto goal_pose_length = lanelet::utils::getArcCoordinates(road_lanes, goal_pose).length; + return planner_data->route_handler->getCenterLinePath( + road_lanes, std::max(0.0, goal_pose_length - backward_length), + goal_pose_length + parameters.forward_goal_search_length); + }(); + + sorted_path_indices.erase( + std::remove_if( + sorted_path_indices.begin(), sorted_path_indices.end(), + [&](const size_t i) { + return !hasEnoughDistance( + pull_over_path_candidates[i], long_tail_reference_path, planner_data, parameters); + }), + sorted_path_indices.end()); + + // compare to sort pull_over_path_candidates based on the order in efficient_path_order + const auto comparePathTypePriority = [&](const PullOverPath & a, const PullOverPath & b) -> bool { + const auto & order = parameters.efficient_path_order; + const auto a_pos = std::find(order.begin(), order.end(), magic_enum::enum_name(a.type())); + const auto b_pos = std::find(order.begin(), order.end(), magic_enum::enum_name(b.type())); + return a_pos < b_pos; + }; + + const auto & soft_margins = parameters.object_recognition_collision_check_soft_margins; + const auto & hard_margins = parameters.object_recognition_collision_check_hard_margins; + + const auto [margins, margins_with_zero] = + std::invoke([&]() -> std::tuple, std::vector> { + std::vector margins = soft_margins; + margins.insert(margins.end(), hard_margins.begin(), hard_margins.end()); + std::vector margins_with_zero = margins; + margins_with_zero.push_back(0.0); + return std::make_tuple(margins, margins_with_zero); + }); + + // Create a map of PullOverPath pointer to largest collision check margin + std::map path_id_to_rough_margin_map; + const auto & target_objects = autoware_perception_msgs::msg::PredictedObjects{}; + for (const size_t i : sorted_path_indices) { + const auto & path = pull_over_path_candidates[i]; + const double distance = + autoware::behavior_path_planner::utils::path_safety_checker::calculateRoughDistanceToObjects( + path.parking_path(), target_objects, planner_data->parameters, false, "max"); + auto it = std::lower_bound( + margins_with_zero.begin(), margins_with_zero.end(), distance, std::greater()); + if (it == margins_with_zero.end()) { + path_id_to_rough_margin_map[path.id()] = margins_with_zero.back(); + } else { + path_id_to_rough_margin_map[path.id()] = *it; + } + } + + // sorts in descending order so the item with larger margin comes first + std::stable_sort( + sorted_path_indices.begin(), sorted_path_indices.end(), + [&](const size_t a_i, const size_t b_i) { + const auto & a = pull_over_path_candidates[a_i]; + const auto & b = pull_over_path_candidates[b_i]; + if ( + std::abs(path_id_to_rough_margin_map[a.id()] - path_id_to_rough_margin_map[b.id()]) < + 0.01) { + return false; + } + return path_id_to_rough_margin_map[a.id()] > path_id_to_rough_margin_map[b.id()]; + }); + + // STEP2-3: Sort by curvature + // If the curvature is less than the threshold, prioritize the path. + const auto isHighCurvature = [&](const PullOverPath & path) -> bool { + return path.parking_path_max_curvature() >= parameters.high_curvature_threshold; + }; + + const auto isSoftMargin = [&](const PullOverPath & path) -> bool { + const double margin = path_id_to_rough_margin_map[path.id()]; + return std::any_of( + soft_margins.begin(), soft_margins.end(), + [margin](const double soft_margin) { return std::abs(margin - soft_margin) < 0.01; }); + }; + const auto isSameHardMargin = [&](const PullOverPath & a, const PullOverPath & b) -> bool { + return !isSoftMargin(a) && !isSoftMargin(b) && + std::abs(path_id_to_rough_margin_map[a.id()] - path_id_to_rough_margin_map[b.id()]) < + 0.01; + }; + + // NOTE: this is just partition sort based on curvature threshold within each sub partitions + std::stable_sort( + sorted_path_indices.begin(), sorted_path_indices.end(), + [&](const size_t a_i, const size_t b_i) { + const auto & a = pull_over_path_candidates[a_i]; + const auto & b = pull_over_path_candidates[b_i]; + // if both are soft margin or both are same hard margin, prioritize the path with lower + // curvature. + if ((isSoftMargin(a) && isSoftMargin(b)) || isSameHardMargin(a, b)) { + return !isHighCurvature(a) && isHighCurvature(b); + } + // otherwise, keep the order based on the margin. + return false; + }); + + // STEP2-4: Sort pull_over_path_candidates based on the order in efficient_path_order keeping + // the collision check margin and curvature priority. + if (parameters.path_priority == "efficient_path") { + std::stable_sort( + sorted_path_indices.begin(), sorted_path_indices.end(), + [&](const size_t a_i, const size_t b_i) { + // if any of following conditions are met, sort by path type priority + // - both are soft margin + // - both are same hard margin + const auto & a = pull_over_path_candidates[a_i]; + const auto & b = pull_over_path_candidates[b_i]; + if ((isSoftMargin(a) && isSoftMargin(b)) || isSameHardMargin(a, b)) { + return comparePathTypePriority(a, b); + } + // otherwise, keep the order. + return false; + }); + } + + std::vector selected; + for (const auto & sorted_index : sorted_path_indices) { + selected.push_back(pull_over_path_candidates.at(sorted_index)); + } + + return selected; +} + +std::optional calculate_centerline_path( + const geometry_msgs::msg::Pose & original_goal_pose, + const std::shared_ptr planner_data, const GoalPlannerParameters & parameters) +{ + const auto refined_goal_opt = + autoware::behavior_path_planner::goal_planner_utils::calcRefinedGoal( + original_goal_pose, planner_data->route_handler, true, + planner_data->parameters.vehicle_length, planner_data->parameters.base_link2front, + planner_data->parameters.base_link2front, parameters); + if (!refined_goal_opt) { + return std::nullopt; + } + const auto & refined_goal = refined_goal_opt.value(); + + const auto & route_handler = planner_data->route_handler; + const double forward_length = parameters.forward_goal_search_length; + const double backward_length = parameters.backward_goal_search_length; + const bool use_bus_stop_area = parameters.bus_stop_area.use_bus_stop_area; /* + const double margin_from_boundary = parameters.margin_from_boundary; + const double lateral_offset_interval = use_bus_stop_area + ? parameters.bus_stop_area.lateral_offset_interval + : parameters.lateral_offset_interval; + const double max_lateral_offset = parameters.max_lateral_offset; + const double ignore_distance_from_lane_start = parameters.ignore_distance_from_lane_start; + */ + + const auto pull_over_lanes = + autoware::behavior_path_planner::goal_planner_utils::getPullOverLanes( + *route_handler, true, parameters.backward_goal_search_length, + parameters.forward_goal_search_length); + const auto departure_check_lane = + autoware::behavior_path_planner::goal_planner_utils::createDepartureCheckLanelet( + pull_over_lanes, *route_handler, true); + const auto goal_arc_coords = lanelet::utils::getArcCoordinates(pull_over_lanes, refined_goal); + const double s_start = std::max(0.0, goal_arc_coords.length - backward_length); + const double s_end = goal_arc_coords.length + forward_length; + const double longitudinal_interval = use_bus_stop_area + ? parameters.bus_stop_area.goal_search_interval + : parameters.goal_search_interval; + auto center_line_path = autoware::behavior_path_planner::utils::resamplePathWithSpline( + route_handler->getCenterLinePath(pull_over_lanes, s_start, s_end), longitudinal_interval); + return center_line_path; +} + +int main(int argc, char ** argv) +{ + using autoware::behavior_path_planner::utils::getReferencePath; + rclcpp::init(argc, argv); + + autoware_planning_msgs::msg::LaneletRoute route_msg; + route_msg.start_pose = + geometry_msgs::build() + .position(geometry_msgs::build().x(729.944).y(695.124).z(381.18)) + .orientation( + geometry_msgs::build().x(0.0).y(0.0).z(0.437138).w( + 0.899395)); route_msg.goal_pose = geometry_msgs::build() - .position( - geometry_msgs::build().x(568.836731).y(437.871904).z(100.0)) + .position(geometry_msgs::build().x(797.526).y(694.105).z(381.18)) .orientation( - geometry_msgs::build().x(0.0).y(0.0).z(-0.292125).w( - 0.956380)); - */ + geometry_msgs::build().x(0.0).y(0.0).z(-0.658723).w( + 0.752386)); route_msg.segments = std::vector{ autoware_planning_msgs::build() .preferred_primitive( autoware_planning_msgs::build() - .id(17757) + .id(15214) .primitive_type("")) .primitives(std::vector{ autoware_planning_msgs::build() - .id(17756) + .id(15214) .primitive_type("lane"), autoware_planning_msgs::build() - .id(17757) + .id(15213) .primitive_type("lane"), }), autoware_planning_msgs::build() .preferred_primitive( autoware_planning_msgs::build() - .id(18494) + .id(15226) .primitive_type("")) .primitives(std::vector{ autoware_planning_msgs::build() - .id(18494) + .id(15226) .primitive_type("lane"), autoware_planning_msgs::build() - .id(18493) + .id(15225) .primitive_type("lane"), }), autoware_planning_msgs::build() .preferred_primitive( autoware_planning_msgs::build() - .id(18496) + .id(15228) .primitive_type("")) .primitives(std::vector{ autoware_planning_msgs::build() - .id(18496) + .id(15228) .primitive_type("lane"), autoware_planning_msgs::build() - .id(18497) + .id(15229) + .primitive_type("lane"), + }), + autoware_planning_msgs::build() + .preferred_primitive( + autoware_planning_msgs::build() + .id(15231) + .primitive_type("")) + .primitives(std::vector{ + autoware_planning_msgs::build() + .id(15231) .primitive_type("lane"), }), }; route_msg.allow_modification = false; - autoware_map_msgs::msg::LaneletMapBin map_bin; - lanelet::utils::conversion::toBinMsg( - lanelet_map_ptr, &map_bin); // TODO(soblin): pass lanelet_map_ptr to RouteHandler - /* - reference: - https://github.com/ros2/rclcpp/blob/ee94bc63e4ce47a502891480a2796b53d54fcdfc/rclcpp/test/rclcpp/test_parameter_client.cpp#L927 - */ - /* - auto node = rclcpp::Node::make_shared( - "node", "namespace", rclcpp::NodeOptions().allow_undeclared_parameters(true)); - auto param_node = std::make_shared(node, ""); - { - auto future = param_node->load_parameters( - ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner") + - "/config/behavior_path_planner.param.yaml"); - if (rclcpp::spin_until_future_complete(node, future) != rclcpp::FutureReturnCode::SUCCESS) { - RCLCPP_INFO(node->get_logger(), "failed to load behavior_path_planner.param.yaml"); - } - } - { - auto future = param_node->load_parameters( - ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner") + - "/config/drivable_area_expansion.param.yaml"); - if (rclcpp::spin_until_future_complete(node, future) != rclcpp::FutureReturnCode::SUCCESS) { - RCLCPP_INFO(node->get_logger(), "failed to load drivable_area_expansion.param.yaml"); - } - } - { - auto future = param_node->load_parameters( - ament_index_cpp::get_package_share_directory("autoware_behavior_path_planner") + - "/config/scene_module_manager.param.yaml"); - if (rclcpp::spin_until_future_complete(node, future) != rclcpp::FutureReturnCode::SUCCESS) { - RCLCPP_INFO(node->get_logger(), "failed to load scene_module_manager.param.yaml"); - } - } - */ auto node_options = rclcpp::NodeOptions{}; node_options.parameter_overrides( std::vector{{"launch_modules", std::vector{}}}); @@ -238,20 +525,16 @@ int main(int argc, char ** argv) "/config/goal_planner.param.yaml"}); auto node = rclcpp::Node::make_shared("plot_map", node_options); - auto planner_data = std::make_shared(); - planner_data->init_parameters(*node); - planner_data->route_handler->setMap(map_bin); - planner_data->route_handler->setRoute(route_msg); - nav_msgs::msg::Odometry odom; - odom.pose.pose = route_msg.start_pose; - auto odometry = std::make_shared(odom); - planner_data->self_odometry = odometry; + auto planner_data = instantiate_planner_data( + node, + ament_index_cpp::get_package_share_directory("autoware_test_utils") + + "/test_map/road_shoulder/lanelet2_map.osm", + route_msg); + lanelet::ConstLanelet current_route_lanelet; planner_data->route_handler->getClosestLaneletWithinRoute( route_msg.start_pose, ¤t_route_lanelet); - std::cout << "current_route_lanelet is " << current_route_lanelet.id() << std::endl; - const auto reference_path = - autoware::behavior_path_planner::utils::getReferencePath(current_route_lanelet, planner_data); + const auto reference_path = getReferencePath(current_route_lanelet, planner_data); auto goal_planner_parameter = autoware::behavior_path_planner::GoalPlannerModuleManager::initGoalPlannerParameters( node.get(), "goal_planner."); @@ -262,30 +545,53 @@ int main(int argc, char ** argv) lane_departure_checker_params.footprint_extra_margin = goal_planner_parameter.lane_departure_check_expansion_margin; lane_departure_checker.setParam(lane_departure_checker_params); - auto shift_pull_over_planner = autoware::behavior_path_planner::ShiftPullOver( - *node, goal_planner_parameter, lane_departure_checker); - const auto pull_over_path_opt = - shift_pull_over_planner.plan(0, 0, planner_data, reference_path, route_msg.goal_pose); + const auto footprint = vehicle_info.createFootprint(); + autoware::behavior_path_planner::GoalSearcher goal_searcher(goal_planner_parameter, footprint); + const auto goal_candidates = goal_searcher.search(planner_data); pybind11::scoped_interpreter guard{}; auto plt = matplotlibcpp17::pyplot::import(); - auto [fig, ax] = plt.subplots(); + auto [fig, axes] = plt.subplots(1, 2); - const std::vector ids{17756, 17757, 18493, 18494, 18496, 18497, - 18492, 18495, 18498, 18499, 18500}; + auto & ax1 = axes[0]; + auto & ax2 = axes[1]; + const std::vector ids{15213, 15214, 15225, 15226, 15224, 15227, + 15228, 15229, 15230, 15231, 15232}; for (const auto & id : ids) { - const auto lanelet = lanelet_map_ptr->laneletLayer.get(id); - plot_lanelet(ax, lanelet); + const auto lanelet = planner_data->route_handler->getLaneletMapPtr()->laneletLayer.get(id); + plot_lanelet(ax1, lanelet); + plot_lanelet(ax2, lanelet); + } + + plot_goal_candidates(ax1, goal_candidates, footprint); + + plot_path_with_lane_id(ax2, reference_path.path, "green", "reference_path"); + + std::vector candidates; + for (const auto & goal_candidate : goal_candidates) { + auto shift_pull_over_planner = autoware::behavior_path_planner::ShiftPullOver( + *node, goal_planner_parameter, lane_departure_checker); + const auto pull_over_path_opt = + shift_pull_over_planner.plan(goal_candidate, 0, planner_data, reference_path); + if (pull_over_path_opt) { + const auto & pull_over_path = pull_over_path_opt.value(); + const auto & full_path = pull_over_path.full_path(); + candidates.push_back(pull_over_path); + plot_path_with_lane_id(ax1, full_path); + } } + [[maybe_unused]] const auto filtered_paths = selectPullOverPaths( + candidates, goal_candidates, planner_data, goal_planner_parameter, reference_path); - plot_path_with_lane_id(ax, reference_path.path); - std::cout << pull_over_path_opt.has_value() << std::endl; - if (pull_over_path_opt) { - const auto & pull_over_path = pull_over_path_opt.value(); - const auto & full_path = pull_over_path.full_path; - plot_path_with_lane_id(ax, full_path); + const auto centerline_path = + calculate_centerline_path(route_msg.goal_pose, planner_data, goal_planner_parameter); + if (centerline_path) { + plot_path_with_lane_id(ax2, centerline_path.value(), "red", "centerline_path"); } - ax.set_aspect(Args("equal")); + ax1.set_aspect(Args("equal")); + ax2.set_aspect(Args("equal")); + ax1.legend(); + ax2.legend(); plt.show(); rclcpp::shutdown(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index e8079c4e27720..6caeff97c2607 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -219,9 +219,13 @@ class GoalPlannerModule : public SceneModuleInterface */ struct GoalPlannerData { - GoalPlannerData(const PlannerData & planner_data, const GoalPlannerParameters & parameters) + GoalPlannerData( + const PlannerData & planner_data, const GoalPlannerParameters & parameters, + const BehaviorModuleOutput & previous_module_output_) { initializeOccupancyGridMap(planner_data, parameters); + previous_module_output = previous_module_output_; + last_previous_module_output = previous_module_output_; }; GoalPlannerParameters parameters; autoware::universe_utils::LinearRing2d vehicle_footprint; @@ -229,6 +233,7 @@ class GoalPlannerModule : public SceneModuleInterface PlannerData planner_data; ModuleStatus current_status; BehaviorModuleOutput previous_module_output; + BehaviorModuleOutput last_previous_module_output; // occupancy_grid_map; @@ -359,7 +364,6 @@ class GoalPlannerModule : public SceneModuleInterface const std::shared_ptr occupancy_grid_map) const; // goal seach - Pose calcRefinedGoal(const Pose & goal_pose) const; GoalCandidates generateGoalCandidates() const; // stop or decelerate @@ -437,9 +441,12 @@ class GoalPlannerModule : public SceneModuleInterface TurnSignalInfo calcTurnSignalInfo(const PullOverContextData & context_data); std::optional ignore_signal_{std::nullopt}; - bool hasPreviousModulePathShapeChanged(const BehaviorModuleOutput & previous_module_output) const; + bool hasPreviousModulePathShapeChanged( + const BehaviorModuleOutput & previous_module_output, + const BehaviorModuleOutput & last_previous_module_output) const; bool hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data) const; + const std::shared_ptr planner_data, + const BehaviorModuleOutput & last_previous_module_output) const; bool hasDeviatedFromCurrentPreviousModulePath( const std::shared_ptr planner_data, const BehaviorModuleOutput & previous_module_output) const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index 3b526bf3a8f24..a0d5d40d8c8d5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -109,7 +109,6 @@ class ThreadSafeData goal_candidates_.clear(); last_path_update_time_ = std::nullopt; closest_start_pose_ = std::nullopt; - last_previous_module_output_ = std::nullopt; prev_data_ = PathDecisionState{}; } @@ -118,7 +117,6 @@ class ThreadSafeData DEFINE_SETTER_GETTER_WITH_MUTEX(PredictedObjects, dynamic_target_objects) // main --> lane DEFINE_SETTER_GETTER_WITH_MUTEX(PathDecisionState, prev_data) - DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, last_previous_module_output) // lane --> main DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) @@ -150,7 +148,6 @@ class ThreadSafeData void set_no_lock(const std::vector & arg) { pull_over_path_candidates_ = arg; } void set_no_lock(const std::shared_ptr & arg) { set_pull_over_path_no_lock(arg); } void set_no_lock(const PullOverPath & arg) { set_pull_over_path_no_lock(arg); } - void set_no_lock(const BehaviorModuleOutput & arg) { last_previous_module_output_ = arg; } void set_no_lock(const utils::path_safety_checker::CollisionCheckDebugMap & arg) { collision_check_ = arg; @@ -161,7 +158,6 @@ class ThreadSafeData GoalCandidates goal_candidates_{}; std::optional last_path_update_time_; std::optional closest_start_pose_{}; - std::optional last_previous_module_output_{}; utils::path_safety_checker::CollisionCheckDebugMap collision_check_{}; PredictedObjects static_target_objects_{}; PredictedObjects dynamic_target_objects_{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp index 52dfbbddc79ff..f00d9d41622e9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp @@ -20,16 +20,17 @@ #include -#include "visualization_msgs/msg/detail/marker_array__struct.hpp" #include #include #include #include #include +#include #include #include +#include #include #include @@ -175,6 +176,15 @@ lanelet::Points3d combineLanePoints( lanelet::Lanelet createDepartureCheckLanelet( const lanelet::ConstLanelets & pull_over_lanes, const route_handler::RouteHandler & route_handler, const bool left_side_parking); + +std::optional calcRefinedGoal( + const Pose & goal_pose, const std::shared_ptr route_handler, + const bool left_side_parking, const double vehicle_width, const double base_link2front, + const double base_link2rear, const GoalPlannerParameters & parameters); + +std::optional calcClosestPose( + const lanelet::ConstLineString3d line, const Point & query_point); + } // namespace autoware::behavior_path_planner::goal_planner_utils #endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 88349f20a0540..f72c96fedbe34 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -144,21 +144,17 @@ GoalPlannerModule::GoalPlannerModule( } bool GoalPlannerModule::hasPreviousModulePathShapeChanged( - const BehaviorModuleOutput & previous_module_output) const + const BehaviorModuleOutput & previous_module_output, + const BehaviorModuleOutput & last_previous_module_output) const { - const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); - if (!last_previous_module_output) { - return true; - } - // Calculate the lateral distance between each point of the current path and the nearest point of // the last path constexpr double LATERAL_DEVIATION_THRESH = 0.3; for (const auto & p : previous_module_output.path.points) { const size_t nearest_seg_idx = autoware::motion_utils::findNearestSegmentIndex( - last_previous_module_output->path.points, p.point.pose.position); - const auto seg_front = last_previous_module_output->path.points.at(nearest_seg_idx); - const auto seg_back = last_previous_module_output->path.points.at(nearest_seg_idx + 1); + last_previous_module_output.path.points, p.point.pose.position); + const auto seg_front = last_previous_module_output.path.points.at(nearest_seg_idx); + const auto seg_back = last_previous_module_output.path.points.at(nearest_seg_idx + 1); // Check if the target point is within the segment const Eigen::Vector3d segment_vec{ seg_back.point.pose.position.x - seg_front.point.pose.position.x, @@ -174,7 +170,7 @@ bool GoalPlannerModule::hasPreviousModulePathShapeChanged( continue; } const double lateral_distance = std::abs(autoware::motion_utils::calcLateralOffset( - last_previous_module_output->path.points, p.point.pose.position, nearest_seg_idx)); + last_previous_module_output.path.points, p.point.pose.position, nearest_seg_idx)); if (lateral_distance > LATERAL_DEVIATION_THRESH) { return true; } @@ -183,14 +179,11 @@ bool GoalPlannerModule::hasPreviousModulePathShapeChanged( } bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data) const + const std::shared_ptr planner_data, + const BehaviorModuleOutput & last_previous_module_output) const { - const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); - if (!last_previous_module_output) { - return true; - } return std::abs(autoware::motion_utils::calcLateralOffset( - last_previous_module_output->path.points, + last_previous_module_output.path.points, planner_data->self_odometry->pose.pose.position)) > 0.3; } @@ -212,6 +205,7 @@ void GoalPlannerModule::onTimer() std::shared_ptr local_planner_data{nullptr}; std::optional current_status_opt{std::nullopt}; std::optional previous_module_output_opt{std::nullopt}; + std::optional last_previous_module_output_opt{std::nullopt}; std::shared_ptr occupancy_grid_map{nullptr}; std::optional parameters_opt{std::nullopt}; std::shared_ptr goal_searcher{nullptr}; @@ -224,6 +218,7 @@ void GoalPlannerModule::onTimer() local_planner_data = std::make_shared(gp_planner_data.planner_data); current_status_opt = gp_planner_data.current_status; previous_module_output_opt = gp_planner_data.previous_module_output; + last_previous_module_output_opt = gp_planner_data.last_previous_module_output; occupancy_grid_map = gp_planner_data.occupancy_grid_map; parameters_opt = gp_planner_data.parameters; goal_searcher = gp_planner_data.goal_searcher; @@ -232,7 +227,7 @@ void GoalPlannerModule::onTimer() // end of critical section if ( !local_planner_data || !current_status_opt || !previous_module_output_opt || - !occupancy_grid_map || !parameters_opt || !goal_searcher) { + !last_previous_module_output_opt || !occupancy_grid_map || !parameters_opt || !goal_searcher) { RCLCPP_ERROR( getLogger(), "failed to get valid " @@ -242,6 +237,7 @@ void GoalPlannerModule::onTimer() } const auto & current_status = current_status_opt.value(); const auto & previous_module_output = previous_module_output_opt.value(); + const auto & last_previous_module_output = last_previous_module_output_opt.value(); const auto & parameters = parameters_opt.value(); if (current_status == ModuleStatus::IDLE) { @@ -280,12 +276,12 @@ void GoalPlannerModule::onTimer() if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return true; } - if (hasPreviousModulePathShapeChanged(previous_module_output)) { + if (hasPreviousModulePathShapeChanged(previous_module_output, last_previous_module_output)) { RCLCPP_DEBUG(getLogger(), "has previous module path shape changed"); return true; } if ( - hasDeviatedFromLastPreviousModulePath(local_planner_data) && + hasDeviatedFromLastPreviousModulePath(local_planner_data, last_previous_module_output) && current_state != PathDecisionState::DecisionKind::DECIDED) { RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path"); return true; @@ -369,8 +365,6 @@ void GoalPlannerModule::onTimer() thread_safe_data_.set_pull_over_path_candidates(path_candidates); thread_safe_data_.set_closest_start_pose(closest_start_pose); RCLCPP_INFO(getLogger(), "generated %lu pull over path candidates", path_candidates.size()); - - thread_safe_data_.set_last_previous_module_output(previous_module_output); } void GoalPlannerModule::onFreespaceParkingTimer() @@ -518,7 +512,7 @@ void GoalPlannerModule::updateData() { std::lock_guard guard(gp_planner_data_mutex_); if (!gp_planner_data_) { - gp_planner_data_ = GoalPlannerData(*planner_data_, *parameters_); + gp_planner_data_ = GoalPlannerData(*planner_data_, *parameters_, getPreviousModuleOutput()); } auto & gp_planner_data = gp_planner_data_.value(); // NOTE: for the above reasons, PlannerManager/behavior_path_planner_node ensure that @@ -591,8 +585,14 @@ void GoalPlannerModule::updateData() // update goal searcher and generate goal candidates if (thread_safe_data_.get_goal_candidates().empty()) { - goal_searcher_->setReferenceGoal( - calcRefinedGoal(planner_data_->route_handler->getOriginalGoalPose())); + const auto refined_goal = goal_planner_utils::calcRefinedGoal( + planner_data_->route_handler->getOriginalGoalPose(), planner_data_->route_handler, + left_side_parking_, planner_data_->parameters.vehicle_width, + planner_data_->parameters.base_link2front, planner_data_->parameters.base_link2rear, + *parameters_); + if (refined_goal) { + goal_searcher_->setReferenceGoal(refined_goal.value()); + } thread_safe_data_.set_goal_candidates(generateGoalCandidates()); } @@ -710,11 +710,19 @@ bool GoalPlannerModule::isExecutionRequested() const lanelet::ConstLanelet target_lane{}; lanelet::utils::query::getClosestLanelet(pull_over_lanes, goal_pose, &target_lane); - lanelet::ConstLanelet previous_module_terminal_lane{}; + // Get the lanelet of the ego vehicle's side edge at the terminal pose of the previous module's + // path. Check if the lane is the target lane or the neighboring lane. NOTE: This is because in + // the case of avoidance, there is a possibility of base_link entering the neighboring lane, and + // we want to activate the pull over at this time as well. + const Pose previous_terminal_pose = getPreviousModuleOutput().path.points.back().point.pose; + const double vehicle_half_width = planner_data_->parameters.vehicle_width / 2.0; + const Pose previous_terminal_vehicle_edge_pose = calcOffsetPose( + previous_terminal_pose, 0, left_side_parking_ ? vehicle_half_width : -vehicle_half_width, 0); + lanelet::ConstLanelet previous_module_terminal_vehicle_edge_lane{}; route_handler->getClosestLaneletWithinRoute( - getPreviousModuleOutput().path.points.back().point.pose, &previous_module_terminal_lane); + previous_terminal_vehicle_edge_pose, &previous_module_terminal_vehicle_edge_lane); - if (!isCrossingPossible(previous_module_terminal_lane, target_lane)) { + if (!isCrossingPossible(previous_module_terminal_vehicle_edge_lane, target_lane)) { return false; } @@ -755,61 +763,6 @@ double GoalPlannerModule::calcModuleRequestLength() const return std::max(minimum_request_length, parameters_->pull_over_minimum_request_length); } -Pose GoalPlannerModule::calcRefinedGoal(const Pose & goal_pose) const -{ - const double vehicle_width = planner_data_->parameters.vehicle_width; - const double base_link2front = planner_data_->parameters.base_link2front; - const double base_link2rear = planner_data_->parameters.base_link2rear; - - const lanelet::ConstLanelets pull_over_lanes = goal_planner_utils::getPullOverLanes( - *(planner_data_->route_handler), left_side_parking_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length); - - lanelet::Lanelet closest_pull_over_lanelet{}; - lanelet::utils::query::getClosestLanelet(pull_over_lanes, goal_pose, &closest_pull_over_lanelet); - - // calc closest center line pose - Pose center_pose{}; - { - // find position - const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(goal_pose.position); - const auto segment = lanelet::utils::getClosestSegment( - lanelet::utils::to2D(lanelet_point), closest_pull_over_lanelet.centerline()); - const auto p1 = segment.front().basicPoint(); - const auto p2 = segment.back().basicPoint(); - const auto direction_vector = (p2 - p1).normalized(); - const auto p1_to_goal = lanelet_point.basicPoint() - p1; - const double s = direction_vector.dot(p1_to_goal); - const auto refined_point = p1 + direction_vector * s; - - center_pose.position.x = refined_point.x(); - center_pose.position.y = refined_point.y(); - center_pose.position.z = refined_point.z(); - - // find orientation - const double yaw = std::atan2(direction_vector.y(), direction_vector.x()); - tf2::Quaternion tf_quat; - tf_quat.setRPY(0, 0, yaw); - center_pose.orientation = tf2::toMsg(tf_quat); - } - - const auto distance_from_bound = utils::getSignedDistanceFromBoundary( - pull_over_lanes, vehicle_width, base_link2front, base_link2rear, center_pose, - left_side_parking_); - if (!distance_from_bound) { - RCLCPP_ERROR(getLogger(), "fail to calculate refined goal"); - return goal_pose; - } - - const double sign = left_side_parking_ ? -1.0 : 1.0; - const double offset_from_center_line = - sign * (distance_from_bound.value() + parameters_->margin_from_boundary); - - const auto refined_goal_pose = calcOffsetPose(center_pose, 0, -offset_from_center_line, 0); - - return refined_goal_pose; -} - bool GoalPlannerModule::planFreespacePath( std::shared_ptr planner_data, const std::shared_ptr goal_searcher, @@ -2618,7 +2571,8 @@ void GoalPlannerModule::GoalPlannerData::initializeOccupancyGridMap( GoalPlannerModule::GoalPlannerData GoalPlannerModule::GoalPlannerData::clone() const { - GoalPlannerModule::GoalPlannerData gp_planner_data(planner_data, parameters); + GoalPlannerModule::GoalPlannerData gp_planner_data( + planner_data, parameters, last_previous_module_output); gp_planner_data.update( parameters, planner_data, current_status, previous_module_output, goal_searcher, vehicle_footprint); @@ -2637,6 +2591,7 @@ void GoalPlannerModule::GoalPlannerData::update( planner_data = planner_data_; planner_data.route_handler = std::make_shared(*(planner_data_.route_handler)); current_status = current_status_; + last_previous_module_output = previous_module_output; previous_module_output = previous_module_output_; occupancy_grid_map->setMap(*(planner_data.occupancy_grid)); // to create a deepcopy of GoalPlanner(not GoalPlannerBase), goal_searcher_ is not enough, so diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index ea0816954d0e1..0bca5ba7a7864 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -20,8 +20,11 @@ #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp" #include "autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp" +#include "autoware_lanelet2_extension/utility/query.hpp" #include "autoware_lanelet2_extension/utility/utilities.hpp" +#include + #include #include @@ -193,8 +196,27 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p continue; } + // modify the goal_pose orientation so that vehicle footprint front heading is parallel to the + // lane boundary + const auto vehicle_front_midpoint = + (transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontLeftIndex) + + transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontRightIndex)) / + 2.0; + lanelet::ConstLanelet vehicle_front_closest_lanelet; + lanelet::utils::query::getClosestLanelet( + pull_over_lanes, search_pose, &vehicle_front_closest_lanelet); + const auto vehicle_front_pose_for_bound_opt = goal_planner_utils::calcClosestPose( + left_side_parking_ ? vehicle_front_closest_lanelet.leftBound() + : vehicle_front_closest_lanelet.rightBound(), + autoware::universe_utils::createPoint( + vehicle_front_midpoint.x(), vehicle_front_midpoint.y(), search_pose.position.z)); + if (!vehicle_front_pose_for_bound_opt) { + continue; + } + const auto & vehicle_front_pose_for_bound = vehicle_front_pose_for_bound_opt.value(); GoalCandidate goal_candidate{}; goal_candidate.goal_pose = search_pose; + goal_candidate.goal_pose.orientation = vehicle_front_pose_for_bound.orientation; goal_candidate.lateral_offset = dy; goal_candidate.id = goal_id; goal_id++; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index 3815acc4561e7..75cdb2d892510 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -740,4 +740,86 @@ lanelet::Lanelet createDepartureCheckLanelet( left_side_parking ? inner_linestring : outer_linestring); } +std::optional calcRefinedGoal( + const Pose & goal_pose, const std::shared_ptr route_handler, + const bool left_side_parking, const double vehicle_width, const double base_link2front, + const double base_link2rear, const GoalPlannerParameters & parameters) +{ + const lanelet::ConstLanelets pull_over_lanes = goal_planner_utils::getPullOverLanes( + *route_handler, left_side_parking, parameters.backward_goal_search_length, + parameters.forward_goal_search_length); + + lanelet::Lanelet closest_pull_over_lanelet{}; + lanelet::utils::query::getClosestLanelet(pull_over_lanes, goal_pose, &closest_pull_over_lanelet); + + // calc closest center line pose + Pose center_pose{}; + { + // find position + const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(goal_pose.position); + const auto segment = lanelet::utils::getClosestSegment( + lanelet::utils::to2D(lanelet_point), closest_pull_over_lanelet.centerline()); + const auto p1 = segment.front().basicPoint(); + const auto p2 = segment.back().basicPoint(); + const auto direction_vector = (p2 - p1).normalized(); + const auto p1_to_goal = lanelet_point.basicPoint() - p1; + const double s = direction_vector.dot(p1_to_goal); + const auto refined_point = p1 + direction_vector * s; + + center_pose.position.x = refined_point.x(); + center_pose.position.y = refined_point.y(); + center_pose.position.z = refined_point.z(); + + // find orientation + const double yaw = std::atan2(direction_vector.y(), direction_vector.x()); + tf2::Quaternion tf_quat; + tf_quat.setRPY(0, 0, yaw); + center_pose.orientation = tf2::toMsg(tf_quat); + } + + const auto distance_from_bound = utils::getSignedDistanceFromBoundary( + pull_over_lanes, vehicle_width, base_link2front, base_link2rear, center_pose, + left_side_parking); + if (!distance_from_bound) { + return std::nullopt; + } + + const double sign = left_side_parking ? -1.0 : 1.0; + const double offset_from_center_line = + sign * (distance_from_bound.value() + parameters.margin_from_boundary); + + const auto refined_goal_pose = calcOffsetPose(center_pose, 0, -offset_from_center_line, 0); + + return refined_goal_pose; +} + +std::optional calcClosestPose( + const lanelet::ConstLineString3d line, const Point & query_point) +{ + const auto segment = + lanelet::utils::getClosestSegment(lanelet::BasicPoint2d{query_point.x, query_point.y}, line); + if (segment.empty()) { + return std::nullopt; + } + + const Eigen::Vector2d direction( + (segment.back().basicPoint2d() - segment.front().basicPoint2d()).normalized()); + const Eigen::Vector2d xf(segment.front().basicPoint2d()); + const Eigen::Vector2d x(query_point.x, query_point.y); + const Eigen::Vector2d p = xf + (x - xf).dot(direction) * direction; + + geometry_msgs::msg::Pose closest_pose; + closest_pose.position.x = p.x(); + closest_pose.position.y = p.y(); + closest_pose.position.z = query_point.z; + + const double lane_yaw = + std::atan2(segment.back().y() - segment.front().y(), segment.back().x() - segment.front().x()); + tf2::Quaternion q; + q.setRPY(0, 0, lane_yaw); + closest_pose.orientation = tf2::toMsg(q); + + return closest_pose; +} + } // namespace autoware::behavior_path_planner::goal_planner_utils diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp index b50ee083fddc8..64dbac4ff9adf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp @@ -37,7 +37,38 @@ class TestUtilWithMap : public ::testing::Test // lanelet map const std::string shoulder_map_path = autoware::test_utils::get_absolute_path_to_lanelet_map( - "autoware_behavior_path_planner_common", "road_shoulder/lanelet2_map.osm"); + "autoware_test_utils", "road_shoulder/lanelet2_map.osm"); + const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(shoulder_map_path, 0.5); + + // load map + route_handler = std::make_shared(map_bin_msg); + } + + void TearDown() override { rclcpp::shutdown(); } + +public: + std::shared_ptr route_handler; + autoware::vehicle_info_utils::VehicleInfo vehicle_info; +}; + +class DISABLED_TestUtilWithMap : public ::testing::Test +{ +protected: + void SetUp() override + { + rclcpp::init(0, nullptr); + // parameters + auto node_options = rclcpp::NodeOptions{}; + node_options.arguments(std::vector{ + "--ros-args", "--params-file", + ament_index_cpp::get_package_share_directory("autoware_test_utils") + + "/config/test_vehicle_info.param.yaml"}); + auto node = rclcpp::Node::make_shared("test", node_options); + vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*node).getVehicleInfo(); + + // lanelet map + const std::string shoulder_map_path = autoware::test_utils::get_absolute_path_to_lanelet_map( + "autoware_test_utils", "road_shoulder/lanelet2_map.osm"); const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(shoulder_map_path, 0.5); // load map @@ -57,10 +88,10 @@ TEST_F(TestUtilWithMap, getBusStopAreaPolygons) const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); const auto bus_stop_area_polygons = autoware::behavior_path_planner::goal_planner_utils::getBusStopAreaPolygons(shoulder_lanes); - EXPECT_EQ(bus_stop_area_polygons.size(), 2); + EXPECT_EQ(bus_stop_area_polygons.size(), 1); } -TEST_F(TestUtilWithMap, isWithinAreas) +TEST_F(DISABLED_TestUtilWithMap, isWithinAreas) { const auto lanes = lanelet::utils::query::laneletLayer(route_handler->getLaneletMapPtr()); const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); @@ -110,7 +141,7 @@ TEST_F(TestUtilWithMap, combineLanePoints) } } -TEST_F(TestUtilWithMap, createDepartureCheckLanelet) +TEST_F(DISABLED_TestUtilWithMap, createDepartureCheckLanelet) { const auto lanelet_map_ptr = route_handler->getLaneletMapPtr(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt index 509f38d52dd45..6ae84881477e8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt @@ -18,6 +18,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gmock(test_${PROJECT_NAME} test/test_behavior_path_planner_node_interface.cpp test/test_lane_change_utils.cpp + test/test_lane_change_scene.cpp ) target_link_libraries(test_${PROJECT_NAME} diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp index 6e6d267dc445f..2a1862de6a27e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp @@ -27,6 +27,7 @@ namespace autoware::behavior_path_planner { +using autoware::behavior_path_planner::lane_change::LCParamPtr; using autoware::route_handler::Direction; class LaneChangeModuleManager : public SceneModuleManagerInterface @@ -44,6 +45,8 @@ class LaneChangeModuleManager : public SceneModuleManagerInterface void updateModuleParams(const std::vector & parameters) override; + static LCParamPtr set_params(rclcpp::Node * node, const std::string & node_name); + protected: void initParams(rclcpp::Node * node); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index 3b414235a9f54..5334af7ab6e8e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -120,14 +120,8 @@ class NormalLaneChange : public LaneChangeBase TurnSignalInfo get_terminal_turn_signal_info() const final; - std::vector sampleLongitudinalAccValues( - const lanelet::ConstLanelets & current_lanes, - const lanelet::ConstLanelets & target_lanes) const; - - std::vector calc_prepare_durations() const; - - lane_change::TargetObjects getTargetObjects( - const FilteredByLanesExtendedObjects & predicted_objects, + lane_change::TargetObjects get_target_objects( + const FilteredByLanesExtendedObjects & filtered_objects, const lanelet::ConstLanelets & current_lanes) const; FilteredByLanesExtendedObjects filterObjects() const; @@ -206,11 +200,6 @@ class NormalLaneChange : public LaneChangeBase bool check_prepare_phase() const; - double calcMaximumLaneChangeLength( - const lanelet::ConstLanelet & current_terminal_lanelet, const double max_acc) const; - - std::pair calcCurrentMinMaxAcceleration() const; - void set_stop_pose(const double arc_length_to_stop_pose, PathWithLaneId & path); void updateStopTime(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index aaf9df7144d74..634f3b737942b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -35,6 +35,7 @@ #include #include +class TestNormalLaneChange; namespace autoware::behavior_path_planner { using autoware::route_handler::Direction; @@ -296,6 +297,8 @@ class LaneChangeBase mutable rclcpp::Clock clock_{RCL_ROS_TIME}; mutable std::shared_ptr time_keeper_; + + friend class ::TestNormalLaneChange; }; } // namespace autoware::behavior_path_planner #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp index 021fa16fa6ec1..b6e6cb968ace8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp @@ -27,6 +27,8 @@ using behavior_path_planner::lane_change::LCParamPtr; using behavior_path_planner::lane_change::MinMaxValue; using behavior_path_planner::lane_change::PhaseMetrics; +static constexpr double eps = 0.001; + double calc_dist_from_pose_to_terminal_end( const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & lanes, const Pose & src_pose); @@ -103,14 +105,6 @@ double calc_ego_dist_to_lanes_start( const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes); -double calc_maximum_lane_change_length( - const double current_velocity, const LaneChangeParameters & lane_change_parameters, - const std::vector & shift_intervals, const double max_acc); - -double calc_maximum_lane_change_length( - const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelet & current_terminal_lanelet, - const double max_acc); - double calc_lane_changing_acceleration( const double initial_lane_changing_velocity, const double max_path_velocity, const double lane_changing_time, const double prepare_longitudinal_acc); @@ -132,15 +126,18 @@ double calc_phase_length( const double velocity, const double maximum_velocity, const double acceleration, const double duration); +std::vector calc_lon_acceleration_samples( + const CommonDataPtr & common_data_ptr, const double max_path_velocity, + const double prepare_duration); + std::vector calc_prepare_phase_metrics( - const CommonDataPtr & common_data_ptr, const std::vector & prepare_durations, - const std::vector & lon_accel_values, const double current_velocity, - const double min_length_threshold = 0.0, + const CommonDataPtr & common_data_ptr, const double current_velocity, + const double max_path_velocity, const double min_length_threshold = 0.0, const double max_length_threshold = std::numeric_limits::max()); std::vector calc_shift_phase_metrics( const CommonDataPtr & common_data_ptr, const double shift_length, const double initial_velocity, - const double max_velocity, const double lon_accel, + const double max_path_velocity, const double lon_accel, const double max_length_threshold = std::numeric_limits::max()); /** diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index e4f70f54a8437..5178d76aca29e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -323,7 +323,6 @@ struct MinMaxValue struct TransientData { - MinMaxValue acc; // acceleration profile for accelerating lane change path MinMaxValue lane_changing_length; // lane changing length for a single lane change MinMaxValue current_dist_buffer; // distance buffer computed backward from current lanes' terminal end @@ -343,6 +342,9 @@ struct TransientData lanelet::ArcCoordinates current_lanes_ego_arc; // arc coordinates of ego pose along current lanes lanelet::ArcCoordinates target_lanes_ego_arc; // arc coordinates of ego pose along target lanes + size_t current_path_seg_idx; // index of nearest segment to ego along current path + double current_path_velocity; // velocity of the current path at the ego position along the path + bool is_ego_near_current_terminal_start{false}; bool is_ego_stuck{false}; }; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp index 729eaa5ca8268..18fa418a0970d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp @@ -64,28 +64,17 @@ bool is_mandatory_lane_change(const ModuleType lc_type); double calcLaneChangeResampleInterval( const double lane_changing_length, const double lane_changing_velocity); -double calcMinimumAcceleration( - const double current_velocity, const double min_longitudinal_acc, - const LaneChangeParameters & lane_change_parameters); - -double calcMaximumAcceleration( - const double current_velocity, const double current_max_velocity, - const double max_longitudinal_acc, const LaneChangeParameters & lane_change_parameters); - void setPrepareVelocity( PathWithLaneId & prepare_segment, const double current_velocity, const double prepare_velocity); -std::vector getAccelerationValues( - const double min_acc, const double max_acc, const size_t sampling_num); - std::vector replaceWithSortedIds( const std::vector & original_lane_ids, const std::vector> & sorted_lane_ids); std::vector> get_sorted_lane_ids(const CommonDataPtr & common_data_ptr); -lanelet::ConstLanelets getTargetNeighborLanes( - const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, +lanelet::ConstLanelets get_target_neighbor_lanes( + const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes, const LaneChangeModuleType & type); bool isPathInLanelets( diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index dd7382d8f7116..db6acc9ecd05b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -34,7 +34,7 @@ void LaneChangeModuleManager::init(rclcpp::Node * node) initParams(node); } -void LaneChangeModuleManager::initParams(rclcpp::Node * node) +LCParamPtr LaneChangeModuleManager::set_params(rclcpp::Node * node, const std::string & node_name) { using autoware::universe_utils::getOrDeclareParameter; @@ -188,7 +188,7 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) if (p.backward_length_buffer_for_end_of_lane < 1.0) { RCLCPP_WARN_STREAM( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "Lane change buffer must be more than 1 meter. Modifying the buffer."); } @@ -203,7 +203,7 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) lateral_acc_velocity.size() != min_lateral_acc.size() || lateral_acc_velocity.size() != max_lateral_acc.size()) { RCLCPP_ERROR( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "Lane change lateral acceleration map has invalid size."); exit(EXIT_FAILURE); } @@ -259,7 +259,7 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) // validation of parameters if (p.longitudinal_acc_sampling_num < 1 || p.lateral_acc_sampling_num < 1) { RCLCPP_FATAL_STREAM( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "lane_change_sampling_num must be positive integer. Given longitudinal parameter: " << p.longitudinal_acc_sampling_num << "Given lateral parameter: " << p.lateral_acc_sampling_num << std::endl @@ -284,19 +284,24 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) p.rss_params.longitudinal_velocity_delta_time > p.rss_params_for_abort.longitudinal_velocity_delta_time) { RCLCPP_FATAL_STREAM( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "abort parameter might be loose... Terminating the program..."); exit(EXIT_FAILURE); } } if (p.cancel.delta_time < 1.0) { RCLCPP_WARN_STREAM( - node->get_logger().get_child(name()), + node->get_logger().get_child(node_name), "cancel.delta_time: " << p.cancel.delta_time << ", is too short. This could cause a danger behavior."); } - parameters_ = std::make_shared(p); + return std::make_shared(p); +} + +void LaneChangeModuleManager::initParams(rclcpp::Node * node) +{ + parameters_ = set_params(node, name()); } std::unique_ptr LaneChangeModuleManager::createNewSceneModuleInstance() diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index 5961435085346..36b90dbf10ffa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -46,7 +46,6 @@ namespace autoware::behavior_path_planner using autoware::motion_utils::calcSignedArcLength; using utils::lane_change::create_lanes_polygon; using utils::path_safety_checker::isPolygonOverlapLanelet; -using utils::traffic_light::getDistanceToNextTrafficLight; namespace calculation = utils::lane_change::calculation; NormalLaneChange::NormalLaneChange( @@ -91,7 +90,7 @@ void NormalLaneChange::update_lanes(const bool is_approved) common_data_ptr_->current_lanes_path = route_handler_ptr->getCenterLinePath(current_lanes, 0.0, std::numeric_limits::max()); - common_data_ptr_->lanes_ptr->target_neighbor = utils::lane_change::getTargetNeighborLanes( + common_data_ptr_->lanes_ptr->target_neighbor = utils::lane_change::get_target_neighbor_lanes( *route_handler_ptr, current_lanes, common_data_ptr_->lc_type); common_data_ptr_->lanes_ptr->current_lane_in_goal_section = @@ -115,7 +114,15 @@ void NormalLaneChange::update_transient_data() } auto & transient_data = common_data_ptr_->transient_data; - std::tie(transient_data.acc.min, transient_data.acc.max) = calcCurrentMinMaxAcceleration(); + + const auto & p = *common_data_ptr_->bpp_param_ptr; + const auto nearest_seg_idx = + autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + prev_module_output_.path.points, common_data_ptr_->get_ego_pose(), + p.ego_nearest_dist_threshold, p.ego_nearest_yaw_threshold); + transient_data.current_path_velocity = + prev_module_output_.path.points.at(nearest_seg_idx).point.longitudinal_velocity_mps; + transient_data.current_path_seg_idx = nearest_seg_idx; std::tie(transient_data.lane_changing_length, transient_data.current_dist_buffer) = calculation::calc_lc_length_and_dist_buffer(common_data_ptr_, get_current_lanes()); @@ -146,8 +153,6 @@ void NormalLaneChange::update_transient_data() updateStopTime(); transient_data.is_ego_stuck = is_ego_stuck(); - RCLCPP_DEBUG( - logger_, "acc - min: %.4f, max: %.4f", transient_data.acc.min, transient_data.acc.max); RCLCPP_DEBUG( logger_, "lane_changing_length - min: %.4f, max: %.4f", transient_data.lane_changing_length.min, transient_data.lane_changing_length.max); @@ -309,11 +314,9 @@ TurnSignalInfo NormalLaneChange::get_terminal_turn_signal_info() const const auto terminal_turn_signal_info = get_turn_signal(*start_pose, getLaneChangePath().info.lane_changing_end); - const double nearest_dist_threshold = common_param.ego_nearest_dist_threshold; - const double nearest_yaw_threshold = common_param.ego_nearest_yaw_threshold; - const size_t current_nearest_seg_idx = - autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - path.points, current_pose, nearest_dist_threshold, nearest_yaw_threshold); + const auto nearest_dist_threshold = common_param.ego_nearest_dist_threshold; + const auto nearest_yaw_threshold = common_param.ego_nearest_yaw_threshold; + const auto current_nearest_seg_idx = common_data_ptr_->transient_data.current_path_seg_idx; return getTurnSignalDecider().overwrite_turn_signal( path, current_pose, current_nearest_seg_idx, original_turn_signal_info, @@ -560,7 +563,7 @@ PathWithLaneId NormalLaneChange::getReferencePath() const get_target_lanes(), getEgoPose(), &closest_lanelet)) { return prev_module_output_.reference_path; } - const auto reference_path = utils::getCenterLinePathFromLanelet(closest_lanelet, planner_data_); + auto reference_path = utils::getCenterLinePathFromLanelet(closest_lanelet, planner_data_); if (reference_path.points.empty()) { return prev_module_output_.reference_path; } @@ -862,6 +865,7 @@ bool NormalLaneChange::isAbortState() const lane_change_debug_.is_abort = true; return true; } + int NormalLaneChange::getNumToPreferredLane(const lanelet::ConstLanelet & lane) const { const auto get_opposite_direction = @@ -869,114 +873,6 @@ int NormalLaneChange::getNumToPreferredLane(const lanelet::ConstLanelet & lane) return std::abs(getRouteHandler()->getNumLaneToPreferredLane(lane, get_opposite_direction)); } -std::pair NormalLaneChange::calcCurrentMinMaxAcceleration() const -{ - const auto & p = getCommonParam(); - - const auto vehicle_min_acc = std::max(p.min_acc, lane_change_parameters_->min_longitudinal_acc); - const auto vehicle_max_acc = std::min(p.max_acc, lane_change_parameters_->max_longitudinal_acc); - - const auto ego_seg_idx = autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - prev_module_output_.path.points, getEgoPose(), p.ego_nearest_dist_threshold, - p.ego_nearest_yaw_threshold); - const auto max_path_velocity = - prev_module_output_.path.points.at(ego_seg_idx).point.longitudinal_velocity_mps; - - // calculate minimum and maximum acceleration - const auto min_acc = utils::lane_change::calcMinimumAcceleration( - getEgoVelocity(), vehicle_min_acc, *lane_change_parameters_); - const auto max_acc = utils::lane_change::calcMaximumAcceleration( - getEgoVelocity(), max_path_velocity, vehicle_max_acc, *lane_change_parameters_); - - return {min_acc, max_acc}; -} - -std::vector NormalLaneChange::sampleLongitudinalAccValues( - const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes) const -{ - // TODO(Azu): sampler should work even when we're not approaching terminal - if (prev_module_output_.path.points.empty()) { - return {}; - } - - const auto & route_handler = *getRouteHandler(); - const auto current_pose = getEgoPose(); - const auto longitudinal_acc_sampling_num = lane_change_parameters_->longitudinal_acc_sampling_num; - - const auto [min_acc, max_acc] = calcCurrentMinMaxAcceleration(); - - // if max acc is not positive, then we do the normal sampling - if (max_acc <= 0.0) { - RCLCPP_DEBUG( - logger_, "Available max acc <= 0. Normal sampling for acc: [%f ~ %f]", min_acc, max_acc); - return utils::lane_change::getAccelerationValues( - min_acc, max_acc, longitudinal_acc_sampling_num); - } - - // calculate maximum lane change length - // TODO(Azu) Double check why it's failing with transient data - const auto current_max_dist_buffer = - calculation::calc_maximum_lane_change_length(common_data_ptr_, current_lanes.back(), max_acc); - - if (current_max_dist_buffer > common_data_ptr_->transient_data.dist_to_terminal_end) { - RCLCPP_DEBUG( - logger_, "No enough distance to the end of lane. Normal sampling for acc: [%f ~ %f]", min_acc, - max_acc); - return utils::lane_change::getAccelerationValues( - min_acc, max_acc, longitudinal_acc_sampling_num); - } - - // If the ego is in stuck, sampling all possible accelerations to find avoiding path. - if (common_data_ptr_->transient_data.is_ego_stuck) { - auto clock = rclcpp::Clock(RCL_ROS_TIME); - RCLCPP_INFO_THROTTLE( - logger_, clock, 1000, "Vehicle is in stuck. Sample all possible acc: [%f ~ %f]", min_acc, - max_acc); - return utils::lane_change::getAccelerationValues( - min_acc, max_acc, longitudinal_acc_sampling_num); - } - - // if maximum lane change length is less than length to goal or the end of target lanes, only - // sample max acc - if (route_handler.isInGoalRouteSection(target_lanes.back())) { - const auto goal_pose = route_handler.getGoalPose(); - if (current_max_dist_buffer < utils::getSignedDistance(current_pose, goal_pose, target_lanes)) { - RCLCPP_DEBUG( - logger_, "Distance to goal has enough distance. Sample only max_acc: %f", max_acc); - return {max_acc}; - } - } else if (current_max_dist_buffer < utils::getDistanceToEndOfLane(current_pose, target_lanes)) { - RCLCPP_DEBUG( - logger_, "Distance to end of lane has enough distance. Sample only max_acc: %f", max_acc); - return {max_acc}; - } - - RCLCPP_DEBUG(logger_, "Normal sampling for acc: [%f ~ %f]", min_acc, max_acc); - return utils::lane_change::getAccelerationValues(min_acc, max_acc, longitudinal_acc_sampling_num); -} - -std::vector NormalLaneChange::calc_prepare_durations() const -{ - const auto & lc_param_ptr = common_data_ptr_->lc_param_ptr; - const auto threshold = common_data_ptr_->bpp_param_ptr->base_link2front + - lc_param_ptr->min_length_for_turn_signal_activation; - const auto max_prepare_duration = lc_param_ptr->lane_change_prepare_duration; - - // TODO(Azu) this check seems to cause scenario failures. - if (common_data_ptr_->transient_data.dist_to_terminal_start >= threshold) { - return {max_prepare_duration}; - } - - std::vector prepare_durations; - constexpr double step = 0.5; - - for (double duration = max_prepare_duration; duration >= 0.0; duration -= step) { - prepare_durations.push_back(duration); - } - - return prepare_durations; -} - bool NormalLaneChange::get_prepare_segment( PathWithLaneId & prepare_segment, const double prepare_length) const { @@ -1014,7 +910,7 @@ bool NormalLaneChange::get_prepare_segment( return true; } -lane_change::TargetObjects NormalLaneChange::getTargetObjects( +lane_change::TargetObjects NormalLaneChange::get_target_objects( const FilteredByLanesExtendedObjects & filtered_objects, [[maybe_unused]] const lanelet::ConstLanelets & current_lanes) const { @@ -1297,22 +1193,14 @@ std::vector NormalLaneChange::get_prepare_metrics() cons const auto & current_lanes = common_data_ptr_->lanes_ptr->current; const auto & target_lanes = common_data_ptr_->lanes_ptr->target; const auto current_velocity = getEgoVelocity(); - - // get sampling acceleration values - const auto longitudinal_acc_sampling_values = - sampleLongitudinalAccValues(current_lanes, target_lanes); - - const auto prepare_durations = calc_prepare_durations(); - - RCLCPP_DEBUG( - logger_, "lane change sampling start. Sampling num for prep_time: %lu, acc: %lu", - prepare_durations.size(), longitudinal_acc_sampling_values.size()); + // set speed limit to be current path velocity; + const auto max_path_velocity = common_data_ptr_->transient_data.current_path_velocity; const auto dist_to_target_start = calculation::calc_ego_dist_to_lanes_start(common_data_ptr_, current_lanes, target_lanes); return calculation::calc_prepare_phase_metrics( - common_data_ptr_, prepare_durations, longitudinal_acc_sampling_values, current_velocity, - dist_to_target_start, common_data_ptr_->transient_data.dist_to_terminal_start); + common_data_ptr_, current_velocity, max_path_velocity, dist_to_target_start, + common_data_ptr_->transient_data.dist_to_terminal_start); } std::vector NormalLaneChange::get_lane_changing_metrics( @@ -1365,7 +1253,7 @@ bool NormalLaneChange::get_lane_change_paths(LaneChangePaths & candidate_paths) const auto current_velocity = getEgoVelocity(); const auto sorted_lane_ids = utils::lane_change::get_sorted_lane_ids(common_data_ptr_); - const auto target_objects = getTargetObjects(filtered_objects_, current_lanes); + const auto target_objects = get_target_objects(filtered_objects_, current_lanes); const auto prepare_phase_metrics = get_prepare_metrics(); @@ -1667,7 +1555,8 @@ std::optional NormalLaneChange::calcTerminalLaneChangePath( utils::clipPathLength(reference_segment, 0, length_to_lane_changing_start, 0.0); // remove terminal points because utils::clipPathLength() calculates extra long path reference_segment.points.pop_back(); - reference_segment.points.back().point.longitudinal_velocity_mps = minimum_lane_changing_velocity; + reference_segment.points.back().point.longitudinal_velocity_mps = + static_cast(minimum_lane_changing_velocity); const auto terminal_lane_change_path = utils::lane_change::construct_candidate_path( common_data_ptr_, lane_change_info, reference_segment, target_lane_reference_path, @@ -1686,7 +1575,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const return {true, true}; } - const auto target_objects = getTargetObjects(filtered_objects_, current_lanes); + const auto target_objects = get_target_objects(filtered_objects_, current_lanes); CollisionCheckDebugMap debug_data; @@ -1773,11 +1662,7 @@ bool NormalLaneChange::isValidPath(const PathWithLaneId & path) const } // check relative angle - if (!utils::checkPathRelativeAngle(path, M_PI)) { - return false; - } - - return true; + return utils::checkPathRelativeAngle(path, M_PI); } bool NormalLaneChange::isRequiredStop(const bool is_trailing_object) @@ -1921,7 +1806,7 @@ bool NormalLaneChange::calcAbortPath() PathWithLaneId aborting_path; aborting_path.points.insert( aborting_path.points.begin(), shifted_path.path.points.begin(), - shifted_path.path.points.begin() + abort_return_idx); + shifted_path.path.points.begin() + static_cast(abort_return_idx)); if (!reference_lane_segment.points.empty()) { abort_path.path = utils::combinePath(aborting_path, reference_lane_segment); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 762cada4e59d2..741a5d7b4761d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -141,59 +141,26 @@ double calc_ego_dist_to_lanes_start( return motion_utils::calcSignedArcLength(path.points, ego_position, target_front_pt); } -double calc_maximum_lane_change_length( - const double current_velocity, const LaneChangeParameters & lane_change_parameters, - const std::vector & shift_intervals, const double max_acc) +double calc_minimum_acceleration( + const LaneChangeParameters & lane_change_parameters, const double current_velocity, + const double min_acc_threshold, const double prepare_duration) { - if (shift_intervals.empty()) { - return 0.0; - } - - const auto finish_judge_buffer = lane_change_parameters.lane_change_finish_judge_buffer; - const auto lat_jerk = lane_change_parameters.lane_changing_lateral_jerk; - const auto t_prepare = lane_change_parameters.lane_change_prepare_duration; - - auto vel = current_velocity; - - const auto calc_sum = [&](double sum, double shift_interval) { - // prepare section - const auto prepare_length = vel * t_prepare + 0.5 * max_acc * t_prepare * t_prepare; - vel = vel + max_acc * t_prepare; - - // lane changing section - const auto [min_lat_acc, max_lat_acc] = - lane_change_parameters.lane_change_lat_acc_map.find(vel); - const auto t_lane_changing = - autoware::motion_utils::calc_shift_time_from_jerk(shift_interval, lat_jerk, max_lat_acc); - const auto lane_changing_length = - vel * t_lane_changing + 0.5 * max_acc * t_lane_changing * t_lane_changing; - - vel = vel + max_acc * t_lane_changing; - return sum + (prepare_length + lane_changing_length + finish_judge_buffer); - }; - - const auto total_length = - std::accumulate(shift_intervals.begin(), shift_intervals.end(), 0.0, calc_sum); - - const auto backward_buffer = lane_change_parameters.backward_length_buffer_for_end_of_lane; - return total_length + backward_buffer * (static_cast(shift_intervals.size()) - 1.0); + if (prepare_duration < eps) return -std::abs(min_acc_threshold); + const double min_lc_velocity = lane_change_parameters.minimum_lane_changing_velocity; + const double acc = (min_lc_velocity - current_velocity) / prepare_duration; + return std::clamp(acc, -std::abs(min_acc_threshold), -eps); } -double calc_maximum_lane_change_length( - const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelet & current_terminal_lanelet, - const double max_acc) +double calc_maximum_acceleration( + const double prepare_duration, const double current_velocity, const double current_max_velocity, + const double max_acc_threshold) { - const auto shift_intervals = - common_data_ptr->route_handler_ptr->getLateralIntervalsToPreferredLane( - current_terminal_lanelet); - const auto vel = std::max( - common_data_ptr->get_ego_speed(), - common_data_ptr->lc_param_ptr->minimum_lane_changing_velocity); - return calc_maximum_lane_change_length( - vel, *common_data_ptr->lc_param_ptr, shift_intervals, max_acc); + if (prepare_duration < eps) return max_acc_threshold; + const double acc = (current_max_velocity - current_velocity) / prepare_duration; + return std::clamp(acc, 0.0, max_acc_threshold); } -std::vector calc_all_min_lc_lengths( +std::vector calc_min_lane_change_lengths( const LCParamPtr & lc_param_ptr, const std::vector & shift_intervals) { if (shift_intervals.empty()) { @@ -221,7 +188,7 @@ std::vector calc_all_min_lc_lengths( return min_lc_lengths; } -std::vector calc_all_max_lc_lengths( +std::vector calc_max_lane_change_lengths( const CommonDataPtr & common_data_ptr, const std::vector & shift_intervals) { if (shift_intervals.empty()) { @@ -231,21 +198,28 @@ std::vector calc_all_max_lc_lengths( const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; const auto lat_jerk = lc_param_ptr->lane_changing_lateral_jerk; const auto t_prepare = lc_param_ptr->lane_change_prepare_duration; - const auto max_acc = common_data_ptr->transient_data.acc.max; + const auto current_velocity = common_data_ptr->get_ego_speed(); + const auto path_velocity = common_data_ptr->transient_data.current_path_velocity; - const auto limit_vel = [&](const auto vel) { - const auto max_global_vel = common_data_ptr->bpp_param_ptr->max_vel; - return std::clamp(vel, lc_param_ptr->minimum_lane_changing_velocity, max_global_vel); - }; + const auto max_acc = calc_maximum_acceleration( + t_prepare, current_velocity, path_velocity, lc_param_ptr->max_longitudinal_acc); + + // TODO(Quda, Azu): should probably limit upper bound of velocity as well, but + // disabled due failing evaluation tests. + // const auto limit_vel = [&](const auto vel) { + // const auto max_global_vel = common_data_ptr->bpp_param_ptr->max_vel; + // return std::clamp(vel, lc_param_ptr->minimum_lane_changing_velocity, max_global_vel); + // }; - auto vel = limit_vel(common_data_ptr->get_ego_speed()); + auto vel = + std::max(common_data_ptr->get_ego_speed(), lc_param_ptr->minimum_lane_changing_velocity); std::vector max_lc_lengths{}; const auto max_lc_length = [&](const auto shift_interval) { // prepare section - vel = limit_vel(vel + max_acc * t_prepare); const auto prepare_length = vel * t_prepare + 0.5 * max_acc * t_prepare * t_prepare; + vel = vel + max_acc * t_prepare; // lane changing section const auto [min_lat_acc, max_lat_acc] = lc_param_ptr->lane_change_lat_acc_map.find(vel); @@ -254,7 +228,7 @@ std::vector calc_all_max_lc_lengths( const auto lane_changing_length = vel * t_lane_changing + 0.5 * max_acc * t_lane_changing * t_lane_changing; - vel = limit_vel(vel + max_acc * t_lane_changing); + vel = vel + max_acc * t_lane_changing; return prepare_length + lane_changing_length; }; @@ -264,17 +238,16 @@ std::vector calc_all_max_lc_lengths( return max_lc_lengths; } -double calc_distance_buffer( - const LCParamPtr & lc_param_ptr, const std::vector & min_lc_lengths) +double calc_distance_buffer(const LCParamPtr & lc_param_ptr, const std::vector & lc_lengths) { - if (min_lc_lengths.empty()) { + if (lc_lengths.empty()) { return std::numeric_limits::max(); } const auto finish_judge_buffer = lc_param_ptr->lane_change_finish_judge_buffer; const auto backward_buffer = calc_stopping_distance(lc_param_ptr); - const auto lengths_sum = std::accumulate(min_lc_lengths.begin(), min_lc_lengths.end(), 0.0); - const auto num_of_lane_changes = static_cast(min_lc_lengths.size()); + const auto lengths_sum = std::accumulate(lc_lengths.begin(), lc_lengths.end(), 0.0); + const auto num_of_lane_changes = static_cast(lc_lengths.size()); return lengths_sum + (num_of_lane_changes * finish_judge_buffer) + ((num_of_lane_changes - 1.0) * backward_buffer); } @@ -299,19 +272,19 @@ std::pair calc_lc_length_and_dist_buffer( return {}; } const auto shift_intervals = calculation::calc_shift_intervals(common_data_ptr, lanes); - const auto all_min_lc_lengths = - calculation::calc_all_min_lc_lengths(common_data_ptr->lc_param_ptr, shift_intervals); + const auto min_lc_lengths = + calculation::calc_min_lane_change_lengths(common_data_ptr->lc_param_ptr, shift_intervals); const auto min_lc_length = - !all_min_lc_lengths.empty() ? all_min_lc_lengths.front() : std::numeric_limits::max(); + !min_lc_lengths.empty() ? min_lc_lengths.front() : std::numeric_limits::max(); const auto min_dist_buffer = - calculation::calc_distance_buffer(common_data_ptr->lc_param_ptr, all_min_lc_lengths); + calculation::calc_distance_buffer(common_data_ptr->lc_param_ptr, min_lc_lengths); - const auto all_max_lc_lengths = - calculation::calc_all_max_lc_lengths(common_data_ptr, shift_intervals); + const auto max_lc_lengths = + calculation::calc_max_lane_change_lengths(common_data_ptr, shift_intervals); const auto max_lc_length = - !all_max_lc_lengths.empty() ? all_max_lc_lengths.front() : std::numeric_limits::max(); + !max_lc_lengths.empty() ? max_lc_lengths.front() : std::numeric_limits::max(); const auto max_dist_buffer = - calculation::calc_distance_buffer(common_data_ptr->lc_param_ptr, all_max_lc_lengths); + calculation::calc_distance_buffer(common_data_ptr->lc_param_ptr, max_lc_lengths); return {{min_lc_length, max_lc_length}, {min_dist_buffer, max_dist_buffer}}; } @@ -326,6 +299,85 @@ double calc_phase_length( return std::min(length_with_acceleration, length_with_max_velocity); } +std::pair calc_min_max_acceleration( + const CommonDataPtr & common_data_ptr, const double max_path_velocity, + const double prepare_duration) +{ + const auto & lc_params = *common_data_ptr->lc_param_ptr; + const auto & bpp_params = *common_data_ptr->bpp_param_ptr; + const auto current_ego_velocity = common_data_ptr->get_ego_speed(); + + const auto min_accel_threshold = std::max(bpp_params.min_acc, lc_params.min_longitudinal_acc); + const auto max_accel_threshold = std::min(bpp_params.max_acc, lc_params.max_longitudinal_acc); + + // calculate minimum and maximum acceleration + const auto min_acc = calc_minimum_acceleration( + lc_params, current_ego_velocity, min_accel_threshold, prepare_duration); + const auto max_acc = calc_maximum_acceleration( + prepare_duration, current_ego_velocity, max_path_velocity, max_accel_threshold); + + return {min_acc, max_acc}; +} + +std::vector calc_acceleration_values( + const double min_accel, const double max_accel, const double sampling_num) +{ + if (min_accel > max_accel) return {}; + + if (max_accel - min_accel < eps) { + return {min_accel}; + } + + const auto resolution = std::abs(max_accel - min_accel) / sampling_num; + + std::vector sampled_values{min_accel}; + for (double accel = min_accel + resolution; accel < max_accel + eps; accel += resolution) { + // check whether if we need to add 0.0 + if (sampled_values.back() < -eps && accel > eps) { + sampled_values.push_back(0.0); + } + + sampled_values.push_back(accel); + } + std::reverse(sampled_values.begin(), sampled_values.end()); + + return sampled_values; +} + +std::vector calc_lon_acceleration_samples( + const CommonDataPtr & common_data_ptr, const double max_path_velocity, + const double prepare_duration) +{ + const auto & transient_data = common_data_ptr->transient_data; + const auto & current_pose = common_data_ptr->get_ego_pose(); + const auto & target_lanes = common_data_ptr->lanes_ptr->target; + const auto goal_pose = common_data_ptr->route_handler_ptr->getGoalPose(); + const auto sampling_num = common_data_ptr->lc_param_ptr->longitudinal_acc_sampling_num; + + const auto [min_accel, max_accel] = + calc_min_max_acceleration(common_data_ptr, max_path_velocity, prepare_duration); + + const auto is_sampling_required = std::invoke([&]() -> bool { + if (max_accel < 0.0 || transient_data.is_ego_stuck) return true; + + const auto max_dist_buffer = transient_data.current_dist_buffer.max; + if (max_dist_buffer > transient_data.dist_to_terminal_end) return true; + + const auto dist_to_target_lane_end = + common_data_ptr->lanes_ptr->target_lane_in_goal_section + ? utils::getSignedDistance(current_pose, goal_pose, target_lanes) + : utils::getDistanceToEndOfLane(current_pose, target_lanes); + + return max_dist_buffer >= dist_to_target_lane_end; + }); + + if (is_sampling_required) { + return calc_acceleration_values(min_accel, max_accel, sampling_num); + } + + return {max_accel}; +} + double calc_lane_changing_acceleration( const double initial_lane_changing_velocity, const double max_path_velocity, const double lane_changing_time, const double prepare_longitudinal_acc) @@ -339,10 +391,32 @@ double calc_lane_changing_acceleration( prepare_longitudinal_acc); } +std::vector calc_prepare_durations(const CommonDataPtr & common_data_ptr) +{ + const auto & lc_param_ptr = common_data_ptr->lc_param_ptr; + const auto threshold = common_data_ptr->bpp_param_ptr->base_link2front + + lc_param_ptr->min_length_for_turn_signal_activation; + const auto max_prepare_duration = lc_param_ptr->lane_change_prepare_duration; + + // TODO(Azu) this check seems to cause scenario failures. + if (common_data_ptr->transient_data.dist_to_terminal_start >= threshold) { + return {max_prepare_duration}; + } + + std::vector prepare_durations; + constexpr double step = 0.5; + + for (double duration = max_prepare_duration; duration >= 0.0; duration -= step) { + prepare_durations.push_back(duration); + } + + return prepare_durations; +} + std::vector calc_prepare_phase_metrics( - const CommonDataPtr & common_data_ptr, const std::vector & prepare_durations, - const std::vector & lon_accel_values, const double current_velocity, - const double min_length_threshold, const double max_length_threshold) + const CommonDataPtr & common_data_ptr, const double current_velocity, + const double max_path_velocity, const double min_length_threshold, + const double max_length_threshold) { const auto & min_lc_vel = common_data_ptr->lc_param_ptr->minimum_lane_changing_velocity; const auto & max_vel = common_data_ptr->bpp_param_ptr->max_vel; @@ -360,9 +434,12 @@ std::vector calc_prepare_phase_metrics( return false; }; - metrics.reserve(prepare_durations.size() * lon_accel_values.size()); + const auto prepare_durations = calc_prepare_durations(common_data_ptr); + for (const auto & prepare_duration : prepare_durations) { - for (const auto & lon_accel : lon_accel_values) { + const auto lon_accel_samples = + calc_lon_acceleration_samples(common_data_ptr, max_path_velocity, prepare_duration); + for (const auto & lon_accel : lon_accel_samples) { const auto prepare_velocity = std::clamp(current_velocity + lon_accel * prepare_duration, min_lc_vel, max_vel); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index 82a832d30c0b5..455792733ac97 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -14,10 +14,8 @@ #include "autoware/behavior_path_lane_change_module/utils/utils.hpp" -#include "autoware/behavior_path_lane_change_module/utils/calculation.hpp" #include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp" #include "autoware/behavior_path_lane_change_module/utils/path.hpp" -#include "autoware/behavior_path_planner_common/marker_utils/utils.hpp" #include "autoware/behavior_path_planner_common/parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp" #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" @@ -52,7 +50,6 @@ #include #include #include -#include #include #include #include @@ -61,7 +58,6 @@ namespace autoware::behavior_path_planner::utils::lane_change { using autoware::route_handler::RouteHandler; using autoware::universe_utils::LineString2d; -using autoware::universe_utils::Point2d; using autoware::universe_utils::Polygon2d; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObjects; @@ -93,34 +89,14 @@ double calcLaneChangeResampleInterval( lane_changing_length / min_resampling_points, lane_changing_velocity * resampling_dt); } -double calcMinimumAcceleration( - const double current_velocity, const double min_longitudinal_acc, - const LaneChangeParameters & lane_change_parameters) -{ - const double min_lane_changing_velocity = lane_change_parameters.minimum_lane_changing_velocity; - const double prepare_duration = lane_change_parameters.lane_change_prepare_duration; - const double acc = (min_lane_changing_velocity - current_velocity) / prepare_duration; - return std::clamp(acc, -std::abs(min_longitudinal_acc), -std::numeric_limits::epsilon()); -} - -double calcMaximumAcceleration( - const double current_velocity, const double current_max_velocity, - const double max_longitudinal_acc, const LaneChangeParameters & lane_change_parameters) -{ - const double prepare_duration = lane_change_parameters.lane_change_prepare_duration; - const double acc = (current_max_velocity - current_velocity) / prepare_duration; - return std::clamp(acc, 0.0, max_longitudinal_acc); -} - void setPrepareVelocity( PathWithLaneId & prepare_segment, const double current_velocity, const double prepare_velocity) { if (current_velocity < prepare_velocity) { // acceleration - for (size_t i = 0; i < prepare_segment.points.size(); ++i) { - prepare_segment.points.at(i).point.longitudinal_velocity_mps = std::min( - prepare_segment.points.at(i).point.longitudinal_velocity_mps, - static_cast(prepare_velocity)); + for (auto & point : prepare_segment.points) { + point.point.longitudinal_velocity_mps = + std::min(point.point.longitudinal_velocity_mps, static_cast(prepare_velocity)); } } else { // deceleration @@ -130,36 +106,7 @@ void setPrepareVelocity( } } -std::vector getAccelerationValues( - const double min_acc, const double max_acc, const size_t sampling_num) -{ - if (min_acc > max_acc) { - return {}; - } - - if (max_acc - min_acc < std::numeric_limits::epsilon()) { - return {min_acc}; - } - - constexpr double epsilon = 0.001; - const auto resolution = std::abs(max_acc - min_acc) / sampling_num; - - std::vector sampled_values{min_acc}; - for (double sampled_acc = min_acc + resolution; - sampled_acc < max_acc + std::numeric_limits::epsilon(); sampled_acc += resolution) { - // check whether if we need to add 0.0 - if (sampled_values.back() < -epsilon && sampled_acc > epsilon) { - sampled_values.push_back(0.0); - } - - sampled_values.push_back(sampled_acc); - } - std::reverse(sampled_values.begin(), sampled_values.end()); - - return sampled_values; -} - -lanelet::ConstLanelets getTargetNeighborLanes( +lanelet::ConstLanelets get_target_neighbor_lanes( const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes, const LaneChangeModuleType & type) { @@ -430,7 +377,7 @@ std::vector generateDrivableLanes( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & lane_change_lanes) { const auto has_same_lane = - [](const lanelet::ConstLanelets lanes, const lanelet::ConstLanelet & lane) { + [](const lanelet::ConstLanelets & lanes, const lanelet::ConstLanelet & lane) { if (lanes.empty()) return false; const auto has_same = [&](const auto & ll) { return ll.id() == lane.id(); }; return std::find_if(lanes.begin(), lanes.end(), has_same) != lanes.end(); @@ -752,7 +699,7 @@ bool isParkedObject( most_left_lanelet.attribute(lanelet::AttributeName::Subtype); for (const auto & ll : most_left_lanelet_candidates) { - const lanelet::Attribute sub_type = ll.attribute(lanelet::AttributeName::Subtype); + const auto & sub_type = ll.attribute(lanelet::AttributeName::Subtype); if (sub_type.value() == "road_shoulder") { most_left_lanelet = ll; } @@ -773,7 +720,7 @@ bool isParkedObject( most_right_lanelet.attribute(lanelet::AttributeName::Subtype); for (const auto & ll : most_right_lanelet_candidates) { - const lanelet::Attribute sub_type = ll.attribute(lanelet::AttributeName::Subtype); + const auto & sub_type = ll.attribute(lanelet::AttributeName::Subtype); if (sub_type.value() == "road_shoulder") { most_right_lanelet = ll; } @@ -1054,8 +1001,16 @@ bool isWithinIntersection( return false; } - const auto lanelet_polygon = - route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); + if (!std::atoi(id.c_str())) { + return false; + } + + const auto lanelet_polygon_opt = + route_handler->getLaneletMapPtr()->polygonLayer.find(std::atoi(id.c_str())); + if (lanelet_polygon_opt == route_handler->getLaneletMapPtr()->polygonLayer.end()) { + return false; + } + const auto & lanelet_polygon = *lanelet_polygon_opt; return boost::geometry::within( polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet_polygon.basicPolygon()))); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp new file mode 100644 index 0000000000000..6f285190c4169 --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp @@ -0,0 +1,232 @@ +// Copyright 2024 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 "autoware/behavior_path_lane_change_module/manager.hpp" +#include "autoware/behavior_path_lane_change_module/scene.hpp" +#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp" +#include "autoware/behavior_path_planner_common/data_manager.hpp" +#include "autoware_test_utils/autoware_test_utils.hpp" +#include "autoware_test_utils/mock_data_parser.hpp" + +#include + +#include "autoware_planning_msgs/msg/lanelet_route.hpp" + +#include + +#include + +using autoware::behavior_path_planner::LaneChangeModuleManager; +using autoware::behavior_path_planner::LaneChangeModuleType; +using autoware::behavior_path_planner::NormalLaneChange; +using autoware::behavior_path_planner::PlannerData; +using autoware::behavior_path_planner::lane_change::CommonDataPtr; +using autoware::behavior_path_planner::lane_change::LCParamPtr; +using autoware::behavior_path_planner::lane_change::RouteHandlerPtr; +using autoware::route_handler::Direction; +using autoware::route_handler::RouteHandler; +using autoware::test_utils::get_absolute_path_to_config; +using autoware::test_utils::get_absolute_path_to_lanelet_map; +using autoware::test_utils::get_absolute_path_to_route; +using autoware_map_msgs::msg::LaneletMapBin; +using autoware_planning_msgs::msg::LaneletRoute; +using geometry_msgs::msg::Pose; +using tier4_planning_msgs::msg::PathWithLaneId; + +class TestNormalLaneChange : public ::testing::Test +{ +public: + void SetUp() override + { + rclcpp::init(0, nullptr); + init_param(); + init_module(); + } + + void init_param() + { + auto node_options = get_node_options(); + auto node = rclcpp::Node(name_, node_options); + planner_data_->init_parameters(node); + lc_param_ptr_ = LaneChangeModuleManager::set_params(&node, node.get_name()); + planner_data_->route_handler = init_route_handler(); + + ego_pose_ = autoware::test_utils::createPose(-50.0, 1.75, 0.0, 0.0, 0.0, 0.0); + planner_data_->self_odometry = set_odometry(ego_pose_); + planner_data_->dynamic_object = + std::make_shared(); + } + + void init_module() + { + normal_lane_change_ = + std::make_shared(lc_param_ptr_, lc_type_, lc_direction_); + normal_lane_change_->setData(planner_data_); + set_previous_approved_path(); + } + + [[nodiscard]] const CommonDataPtr & get_common_data_ptr() const + { + return normal_lane_change_->common_data_ptr_; + } + + [[nodiscard]] rclcpp::NodeOptions get_node_options() const + { + auto node_options = rclcpp::NodeOptions{}; + + const auto common_param = + get_absolute_path_to_config(test_utils_dir_, "test_common.param.yaml"); + const auto nearest_search_param = + get_absolute_path_to_config(test_utils_dir_, "test_nearest_search.param.yaml"); + const auto vehicle_info_param = + get_absolute_path_to_config(test_utils_dir_, "test_vehicle_info.param.yaml"); + + std::string bpp_dir{"autoware_behavior_path_planner"}; + const auto bpp_param = get_absolute_path_to_config(bpp_dir, "behavior_path_planner.param.yaml"); + const auto drivable_area_expansion_param = + get_absolute_path_to_config(bpp_dir, "drivable_area_expansion.param.yaml"); + const auto scene_module_manager_param = + get_absolute_path_to_config(bpp_dir, "scene_module_manager.param.yaml"); + + std::string lc_dir{"autoware_behavior_path_lane_change_module"}; + const auto lc_param = get_absolute_path_to_config(lc_dir, "lane_change.param.yaml"); + + autoware::test_utils::updateNodeOptions( + node_options, {common_param, nearest_search_param, vehicle_info_param, bpp_param, + drivable_area_expansion_param, scene_module_manager_param, lc_param}); + return node_options; + } + + [[nodiscard]] RouteHandlerPtr init_route_handler() const + { + std::string autoware_route_handler_dir{"autoware_route_handler"}; + std::string lane_change_right_test_route_filename{"lane_change_test_route.yaml"}; + std::string lanelet_map_filename{"2km_test.osm"}; + const auto lanelet2_path = + get_absolute_path_to_lanelet_map(test_utils_dir_, lanelet_map_filename); + const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(lanelet2_path, 5.0); + auto route_handler_ptr = std::make_shared(map_bin_msg); + const auto rh_test_route = + get_absolute_path_to_route(autoware_route_handler_dir, lane_change_right_test_route_filename); + route_handler_ptr->setRoute(autoware::test_utils::parse(rh_test_route)); + + return route_handler_ptr; + } + + static std::shared_ptr set_odometry(const Pose & pose) + { + nav_msgs::msg::Odometry odom; + odom.pose.pose = pose; + return std::make_shared(odom); + } + + void set_previous_approved_path() + { + normal_lane_change_->prev_module_output_.path = create_previous_approved_path(); + } + + [[nodiscard]] PathWithLaneId create_previous_approved_path() const + { + const auto & common_data_ptr = get_common_data_ptr(); + const auto & route_handler_ptr = common_data_ptr->route_handler_ptr; + lanelet::ConstLanelet closest_lane; + const auto current_pose = planner_data_->self_odometry->pose.pose; + route_handler_ptr->getClosestLaneletWithinRoute(current_pose, &closest_lane); + const auto backward_distance = common_data_ptr->bpp_param_ptr->backward_path_length; + const auto forward_distance = common_data_ptr->bpp_param_ptr->forward_path_length; + const auto current_lanes = route_handler_ptr->getLaneletSequence( + closest_lane, current_pose, backward_distance, forward_distance); + + return route_handler_ptr->getCenterLinePath( + current_lanes, 0.0, std::numeric_limits::max()); + } + + void TearDown() override + { + normal_lane_change_ = nullptr; + lc_param_ptr_ = nullptr; + planner_data_ = nullptr; + rclcpp::shutdown(); + } + + LCParamPtr lc_param_ptr_; + std::shared_ptr normal_lane_change_; + std::shared_ptr planner_data_ = std::make_shared(); + LaneChangeModuleType lc_type_{LaneChangeModuleType::NORMAL}; + Direction lc_direction_{Direction::RIGHT}; + std::string name_{"test_lane_change_scene"}; + std::string test_utils_dir_{"autoware_test_utils"}; + Pose ego_pose_; +}; + +TEST_F(TestNormalLaneChange, testBaseClassInitialize) +{ + const auto type = normal_lane_change_->getModuleType(); + const auto type_str = normal_lane_change_->getModuleTypeStr(); + + ASSERT_EQ(type, LaneChangeModuleType::NORMAL); + const auto is_type_str = type_str == "NORMAL"; + ASSERT_TRUE(is_type_str); + + ASSERT_EQ(normal_lane_change_->getDirection(), Direction::RIGHT); + + ASSERT_TRUE(get_common_data_ptr()); + + ASSERT_TRUE(get_common_data_ptr()->is_data_available()); + ASSERT_FALSE(get_common_data_ptr()->is_lanes_available()); +} + +TEST_F(TestNormalLaneChange, testUpdateLanes) +{ + constexpr auto is_approved = true; + + normal_lane_change_->update_lanes(is_approved); + + ASSERT_FALSE(get_common_data_ptr()->is_lanes_available()); + + normal_lane_change_->update_lanes(!is_approved); + + ASSERT_TRUE(get_common_data_ptr()->is_lanes_available()); +} + +TEST_F(TestNormalLaneChange, testGetPathWhenInvalid) +{ + constexpr auto is_approved = true; + normal_lane_change_->update_lanes(!is_approved); + normal_lane_change_->update_filtered_objects(); + normal_lane_change_->update_transient_data(); + normal_lane_change_->updateLaneChangeStatus(); + const auto & lc_status = normal_lane_change_->getLaneChangeStatus(); + + ASSERT_FALSE(lc_status.is_valid_path); +} + +TEST_F(TestNormalLaneChange, testGetPathWhenValid) +{ + constexpr auto is_approved = true; + ego_pose_ = autoware::test_utils::createPose(1.0, 1.75, 0.0, 0.0, 0.0, 0.0); + planner_data_->self_odometry = set_odometry(ego_pose_); + set_previous_approved_path(); + normal_lane_change_->update_lanes(!is_approved); + normal_lane_change_->update_filtered_objects(); + normal_lane_change_->update_transient_data(); + const auto lane_change_required = normal_lane_change_->isLaneChangeRequired(); + + ASSERT_TRUE(lane_change_required); + + normal_lane_change_->updateLaneChangeStatus(); + const auto & lc_status = normal_lane_change_->getLaneChangeStatus(); + + ASSERT_TRUE(lc_status.is_valid_path); +} diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp index 77f2ffc26f44d..0cb9c02ccbc4b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp @@ -551,8 +551,10 @@ class PlannerManager /** * @brief find and set the closest lanelet within the route to current route lanelet * @param planner data. + * @param is any approved module running. */ - void updateCurrentRouteLanelet(const std::shared_ptr & data); + void updateCurrentRouteLanelet( + const std::shared_ptr & data, const bool is_any_approved_module_running); void generateCombinedDrivableArea( BehaviorModuleOutput & output, const std::shared_ptr & data) const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index 2f9c82f46d3bc..d168361a19858 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -351,9 +351,9 @@ void BehaviorPathPlannerNode::run() if (!is_first_time && !has_same_route_id) { RCLCPP_INFO(get_logger(), "New uuid route is received. Resetting modules."); planner_manager_->reset(); + planner_manager_->resetCurrentRouteLanelet(planner_data_); planner_data_->prev_modified_goal.reset(); } - planner_manager_->resetCurrentRouteLanelet(planner_data_); } const auto controlled_by_autoware_autonomously = planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS && diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp index dc6f7552c5a61..6281988036635 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp @@ -135,7 +135,7 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da const bool is_any_module_running = is_any_approved_module_running || is_any_candidate_module_running_or_idle; - updateCurrentRouteLanelet(data); + updateCurrentRouteLanelet(data, is_any_approved_module_running); const bool is_out_of_route = utils::isEgoOutOfRoute( data->self_odometry->pose.pose, current_route_lanelet_->value(), data->prev_modified_goal, @@ -149,8 +149,6 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da generateCombinedDrivableArea(result_output, data); return result_output; } - std::vector - deleted_modules; // store the scene modules deleted from approved modules SlotOutput result_output = SlotOutput{ getReferencePath(data), @@ -228,7 +226,8 @@ void PlannerManager::generateCombinedDrivableArea( utils::extractObstaclesFromDrivableArea(output.path, di.obstacles); } -void PlannerManager::updateCurrentRouteLanelet(const std::shared_ptr & data) +void PlannerManager::updateCurrentRouteLanelet( + const std::shared_ptr & data, const bool is_any_approved_module_running) { const auto & route_handler = data->route_handler; const auto & pose = data->self_odometry->pose.pose; @@ -256,10 +255,11 @@ void PlannerManager::updateCurrentRouteLanelet(const std::shared_ptr & parameters) = 0; -protected: void initInterface(rclcpp::Node * node, const std::vector & rtc_types); +protected: virtual std::unique_ptr createNewSceneModuleInstance() = 0; rclcpp::Node * node_ = nullptr; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp index dc371e3063822..3e4f180035b20 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp @@ -58,34 +58,76 @@ PathWithLaneId resamplePathWithSpline( const PathWithLaneId & path, const double interval, const bool keep_input_points = false, const std::pair target_section = {0.0, std::numeric_limits::max()}); +/** + * @brief Gets index based on target index and arc length. + * @param [in] path Path. + * @param [in] target_idx Target index. + * @param [in] signed_arc Signed arc length. (Positive is forward) + * @return Index + */ size_t getIdxByArclength( const PathWithLaneId & path, const size_t target_idx, const double signed_arc); +/** + * @brief Clips path according to the target index and length. + * @param [in] path Path. + * @param [in] target_idx Target index. + * @param [in] forward Forward distance from target index. + * @param [in] backward Backward distance from target index. + * @return Index + */ void clipPathLength( PathWithLaneId & path, const size_t target_idx, const double forward, const double backward); -void clipPathLength( - PathWithLaneId & path, const size_t target_idx, const BehaviorPathPlannerParameters & params); - PathWithLaneId convertWayPointsToPathWithLaneId( const autoware::freespace_planning_algorithms::PlannerWaypoints & waypoints, const double velocity, const lanelet::ConstLanelets & lanelets); +/** + * @brief Get indices where the driving direction would reverse. + * @param [in] path Original path. + * @return Indices. + */ std::vector getReversingIndices(const PathWithLaneId & path); +/** + * @brief Divide path by given indices. + * @param [in] path Original path. + * @param [in] indices Where to split the path. + * @return Divided paths. + */ std::vector dividePath( const PathWithLaneId & path, const std::vector & indices); +/** + * @brief Corrects the velocity implemented in the trajectory by judging the vehicle driving + * direction. + * @param [in] divided_paths Multiple path with lane ID. + * @return + */ void correctDividedPathVelocity(std::vector & divided_paths); // only two points is supported -std::vector splineTwoPoints( +std::vector spline_two_points( const std::vector & base_s, const std::vector & base_x, const double begin_diff, const double end_diff, const std::vector & new_s); +/** + * @brief Interpolates pose between 2 pose. + * @param [in] start_pose Start pose. + * @param [in] end_pose End pose. + * @param [in] resample_interval Resampling interval. + * @return Array of pose + */ std::vector interpolatePose( const Pose & start_pose, const Pose & end_pose, const double resample_interval); +/** + * @brief Get ego pose which is not shifted. + * @param [in] ego_pose Ego pose. + * @param [in] prev_path Previous path with lane ID. + * @return Unshifted pose. + */ geometry_msgs::msg::Pose getUnshiftedEgoPose( const geometry_msgs::msg::Pose & ego_pose, const ShiftedPath & prev_path); @@ -94,6 +136,12 @@ PathWithLaneId calcCenterLinePath( const double longest_dist_to_shift_line, const std::optional & prev_module_path = std::nullopt); +/** + * @brief Combines 2 path which do not overlap. + * @param [in] path1 First path. + * @param [in] path2 Second path. + * @return Combined path. + */ PathWithLaneId combinePath(const PathWithLaneId & path1, const PathWithLaneId & path2); BehaviorModuleOutput getReferencePath( diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp index 3d5908bc4e02f..9c35032e51063 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -1193,11 +1193,19 @@ std::vector getBoundWithIntersectionAreas( continue; } + if (!std::atoi(id.c_str())) { + continue; + } + // Step1. extract intersection partial bound. std::vector intersection_bound{}; { - const auto polygon = - route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); + const auto polygon_opt = + route_handler->getLaneletMapPtr()->polygonLayer.find(std::atoi(id.c_str())); + if (polygon_opt == route_handler->getLaneletMapPtr()->polygonLayer.end()) { + continue; + } + const auto & polygon = *polygon_opt; const auto is_clockwise_polygon = boost::geometry::is_valid(lanelet::utils::to2D(polygon.basicPolygon())); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp index 3b06e084690e3..d6f56f9c90168 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp @@ -27,7 +27,6 @@ #include #include -#include #include #include #include @@ -102,6 +101,7 @@ PathWithLaneId resamplePathWithSpline( transformed_path, 0, transformed_path.size()); for (size_t i = 0; i < path.points.size(); ++i) { const double s = s_vec.at(i); + for (const auto & lane_id : path.points.at(i).lane_ids) { if (!keep_input_points && (unique_lane_ids.find(lane_id) != unique_lane_ids.end())) { continue; @@ -202,13 +202,6 @@ void clipPathLength( path.points = clipped_points; } -// TODO(murooka) This function should be replaced with autoware::motion_utils::cropPoints -void clipPathLength( - PathWithLaneId & path, const size_t target_idx, const BehaviorPathPlannerParameters & params) -{ - clipPathLength(path, target_idx, params.forward_path_length, params.backward_path_length); -} - PathWithLaneId convertWayPointsToPathWithLaneId( const autoware::freespace_planning_algorithms::PlannerWaypoints & waypoints, const double velocity, const lanelet::ConstLanelets & lanelets) @@ -311,7 +304,7 @@ void correctDividedPathVelocity(std::vector & divided_paths) } // only two points is supported -std::vector splineTwoPoints( +std::vector spline_two_points( const std::vector & base_s, const std::vector & base_x, const double begin_diff, const double end_diff, const std::vector & new_s) { @@ -350,10 +343,10 @@ std::vector interpolatePose( new_s.push_back(s); } - const std::vector interpolated_x = splineTwoPoints( + const std::vector interpolated_x = spline_two_points( base_s, base_x, std::cos(tf2::getYaw(start_pose.orientation)), std::cos(tf2::getYaw(end_pose.orientation)), new_s); - const std::vector interpolated_y = splineTwoPoints( + const std::vector interpolated_y = spline_two_points( base_s, base_y, std::sin(tf2::getYaw(start_pose.orientation)), std::sin(tf2::getYaw(end_pose.orientation)), new_s); for (size_t i = 0; i < interpolated_x.size(); ++i) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp index 40802558c0b38..739f5d21346bd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp @@ -34,11 +34,13 @@ double getDistanceToNextTrafficLight( lanelet::utils::to2D(lanelet_point).basicPoint()); for (const auto & element : current_lanelet.regulatoryElementsAs()) { - lanelet::ConstLineString3d lanelet_stop_lines = element->stopLine().value(); + const auto lanelet_stop_lines = element->stopLine(); + + if (!lanelet_stop_lines.has_value()) continue; const auto to_stop_line = lanelet::geometry::toArcCoordinates( lanelet::utils::to2D(current_lanelet.centerline()), - lanelet::utils::to2D(lanelet_stop_lines).front().basicPoint()); + lanelet::utils::to2D(lanelet_stop_lines.value()).front().basicPoint()); const auto distance_object_to_stop_line = to_stop_line.length - to_object.length; @@ -61,11 +63,13 @@ double getDistanceToNextTrafficLight( } for (const auto & element : llt.regulatoryElementsAs()) { - lanelet::ConstLineString3d lanelet_stop_lines = element->stopLine().value(); + const auto lanelet_stop_lines = element->stopLine(); + + if (!lanelet_stop_lines.has_value()) continue; const auto to_stop_line = lanelet::geometry::toArcCoordinates( lanelet::utils::to2D(llt.centerline()), - lanelet::utils::to2D(lanelet_stop_lines).front().basicPoint()); + lanelet::utils::to2D(lanelet_stop_lines.value()).front().basicPoint()); return distance + to_stop_line.length - to_object.length; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp index 57641306cfa2b..a546c0026d4d6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -1063,8 +1063,19 @@ lanelet::ConstLanelets getCurrentLanes(const std::shared_ptr lanelet::ConstLanelets getCurrentLanesFromPath( const PathWithLaneId & path, const std::shared_ptr & planner_data) { + if (path.points.empty() || !planner_data) { + return {}; + } + const auto & route_handler = planner_data->route_handler; - const auto & current_pose = planner_data->self_odometry->pose.pose; + const auto & self_odometry = planner_data->self_odometry; + + if (!route_handler || !self_odometry) { + return {}; + } + + const auto & current_pose = self_odometry->pose.pose; + const auto & p = planner_data->parameters; std::set lane_ids; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp new file mode 100644 index 0000000000000..d96b30cccdfaa --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_path_utils.cpp @@ -0,0 +1,250 @@ +// Copyright 2024 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 "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" +#include "autoware/behavior_path_planner_common/utils/path_utils.hpp" + +#include + +#include + +#include + +#include + +using tier4_planning_msgs::msg::PathWithLaneId; + +using autoware::test_utils::createPose; +using autoware::test_utils::generateTrajectory; + +TEST(BehaviorPathPlanningPathUtilTest, calcPathArcLengthArray) +{ + using autoware::behavior_path_planner::utils::calcPathArcLengthArray; + + auto path = generateTrajectory(10, 1.0); + auto arc_length_array = calcPathArcLengthArray(path); + + ASSERT_EQ(arc_length_array.size(), path.points.size()); + + size_t i = 0; + for (const auto & arc_length : arc_length_array) { + EXPECT_DOUBLE_EQ(arc_length, 1.0 * i); + i++; + } +} + +TEST(BehaviorPathPlanningPathUtilTest, resamplePathWithSpline) +{ + using autoware::behavior_path_planner::utils::resamplePathWithSpline; + + // Condition: path point less than 2 + auto path = generateTrajectory(1, 1.0); + EXPECT_EQ(resamplePathWithSpline(path, 1.0).points.size(), path.points.size()); + + // Condition: not enough point for spline interpolation + path = generateTrajectory(10, 0.01); + EXPECT_EQ(resamplePathWithSpline(path, 1.0).points.size(), path.points.size()); + + // Condition: spline interpolation + path = generateTrajectory(10, 0.1); + auto resampled_path = resamplePathWithSpline(path, 1.0); + EXPECT_EQ(resampled_path.points.size(), 5); +} + +TEST(BehaviorPathPlanningPathUtilTest, getIdxByArclength) +{ + using autoware::behavior_path_planner::utils::getIdxByArclength; + + tier4_planning_msgs::msg::PathWithLaneId path; + + // Condition: empty points + EXPECT_ANY_THROW(getIdxByArclength(path, 5, 1.0)); + + // Condition: negative arc with idx 0 + path = generateTrajectory(10, 1.0); + EXPECT_EQ(getIdxByArclength(path, 0, -1.0), 0); + + // Condition: negative arc + EXPECT_EQ(getIdxByArclength(path, 5, -2.0), 2); + + // Condition: positive arc + EXPECT_EQ(getIdxByArclength(path, 3, 4.0), 8); +} + +TEST(BehaviorPathPlanningPathUtilTest, clipPathLength) +{ + using autoware::behavior_path_planner::utils::clipPathLength; + + // Condition: path point less than 3 + auto path = generateTrajectory(2, 1.0); + clipPathLength(path, 5, 10.0, 1.0); + EXPECT_EQ(path.points.size(), 2); + + // Condition: path to be cropped + path = generateTrajectory(10, 1.0); + clipPathLength(path, 5, 10.0, 1.0); + EXPECT_EQ(path.points.size(), 7); + + size_t i = 0; + for (const auto & point : path.points) { + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 3.0 + i); + i++; + } +} + +TEST(BehaviorPathPlanningPathUtilTest, getReversingIndices) +{ + using autoware::behavior_path_planner::utils::getReversingIndices; + + size_t target_index = 7; + auto path = generateTrajectory(10, 1.0, 1.0); + path.points.at(target_index).point.longitudinal_velocity_mps = -1.0; + auto reversing_indices = getReversingIndices(path); + EXPECT_EQ(reversing_indices.size(), 2); + + size_t i = 0; + for (const auto & index : reversing_indices) { + EXPECT_EQ(index, target_index - 1 + i); + i++; + } +} + +TEST(BehaviorPathPlanningPathUtilTest, dividePath) +{ + using autoware::behavior_path_planner::utils::dividePath; + auto path = generateTrajectory(10, 1.0); + + // Condition: empty indices + std::vector indices; + auto divided_path = dividePath(path, indices); + EXPECT_EQ(divided_path.size(), 1); + + // Condition: divide path + indices = {3, 5, 8}; + divided_path = dividePath(path, indices); + ASSERT_EQ(divided_path.size(), 4); + EXPECT_EQ(divided_path.at(0).points.size(), 4); + EXPECT_EQ(divided_path.at(1).points.size(), 3); + EXPECT_EQ(divided_path.at(2).points.size(), 4); + EXPECT_EQ(divided_path.at(3).points.size(), 2); +} + +TEST(BehaviorPathPlanningPathUtilTest, correctDividedPathVelocity) +{ + using autoware::behavior_path_planner::utils::correctDividedPathVelocity; + + double velocity = 1.0; + std::vector divided_paths; + // forward driving + divided_paths.push_back(generateTrajectory(10, 1.0, velocity)); + // reverse driving + divided_paths.push_back(generateTrajectory(10, -1.0, velocity, M_PI)); + correctDividedPathVelocity(divided_paths); + + for (const auto & point : divided_paths.at(0).points) { + if (point == divided_paths.at(0).points.back()) { + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + } else { + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, velocity); + } + } + + for (const auto & point : divided_paths.at(1).points) { + if (point == divided_paths.at(1).points.back()) { + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + } else { + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, -velocity); + } + } +} + +TEST(BehaviorPathPlanningPathUtilTest, interpolatePose) +{ + using autoware::behavior_path_planner::utils::interpolatePose; + + auto start_pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + auto end_pose = createPose(10.0, 2.0, 0.0, 0.0, 0.0, M_PI_2); + double resample_interval = 1.0; + + auto resampled_pose = interpolatePose(start_pose, end_pose, resample_interval); + EXPECT_EQ(resampled_pose.size(), 10); +} + +TEST(BehaviorPathPlanningPathUtilTest, getUnshiftedEgoPose) +{ + using autoware::behavior_path_planner::utils::getUnshiftedEgoPose; + + auto ego_pose = createPose(2.0, 4.0, 0.0, 0.0, 0.0, 0.0); + autoware::behavior_path_planner::ShiftedPath shifted_path; + + // Condition: empty path + auto unshifted_ego_pose = getUnshiftedEgoPose(ego_pose, shifted_path); + EXPECT_DOUBLE_EQ(unshifted_ego_pose.position.x, ego_pose.position.x); + EXPECT_DOUBLE_EQ(unshifted_ego_pose.position.y, ego_pose.position.y); + + shifted_path.path = generateTrajectory(10, 1.0); + for (size_t i = 0; i < shifted_path.path.points.size(); i++) { + shifted_path.shift_length.push_back(static_cast(i) * 0.1); + } + + // Condition: path with increasing offset + unshifted_ego_pose = getUnshiftedEgoPose(ego_pose, shifted_path); + EXPECT_DOUBLE_EQ(unshifted_ego_pose.position.x, ego_pose.position.x); + EXPECT_DOUBLE_EQ(unshifted_ego_pose.position.y, -0.2); +} + +TEST(BehaviorPathPlanningPathUtilTest, combinePath) +{ + using autoware::behavior_path_planner::utils::combinePath; + + PathWithLaneId first_path; + auto second_path = generateTrajectory(10, 1.0); + + // Condition: first path empty + auto combined_path = combinePath(first_path, second_path); + EXPECT_EQ(combined_path.points.size(), 10); + size_t i = 0; + for (const auto & point : combined_path.points) { + EXPECT_DOUBLE_EQ(point.point.pose.position.x, static_cast(i)); + i++; + } + + // Condition: second path empty + first_path = generateTrajectory(4, 0.5); + second_path.points.clear(); + combined_path = combinePath(first_path, second_path); + EXPECT_EQ(combined_path.points.size(), 4); + i = 0; + for (const auto & point : combined_path.points) { + EXPECT_DOUBLE_EQ(point.point.pose.position.x, static_cast(i) * 0.5); + i++; + } + + // Condition: combine path + second_path = generateTrajectory(20, 0.25); + for (auto & point : second_path.points) { + point.point.pose.position.x += 1.5; + } + combined_path = combinePath(first_path, second_path); + EXPECT_EQ(combined_path.points.size(), 23); + i = 0; + for (const auto & point : combined_path.points) { + if (i < 4) + EXPECT_DOUBLE_EQ(point.point.pose.position.x, static_cast(i) * 0.5); + else + EXPECT_DOUBLE_EQ(point.point.pose.position.x, static_cast(i - 3) * 0.25 + 1.5); + + i++; + } +} diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp index 51d5fb7055a4f..09c7561955801 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_utils.cpp @@ -29,20 +29,6 @@ using ObjectClassification = autoware_perception_msgs::msg::ObjectClassification using autoware::test_utils::createPose; using autoware::test_utils::generateTrajectory; -PathWithLaneId trajectory_to_path_with_lane_id(const Trajectory & trajectory) -{ - PathWithLaneId path_with_lane_id; - PathPointWithLaneId path_point_with_lane_id; - for (const auto & point : trajectory.points) { - path_point_with_lane_id.point.pose = point.pose; - path_point_with_lane_id.point.lateral_velocity_mps = point.lateral_velocity_mps; - path_point_with_lane_id.point.longitudinal_velocity_mps = point.longitudinal_velocity_mps; - path_point_with_lane_id.point.heading_rate_rps = point.heading_rate_rps; - path_with_lane_id.points.push_back(path_point_with_lane_id); - } - return path_with_lane_id; -} - TEST(BehaviorPathPlanningUtilTest, l2Norm) { using autoware::behavior_path_planner::utils::l2Norm; @@ -79,12 +65,12 @@ TEST(BehaviorPathPlanningUtilTest, checkCollisionBetweenPathFootprintsAndObjects checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); // Condition: object in front of path - ego_path = trajectory_to_path_with_lane_id(generateTrajectory(5, 1.0)); + ego_path = generateTrajectory(5, 1.0); EXPECT_FALSE( checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); // Condition: object overlapping path - ego_path = trajectory_to_path_with_lane_id(generateTrajectory(10, 1.0)); + ego_path = generateTrajectory(10, 1.0); EXPECT_TRUE( checkCollisionBetweenPathFootprintsAndObjects(base_footprint, ego_path, objs, margin)); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm deleted file mode 100644 index 8539aec143d67..0000000000000 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm +++ /dev/null @@ -1,10068 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml @@ -50,7 +50,7 @@ max_back_distance: 20.0 backward_search_resolution: 2.0 backward_path_update_duration: 3.0 - ignore_distance_from_lane_end: 15.0 + ignore_distance_from_lane_end: 0.0 # turns signal prepare_time_before_start: 0.0 # freespace planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp index b59dc9e91e23c..7672ded75f1fd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp @@ -321,6 +321,19 @@ class AvoidanceHelper }); } + bool isFeasible(const AvoidLineArray & shift_lines) const + { + constexpr double JERK_BUFFER = 0.1; // [m/sss] + const auto & values = parameters_->velocity_map; + const auto idx = getConstraintsMapIndex(0.0, values); // use minimum avoidance speed + const auto jerk_limit = parameters_->lateral_max_jerk_map.at(idx); + return std::all_of(shift_lines.begin(), shift_lines.end(), [&](const auto & line) { + return autoware::motion_utils::calc_jerk_from_lat_lon_distance( + line.getRelativeLength(), line.getRelativeLongitudinal(), values.at(idx)) < + jerk_limit + JERK_BUFFER; + }); + } + bool isReady(const ObjectDataArray & objects) const { if (objects.empty()) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp index d9055bc8a1c34..293b2d9bc6f28 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp @@ -34,8 +34,10 @@ namespace autoware::behavior_path_planner { // auto msgs +using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedPath; +using autoware_perception_msgs::msg::Shape; using tier4_planning_msgs::msg::PathWithLaneId; // ROS 2 general msgs diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp index a6efb1d3b2542..56d1a93ea1799 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp @@ -36,17 +36,41 @@ using autoware::behavior_path_planner::utils::path_safety_checker::PredictedPath static constexpr const char * logger_namespace = "planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.static_obstacle_" "avoidance.utils"; - +/** + * @brief check object offset direction. + * @param object data. + * @return if the object is on right side of ego path, return true. + */ bool isOnRight(const ObjectData & obj); +/** + * @brief calculate shift length from centerline of current lane. + * @param object offset direction. + * @param distance between object polygon and centerline of current lane. (signed) + * @param margin distance between ego and object. + * @return necessary shift length. (signed) + */ double calcShiftLength( const bool & is_object_on_right, const double & overhang_dist, const double & avoid_margin); bool isWithinLanes( const lanelet::ConstLanelets & lanelets, const std::shared_ptr & planner_data); +/** + * @brief check if the ego has to shift driving position. + * @param if object is on right side of ego path. + * @param ego shift length. + * @return necessity of shifting. + */ bool isShiftNecessary(const bool & is_object_on_right, const double & shift_length); +/** + * @brief check if the ego has to avoid object with the trajectory whose shift direction is same as + * object offset. + * @param object offset direction. + * @param ego shift length. + * @return if the direction of shift and object offset, return true. + */ bool isSameDirectionShift(const bool & is_object_on_right, const double & shift_length); size_t findPathIndexFromArclength( @@ -62,9 +86,23 @@ std::vector calcParentIds(const AvoidLineArray & lines1, const AvoidLine & double lerpShiftLengthOnArc(double arc, const AvoidLine & al); +/** + * @brief calculate distance between ego and object. object length along with the path is calculated + * as well. + * @param current path. + * @param ego position. + * @param object data. + */ void fillLongitudinalAndLengthByClosestEnvelopeFootprint( const PathWithLaneId & path, const Point & ego_pos, ObjectData & obj); +/** + * @brief calculate overhang distance for all of the envelope polygon outer points. + * @param object data. + * @param current path. + * @return first: overhang distance, second: outer point. this vector is sorted by overhang + * distance. + */ std::vector> calcEnvelopeOverhangDistance( const ObjectData & object_data, const PathWithLaneId & path); @@ -76,12 +114,33 @@ void setStartData( AvoidLine & al, const double start_shift_length, const geometry_msgs::msg::Pose & start, const size_t start_idx, const double start_dist); +/** + * @brief create envelope polygon which is parallel to current path. + * @param object polygon. + * @param closest point pose of the current path. + * @param buffer. + * @return envelope polygon. + */ Polygon2d createEnvelopePolygon( const Polygon2d & object_polygon, const Pose & closest_pose, const double envelope_buffer); +/** + * @brief create envelope polygon which is parallel to current path. + * @param object data. + * @param closest point pose of the current path. + * @param buffer. + * @return envelope polygon. + */ Polygon2d createEnvelopePolygon( const ObjectData & object_data, const Pose & closest_pose, const double envelope_buffer); +/** + * @brief create data structs which are used in clipping drivable area process. + * @param objects. + * @param avoidance module parameters. + * @param ego vehicle width. + * @return struct which includes expanded polygon. + */ std::vector generateObstaclePolygonsForDrivableArea( const ObjectDataArray & objects, const std::shared_ptr & parameters, const double vehicle_width); @@ -98,18 +157,45 @@ lanelet::ConstLanelets getExtendLanes( const lanelet::ConstLanelets & lanelets, const Pose & ego_pose, const std::shared_ptr & planner_data); +/** + * @brief insert target stop/decel point. + * @param ego current position. + * @param distance between ego and stop/decel position. + * @param target velocity. + * @param target path. + * @param insert point. + */ void insertDecelPoint( const Point & p_src, const double offset, const double velocity, PathWithLaneId & path, std::optional & p_out); +/** + * @brief update envelope polygon based on object position reliability. + * @param current detected object. + * @param previous stopped objects. + * @param base pose to create envelope polygon. + * @param threshold parameters. + */ void fillObjectEnvelopePolygon( ObjectData & object_data, const ObjectDataArray & registered_objects, const Pose & closest_pose, const std::shared_ptr & parameters); +/** + * @brief fill stopping duration. + * @param current detected object. + * @param previous stopped objects. + * @param threshold parameters. + */ void fillObjectMovingTime( ObjectData & object_data, ObjectDataArray & stopped_objects, const std::shared_ptr & parameters); +/** + * @brief check whether ego has to avoid the objects. + * @param current detected object. + * @param previous stopped objects. + * @param threshold parameters. + */ void fillAvoidanceNecessity( ObjectData & object_data, const ObjectDataArray & registered_objects, const double vehicle_width, const std::shared_ptr & parameters); @@ -120,6 +206,13 @@ void fillObjectStoppableJudge( void updateClipObject(ObjectDataArray & clip_objects, AvoidancePlanningData & data); +/** + * @brief compensate lost objects until a certain time elapses. + * @param previous stopped object. + * @param avoidance planning data. + * @param current time. + * @param avoidance parameters which includes duration of compensation. + */ void compensateLostTargetObjects( ObjectDataArray & stored_objects, AvoidancePlanningData & data, const rclcpp::Time & now, const std::shared_ptr & planner_data, @@ -175,6 +268,11 @@ double calcDistanceToAvoidStartLine( const std::shared_ptr & planner_data, const std::shared_ptr & parameters); +/** + * @brief calculate error eclipse radius based on object pose covariance. + * @param pose with covariance. + * @return error eclipse long radius. + */ double calcErrorEclipseLongRadius(const PoseWithCovariance & pose); } // namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index 328ac199aca1a..dd15cd70b4d85 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -30,6 +30,7 @@ autoware_route_handler autoware_rtc_interface autoware_signal_processing + autoware_test_utils autoware_universe_utils autoware_vehicle_info_utils geometry_msgs diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 2c5950bfeae0c..23c3d6a3ad443 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -1125,7 +1125,9 @@ BehaviorModuleOutput StaticObstacleAvoidanceModule::plan() path_reference_ = std::make_shared(getPreviousModuleOutput().reference_path); const size_t ego_idx = planner_data_->findEgoIndex(output.path.points); - utils::clipPathLength(output.path, ego_idx, planner_data_->parameters); + utils::clipPathLength( + output.path, ego_idx, planner_data_->parameters.forward_path_length, + planner_data_->parameters.backward_path_length); // Drivable area generation. { @@ -1176,7 +1178,9 @@ CandidateOutput StaticObstacleAvoidanceModule::planCandidate() const if (data.safe_shift_line.empty()) { const size_t ego_idx = planner_data_->findEgoIndex(shifted_path.path.points); - utils::clipPathLength(shifted_path.path, ego_idx, planner_data_->parameters); + utils::clipPathLength( + shifted_path.path, ego_idx, planner_data_->parameters.forward_path_length, + planner_data_->parameters.backward_path_length); output.path_candidate = shifted_path.path; return output; @@ -1642,6 +1646,16 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( return; } + if (data.new_shift_line.empty()) { + RCLCPP_WARN(getLogger(), "module doesn't have return shift line."); + return; + } + + if (!helper_->isFeasible(data.new_shift_line)) { + RCLCPP_WARN(getLogger(), "return shift line is not feasible. do nothing.."); + return; + } + // Consider the difference in path length between the shifted path and original path (the path // that is shifted inward has a shorter distance to the end of the path than the other one.) const auto & to_reference_path_end = data.arclength_from_ego.back(); @@ -1652,6 +1666,10 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine( const auto min_return_distance = helper_->getMinAvoidanceDistance(shift_length) + helper_->getNominalPrepareDistance(0.0); const auto to_stop_line = data.to_return_point - min_return_distance - buffer; + if (to_stop_line < 0.0) { + RCLCPP_WARN(getLogger(), "ego overran return shift dead line. do nothing."); + return; + } // If we don't need to consider deceleration constraints, insert a deceleration point // and return immediately @@ -1721,6 +1739,11 @@ void StaticObstacleAvoidanceModule::insertWaitPoint( return; } + if (data.to_stop_line < 0.0) { + RCLCPP_WARN(getLogger(), "ego overran avoidance dead line. do nothing."); + return; + } + // If we don't need to consider deceleration constraints, insert a deceleration point // and return immediately if (!use_constraints_for_decel) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index adea18c726ced..72b75586d42c5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -162,6 +162,12 @@ void pushUniqueVector(T & base_vector, const T & additional_vector) namespace filtering_utils { +/** + * @brief check whether the object is avoidance target object type. + * @param object data. + * @param parameters. + * @return if the object is avoidance target object type, return true. + */ bool isAvoidanceTargetObjectType( const PredictedObject & object, const std::shared_ptr & parameters) { @@ -174,6 +180,12 @@ bool isAvoidanceTargetObjectType( return parameters->object_parameters.at(object_type).is_avoidance_target; } +/** + * @brief check whether the object is safety check target object type. + * @param object data. + * @param parameters. + * @return if the object is safety check target object type, return true. + */ bool isSafetyCheckTargetObjectType( const PredictedObject & object, const std::shared_ptr & parameters) { @@ -186,12 +198,23 @@ bool isSafetyCheckTargetObjectType( return parameters->object_parameters.at(object_type).is_safety_check_target; } +/** + * @brief check whether the object type is ObjectClassification::UNKNOWN. + * @param object data. + * @return if the object label whose probability is the highest among the candidate is UNKNOWN, + * return true. + */ bool isUnknownTypeObject(const ObjectData & object) { const auto object_type = utils::getHighestProbLabel(object.object.classification); return object_type == ObjectClassification::UNKNOWN; } +/** + * @brief classify object by whether it's vehicle or not. + * @param object data. + * @return if the object type is vehicle, return true. + */ bool isVehicleTypeObject(const ObjectData & object) { const auto object_type = utils::getHighestProbLabel(object.object.classification); @@ -207,6 +230,14 @@ bool isVehicleTypeObject(const ObjectData & object) return true; } +/** + * @brief check whether the object is moving or not. + * @param object data. + * @param parameters. + * @return if the object keeps moving more than threshold time duration, return true. if the object + * hasn't been moving for more than threshold time, this function return false even if the object + * speed is NOT zero. + */ bool isMovingObject( const ObjectData & object, const std::shared_ptr & parameters) { @@ -251,13 +282,21 @@ bool isWithinIntersection( return false; } + if (!std::atoi(area_id.c_str())) { + return false; + } + const std::string location = object.overhang_lanelet.attributeOr("location", "else"); if (location == "private") { return false; } - const auto polygon = - route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(area_id.c_str())); + const auto polygon_opt = + route_handler->getLaneletMapPtr()->polygonLayer.find(std::atoi(area_id.c_str())); + if (polygon_opt == route_handler->getLaneletMapPtr()->polygonLayer.end()) { + return false; + } + const auto & polygon = *polygon_opt; return boost::geometry::within( lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object.getPosition())) @@ -291,6 +330,12 @@ bool isWithinFreespace( lanelet::utils::to2D(polygons.front().basicPolygon())); } +/** + * @brief check whether the object is on ego driving lane. + * @param object data. + * @param route handler. + * @return if the object is on ego lane, return true. + */ bool isOnEgoLane(const ObjectData & object, const std::shared_ptr & route_handler) { if (boost::geometry::within( @@ -370,6 +415,14 @@ bool isMergingToEgoLane(const ObjectData & object) return true; } +/** + * @brief check whether the object is parking on road shoulder. + * @param object polygon. + * @param avoidance module data. + * @param route handler. + * @param parameters. + * @return if the object is close to road shoulder of the lane, return true. + */ bool isParkedVehicle( ObjectData & object, const AvoidancePlanningData & data, const std::shared_ptr & route_handler, @@ -749,6 +802,18 @@ bool isObviousAvoidanceTarget( return false; } +/** + * @brief this function includes some conditions which apply to both vehicle and non-vehicle object. + * @param object data. + * @param current reference path. + * @param object detection range. + * @param distance between object and goal point. + * @param ego position. + * @param if the goal point can be moved by external module when there is obstacle around the goal, + * this flag will be true. + * @param parameters. + * @return if the object is potentially target object, return true. + */ bool isSatisfiedWithCommonCondition( ObjectData & object, const PathWithLaneId & path, const double forward_detection_range, const double to_goal_distance, const Point & ego_pos, const bool is_allowed_goal_modification, @@ -860,6 +925,13 @@ bool isSatisfiedWithNonVehicleCondition( return true; } +/** + * @brief estimate object's behavior based on its relative yaw angle to lane. + * @param object data. + * @param parameters. + * @return return DEVIATING, MERGING and NONE. NONE means the object has no intent to leave or merge + * the ego lane. + */ ObjectData::Behavior getObjectBehavior( const ObjectData & object, const std::shared_ptr & parameters) { @@ -927,6 +999,13 @@ bool isSatisfiedWithVehicleCondition( return false; } +/** + * @brief check the ego has to avoid the object for lateral margin. + * @param object data. + * @param parameters. + * @return if the ego doesn't have to shift driving position to avoid object, return false. if the + * shift length is less than threshold, this fuction returns false. + */ bool isNoNeedAvoidanceBehavior( ObjectData & object, const std::shared_ptr & parameters) { @@ -949,6 +1028,13 @@ bool isNoNeedAvoidanceBehavior( return false; } +/** + * @brief get avoidance lateral margin based on road width. + * @param object data. + * @param planner data, which includes ego vehicle footprint info. + * @param parameters. + * @return if this function finds there is no enough space to avoid, return nullopt. + */ std::optional getAvoidMargin( const ObjectData & object, const std::shared_ptr & planner_data, const std::shared_ptr & parameters) @@ -982,6 +1068,13 @@ std::optional getAvoidMargin( return std::min(soft_lateral_distance_limit, max_avoid_margin); } +/** + * @brief get avoidance lateral margin based on road width. + * @param object data. + * @param avoidance module data, which includes current reference path. + * @param planner data, which includes ego vehicle footprint info. + * @return if this function finds there is no enough space to avoid, return nullopt. + */ double getRoadShoulderDistance( ObjectData & object, const AvoidancePlanningData & data, const std::shared_ptr & planner_data) @@ -1486,7 +1579,7 @@ void fillObjectEnvelopePolygon( calcErrorEclipseLongRadius(object_data.object.kinematics.initial_pose_with_covariance); if (error_eclipse_long_radius > object_parameter.th_error_eclipse_long_radius) { - if (error_eclipse_long_radius < object_data.error_eclipse_max) { + if (error_eclipse_long_radius < same_id_obj->error_eclipse_max) { object_data.error_eclipse_max = error_eclipse_long_radius; object_data.envelope_poly = one_shot_envelope_poly; return; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp index bafe50b12edc3..7b0cef7e00bb6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp @@ -12,46 +12,1528 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "../src/utils.cpp" // NOLINT #include "autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp" +#include "autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp" +#include "autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp" #include "autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp" +#include "autoware/universe_utils/math/unit_conversion.hpp" +#include "autoware_test_utils/autoware_test_utils.hpp" + +#include +#include #include #include +namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance +{ + +using autoware::behavior_path_planner::AvoidanceParameters; using autoware::behavior_path_planner::ObjectData; -using autoware::behavior_path_planner::utils::static_obstacle_avoidance::isOnRight; -using autoware::behavior_path_planner::utils::static_obstacle_avoidance::isSameDirectionShift; -using autoware::behavior_path_planner::utils::static_obstacle_avoidance::isShiftNecessary; +using autoware::behavior_path_planner::helper::static_obstacle_avoidance::AvoidanceHelper; using autoware::route_handler::Direction; +using autoware::universe_utils::createPoint; +using autoware::universe_utils::createQuaternionFromRPY; +using autoware::universe_utils::createVector3; +using autoware::universe_utils::deg2rad; +using autoware::universe_utils::generateUUID; + +constexpr double epsilon = 1e-6; + +ObjectData create_test_object( + const Pose & pose, const Vector3 & velocity, const Shape & shape, const uint8_t type) +{ + ObjectData object_data; + object_data.object.shape = shape; + object_data.object.kinematics.initial_pose_with_covariance.pose = pose; + object_data.object.kinematics.initial_twist_with_covariance.twist.linear = velocity; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build().label(type).probability(1.0)); + return object_data; +} + +auto get_planner_data() -> std::shared_ptr +{ + PlannerData planner_data; + + // set odometry. + Odometry odometry; + odometry.pose.pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + odometry.twist.twist.linear = createVector3(0.0, 0.0, 0.0); + + planner_data.self_odometry = std::make_shared(odometry); + + // set vehicle info. + planner_data.parameters.vehicle_width = 2.0; + + return std::make_shared(planner_data); +} + +auto get_parameters() -> std::shared_ptr +{ + AvoidanceParameters parameters; + + parameters.object_check_backward_distance = 1.0; + parameters.object_check_goal_distance = 2.0; + parameters.object_check_yaw_deviation = deg2rad(20); + parameters.object_check_backward_distance = 1.0; + parameters.object_check_goal_distance = 2.0; + parameters.object_check_shiftable_ratio = 0.6; + parameters.object_check_min_road_shoulder_width = 0.5; + parameters.object_last_seen_threshold = 0.2; + parameters.threshold_distance_object_is_on_center = 1.0; + parameters.hard_drivable_bound_margin = 0.1; + parameters.soft_drivable_bound_margin = 0.5; + parameters.lateral_execution_threshold = 0.5; + + parameters.min_prepare_distance = 1.5; + parameters.max_prepare_time = 3.0; + parameters.nominal_avoidance_speed = 8.0; + parameters.velocity_map = {1.0, 3.0, 10.0}; + parameters.lateral_min_jerk_map = {0.1, 1.0, 10.0}; + parameters.lateral_max_jerk_map = {0.4, 1.5, 15.0}; + parameters.lateral_max_accel_map = {0.7, 0.8, 0.9}; + + const auto get_truck_param = []() { + ObjectParameter param{}; + param.is_avoidance_target = true; + param.is_safety_check_target = true; + param.moving_time_threshold = 0.5; + param.moving_speed_threshold = 1.0; + param.lateral_soft_margin = 0.7; + param.lateral_hard_margin = 0.2; + param.lateral_hard_margin_for_parked_vehicle = 0.7; + param.envelope_buffer_margin = 0.0; + param.th_error_eclipse_long_radius = 2.0; + return param; + }; + + parameters.object_parameters.emplace(ObjectClassification::TRUCK, get_truck_param()); + + const auto get_unknown_param = []() { + ObjectParameter param{}; + param.is_avoidance_target = false; + param.is_safety_check_target = false; + param.moving_time_threshold = 0.5; + param.moving_speed_threshold = 1.0; + param.lateral_soft_margin = 0.7; + param.lateral_hard_margin = 0.2; + param.lateral_hard_margin_for_parked_vehicle = 0.7; + param.envelope_buffer_margin = 0.0; + param.th_error_eclipse_long_radius = 2.0; + return param; + }; + + parameters.object_parameters.emplace(ObjectClassification::UNKNOWN, get_unknown_param()); + + return std::make_shared(parameters); +} + +TEST(TestUtils, isMovingObject) +{ + { + ObjectData object_data; + object_data.move_time = 0.49; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isMovingObject(object_data, get_parameters())); + } + + { + ObjectData object_data; + object_data.move_time = 0.51; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + EXPECT_TRUE(filtering_utils::isMovingObject(object_data, get_parameters())); + } +} + +TEST(TestUtils, getObjectBehavior) +{ + const auto parameters = get_parameters(); + + lanelet::LineString3d left_bound; + lanelet::LineString3d right_bound; + + left_bound.push_back(lanelet::Point3d{lanelet::InvalId, -1, -1}); + left_bound.push_back(lanelet::Point3d{lanelet::InvalId, 0, -1}); + left_bound.push_back(lanelet::Point3d{lanelet::InvalId, 1, -1}); + right_bound.push_back(lanelet::Point3d{lanelet::InvalId, -1, 1}); + right_bound.push_back(lanelet::Point3d{lanelet::InvalId, 0, 1}); + right_bound.push_back(lanelet::Point3d{lanelet::InvalId, 1, 1}); + + lanelet::Lanelet lanelet{lanelet::InvalId, left_bound, right_bound}; + + lanelet::LineString3d centerline; + centerline.push_back(lanelet::Point3d{lanelet::InvalId, -1, 0}); + centerline.push_back(lanelet::Point3d{lanelet::InvalId, 0, 0}); + centerline.push_back(lanelet::Point3d{lanelet::InvalId, 1, 0}); + + lanelet.setCenterline(centerline); + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::NONE); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(170))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::NONE); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(30))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::DEVIATING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(30))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::MERGING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(-150))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::DEVIATING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(-150))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::MERGING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(-30))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::MERGING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(-30))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::DEVIATING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::LEFT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, 0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(150))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::MERGING); + } + + { + ObjectData object_data; + object_data.overhang_lanelet = lanelet; + object_data.direction = Direction::RIGHT; + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(0.0, -0.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(150))); + + EXPECT_EQ( + filtering_utils::getObjectBehavior(object_data, parameters), ObjectData::Behavior::DEVIATING); + } +} + +TEST(TestUtils, isNoNeedAvoidanceBehavior) +{ + const auto parameters = get_parameters(); + + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto nearest_path_pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.8284271247461901, 1.41421356237309505, 2.0)); + + auto object_data = + create_test_object(object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::CAR); + + // object is NOT avoidable. but there is possibility that the ego has to avoid it. + { + object_data.avoid_margin = std::nullopt; + + EXPECT_FALSE(filtering_utils::isNoNeedAvoidanceBehavior(object_data, parameters)); + } + + // don't have to avoid. + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, 3.6, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::LEFT; + object_data.avoid_margin = 2.0; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + object_data.overhang_points = calcEnvelopeOverhangDistance(object_data, path); + + EXPECT_TRUE(filtering_utils::isNoNeedAvoidanceBehavior(object_data, parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::ENOUGH_LATERAL_DISTANCE); + } + + // smaller than execution threshold. + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, 3.4, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::LEFT; + object_data.avoid_margin = 2.0; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + object_data.overhang_points = calcEnvelopeOverhangDistance(object_data, path); + + EXPECT_TRUE(filtering_utils::isNoNeedAvoidanceBehavior(object_data, parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::LESS_THAN_EXECUTION_THRESHOLD); + } + + // larger than execution threshold. + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, 2.9, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::LEFT; + object_data.avoid_margin = 2.0; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + object_data.overhang_points = calcEnvelopeOverhangDistance(object_data, path); + + EXPECT_FALSE(filtering_utils::isNoNeedAvoidanceBehavior(object_data, parameters)); + } +} + +TEST(TestUtils, getAvoidMargin) +{ + const auto parameters = get_parameters(); + + const auto planner_data = get_planner_data(); + + // wide road + { + ObjectData object_data; + object_data.is_parked = false; + object_data.distance_factor = 1.0; + object_data.to_road_shoulder_distance = 5.0; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + const auto output = filtering_utils::getAvoidMargin(object_data, planner_data, parameters); + ASSERT_TRUE(output.has_value()); + EXPECT_DOUBLE_EQ(output.value(), 1.9); + } + + // narrow road (relax lateral soft margin) + { + ObjectData object_data; + object_data.is_parked = false; + object_data.distance_factor = 1.0; + object_data.to_road_shoulder_distance = 3.0; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + const auto output = filtering_utils::getAvoidMargin(object_data, planner_data, parameters); + ASSERT_TRUE(output.has_value()); + EXPECT_DOUBLE_EQ(output.value(), 1.5); + } + + // narrow road (relax drivable bound margin) + { + ObjectData object_data; + object_data.is_parked = false; + object_data.distance_factor = 1.0; + object_data.to_road_shoulder_distance = 2.5; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + const auto output = filtering_utils::getAvoidMargin(object_data, planner_data, parameters); + ASSERT_TRUE(output.has_value()); + EXPECT_DOUBLE_EQ(output.value(), 1.2); + } + + // road width is not enough. + { + ObjectData object_data; + object_data.is_parked = true; + object_data.distance_factor = 1.0; + object_data.to_road_shoulder_distance = 2.5; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + const auto output = filtering_utils::getAvoidMargin(object_data, planner_data, parameters); + EXPECT_FALSE(output.has_value()); + } +} + +TEST(TestUtils, isSafetyCheckTargetObjectType) +{ + const auto parameters = get_parameters(); + + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + + EXPECT_TRUE(filtering_utils::isSafetyCheckTargetObjectType(object_data.object, parameters)); + EXPECT_TRUE(filtering_utils::isVehicleTypeObject(object_data)); + EXPECT_FALSE(filtering_utils::isUnknownTypeObject(object_data)); + } + + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::UNKNOWN) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isSafetyCheckTargetObjectType(object_data.object, parameters)); + EXPECT_TRUE(filtering_utils::isVehicleTypeObject(object_data)); + EXPECT_TRUE(filtering_utils::isUnknownTypeObject(object_data)); + } + + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::PEDESTRIAN) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isSafetyCheckTargetObjectType(object_data.object, parameters)); + EXPECT_FALSE(filtering_utils::isVehicleTypeObject(object_data)); + EXPECT_FALSE(filtering_utils::isUnknownTypeObject(object_data)); + } +} + +TEST(TestUtils, isSatisfiedWithCommonCondition) +{ + constexpr double forward_detection_range = 5.5; + + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto parameters = get_parameters(); + + // no configuration for this object. + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::PEDESTRIAN) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::IS_NOT_TARGET_OBJECT); + } + + // not target object. + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::UNKNOWN) + .probability(1.0)); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::IS_NOT_TARGET_OBJECT); + } + + // moving object. + { + ObjectData object_data; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.6; + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::MOVING_OBJECT); + } + + // object behind the ego. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(2.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(8.0, 0.5, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::FURTHER_THAN_THRESHOLD); + } + + // farther than detection range. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(7.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::FURTHER_THAN_THRESHOLD); + } + + // farther than goal position. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(7.0, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::FURTHER_THAN_GOAL); + } + + // within detection range. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(4.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_FALSE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 6.4, createPoint(0.0, 0.0, 0.0), false, + parameters)); + EXPECT_EQ(object_data.info, ObjectInfo::TOO_NEAR_TO_GOAL); + } + + // within detection range. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(4.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_TRUE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 6.6, createPoint(0.0, 0.0, 0.0), false, + parameters)); + } + + // within detection range. + { + const auto object_pose = geometry_msgs::build() + .position(createPoint(4.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + ObjectData object_data; + object_data.object.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; + object_data.object.shape.dimensions.x = 2.8284271247461901; + object_data.object.shape.dimensions.y = 1.41421356237309505; + object_data.object.kinematics.initial_pose_with_covariance.pose = object_pose; + object_data.direction = Direction::LEFT; + object_data.object.classification.emplace_back( + autoware_perception_msgs::build() + .label(ObjectClassification::TRUCK) + .probability(1.0)); + object_data.move_time = 0.4; + + constexpr double margin = 0.0; + const auto pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + object_data.envelope_poly = createEnvelopePolygon(object_data, pose, margin); + + EXPECT_TRUE(filtering_utils::isSatisfiedWithCommonCondition( + object_data, path, forward_detection_range, 4.0, createPoint(0.0, 0.0, 0.0), true, + parameters)); + } +} + +TEST(TestUtils, isSameDirectionShift) +{ + constexpr double negative_shift_length = -1.0; + constexpr double positive_shift_length = 1.0; + + { + ObjectData object; + object.direction = Direction::RIGHT; + + EXPECT_TRUE(isSameDirectionShift(isOnRight(object), negative_shift_length)); + EXPECT_FALSE(isSameDirectionShift(isOnRight(object), positive_shift_length)); + } + + { + ObjectData object; + object.direction = Direction::LEFT; + EXPECT_TRUE(isSameDirectionShift(isOnRight(object), positive_shift_length)); + EXPECT_FALSE(isSameDirectionShift(isOnRight(object), negative_shift_length)); + } + + { + ObjectData object; + object.direction = Direction::NONE; + EXPECT_THROW(isSameDirectionShift(isOnRight(object), positive_shift_length), std::logic_error); + } +} + +TEST(TestUtils, isShiftNecessary) +{ + constexpr double negative_shift_length = -1.0; + constexpr double positive_shift_length = 1.0; + + { + ObjectData object; + object.direction = Direction::RIGHT; + + EXPECT_TRUE(isShiftNecessary(isOnRight(object), positive_shift_length)); + EXPECT_FALSE(isShiftNecessary(isOnRight(object), negative_shift_length)); + } + + { + ObjectData object; + object.direction = Direction::LEFT; + EXPECT_TRUE(isShiftNecessary(isOnRight(object), negative_shift_length)); + EXPECT_FALSE(isShiftNecessary(isOnRight(object), positive_shift_length)); + } + + { + ObjectData object; + object.direction = Direction::NONE; + EXPECT_THROW(isShiftNecessary(isOnRight(object), positive_shift_length), std::logic_error); + } +} -TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest) +TEST(TestUtils, calcShiftLength) { - ObjectData right_obj; - right_obj.direction = Direction::RIGHT; - const double negative_shift_length = -1.0; - const double positive_shift_length = 1.0; + { + constexpr bool is_on_right = true; + constexpr double overhang = -1.0; + constexpr double margin = 1.5; - ASSERT_TRUE(isSameDirectionShift(isOnRight(right_obj), negative_shift_length)); - ASSERT_FALSE(isSameDirectionShift(isOnRight(right_obj), positive_shift_length)); + const auto output = calcShiftLength(is_on_right, overhang, margin); + EXPECT_DOUBLE_EQ(output, 0.5); + } - ObjectData left_obj; - left_obj.direction = Direction::LEFT; - ASSERT_TRUE(isSameDirectionShift(isOnRight(left_obj), positive_shift_length)); - ASSERT_FALSE(isSameDirectionShift(isOnRight(left_obj), negative_shift_length)); + { + constexpr bool is_on_right = false; + constexpr double overhang = -1.0; + constexpr double margin = 1.5; + + const auto output = calcShiftLength(is_on_right, overhang, margin); + EXPECT_DOUBLE_EQ(output, -2.5); + } +} + +TEST(TestUtils, insertDecelPoint) +{ + // invalid target decel point + { + auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto ego_position = createPoint(2.5, 0.5, 0.0); + constexpr double offset = 100.0; + constexpr double velocity = 1.0; + + std::optional p_out{std::nullopt}; + insertDecelPoint(ego_position, offset, velocity, path, p_out); + + EXPECT_FALSE(p_out.has_value()); + std::for_each(path.points.begin(), path.points.end(), [](const auto & p) { + EXPECT_DOUBLE_EQ(p.point.longitudinal_velocity_mps, 20.0); + }); + } + + // nominal case + { + auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto ego_position = createPoint(3.5, 0.5, 0.0); + constexpr double offset = 3.0; + constexpr double velocity = 1.0; + + std::optional p_out{std::nullopt}; + insertDecelPoint(ego_position, offset, velocity, path, p_out); + + ASSERT_TRUE(p_out.has_value()); + EXPECT_DOUBLE_EQ(p_out.value().position.x, 6.5); + EXPECT_DOUBLE_EQ(p_out.value().position.y, 0.0); + EXPECT_DOUBLE_EQ(p_out.value().position.z, 0.0); + for (size_t i = 7; i < path.points.size(); i++) { + EXPECT_DOUBLE_EQ(path.points.at(i).point.longitudinal_velocity_mps, 1.0); + } + } +} + +TEST(TestUtils, DISABLED_fillObjectMovingTime) +{ + using namespace std::literals::chrono_literals; + + const auto parameters = get_parameters(); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.0, 1.0, 2.0)); + + const auto uuid = generateUUID(); + + auto old_object = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + // set previous object data. + { + old_object.object.object_id = uuid; + old_object.last_move = rclcpp::Clock{RCL_ROS_TIME}.now(); + old_object.last_stop = rclcpp::Clock{RCL_ROS_TIME}.now(); + old_object.move_time = 0.0; + old_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(0.0, 0.0, 0.0); + } + + rclcpp::sleep_for(490ms); + + auto new_object = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + // find new stop object + { + new_object.object.object_id = generateUUID(); + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(0.99, 0.0, 0.0); + + ObjectDataArray buffer{}; + fillObjectMovingTime(new_object, buffer, parameters); + EXPECT_NEAR(new_object.stop_time, 0.0, 1e-3); + EXPECT_NEAR(new_object.move_time, 0.0, 1e-3); + EXPECT_FALSE(buffer.empty()); + } + + // find new move object + { + new_object.object.object_id = generateUUID(); + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(1.01, 0.0, 0.0); + + ObjectDataArray buffer{}; + fillObjectMovingTime(new_object, buffer, parameters); + EXPECT_NEAR(new_object.stop_time, 0.0, 1e-3); + EXPECT_TRUE(buffer.empty()); + } + + // stop to move (moving time < threshold) + { + new_object.object.object_id = uuid; + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(1.01, 0.0, 0.0); + + ObjectDataArray buffer{old_object}; + fillObjectMovingTime(new_object, buffer, parameters); + + EXPECT_NEAR(new_object.stop_time, 0.0, 1e-3); + EXPECT_NEAR(new_object.move_time, 0.49, 1e-3); + EXPECT_FALSE(buffer.empty()); + } + + // stop to stop + { + new_object.object.object_id = uuid; + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(0.99, 0.0, 0.0); + + ObjectDataArray buffer{old_object}; + fillObjectMovingTime(new_object, buffer, parameters); + + EXPECT_NEAR(new_object.stop_time, 0.49, 1e-3); + EXPECT_NEAR(new_object.move_time, 0.0, 1e-3); + EXPECT_FALSE(buffer.empty()); + } + + rclcpp::sleep_for(20ms); + + // stop to move (threshold < moving time) + { + new_object.object.object_id = uuid; + new_object.object.kinematics.initial_twist_with_covariance.twist.linear = + createVector3(1.01, 0.0, 0.0); + + ObjectDataArray buffer{old_object}; + fillObjectMovingTime(new_object, buffer, parameters); + + EXPECT_NEAR(new_object.stop_time, 0.0, 1e-3); + EXPECT_NEAR(new_object.move_time, 0.51, 1e-3); + EXPECT_TRUE(buffer.empty()); + } +} + +TEST(TestUtils, calcEnvelopeOverhangDistance) +{ + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto nearest_path_pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.8284271247461901, 1.41421356237309505, 2.0)); + + auto object_data = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::LEFT; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + + const auto output = calcEnvelopeOverhangDistance(object_data, path); + + ASSERT_EQ(output.size(), 5); + EXPECT_NEAR(output.at(0).first, -0.5, epsilon); + EXPECT_NEAR(output.at(1).first, -0.5, epsilon); + EXPECT_NEAR(output.at(2).first, -0.5, epsilon); + EXPECT_NEAR(output.at(3).first, 2.5, epsilon); + EXPECT_NEAR(output.at(4).first, 2.5, epsilon); + } + + { + object_data.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.5, -1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + object_data.direction = Direction::RIGHT; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + + const auto output = calcEnvelopeOverhangDistance(object_data, path); + + ASSERT_EQ(output.size(), 5); + EXPECT_NEAR(output.at(0).first, 0.5, epsilon); + EXPECT_NEAR(output.at(1).first, 0.5, epsilon); + EXPECT_NEAR(output.at(2).first, -2.5, epsilon); + EXPECT_NEAR(output.at(3).first, -2.5, epsilon); + EXPECT_NEAR(output.at(4).first, -2.5, epsilon); + } +} + +TEST(TestUtils, createEnvelopePolygon) +{ + Polygon2d footprint; + footprint.outer() = { + Point2d{1.0, 0.0}, Point2d{3.0, 0.0}, Point2d{3.0, 1.0}, Point2d{1.0, 1.0}, Point2d{1.0, 0.0}}; + + constexpr double margin = 0.353553390593273762; + const auto pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto output = createEnvelopePolygon(footprint, pose, margin); + + ASSERT_EQ(output.outer().size(), 5); + EXPECT_NEAR(output.outer().at(0).x(), 2.0, epsilon); + EXPECT_NEAR(output.outer().at(0).y(), -1.5, epsilon); + EXPECT_NEAR(output.outer().at(1).x(), 0.0, epsilon); + EXPECT_NEAR(output.outer().at(1).y(), 0.5, epsilon); + EXPECT_NEAR(output.outer().at(2).x(), 2.0, epsilon); + EXPECT_NEAR(output.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(output.outer().at(3).x(), 4.0, epsilon); + EXPECT_NEAR(output.outer().at(3).y(), 0.5, epsilon); + EXPECT_NEAR(output.outer().at(4).x(), 2.0, epsilon); + EXPECT_NEAR(output.outer().at(4).y(), -1.5, epsilon); +} + +TEST(TestUtils, generateObstaclePolygonsForDrivableArea) +{ + const auto create_params = []( + const double envelope_buffer, const double hard, const double soft) { + ObjectParameter param{}; + param.envelope_buffer_margin = envelope_buffer; + param.lateral_soft_margin = soft; + param.lateral_hard_margin = hard; + return param; + }; + + constexpr double vehicle_width = 1.0; + constexpr double envelope_buffer = 0.353553390593273762; + constexpr double lateral_soft_margin = 0.707106781186547524; + + const auto parameters = std::make_shared(); + parameters->object_parameters.emplace( + ObjectClassification::TRUCK, create_params(envelope_buffer, 0.5, lateral_soft_margin)); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(0.0, 0.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.0, 1.0, 2.0)); + + auto object_data = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + // empty + { + ObjectDataArray objects{}; + const auto output = generateObstaclePolygonsForDrivableArea(objects, parameters, vehicle_width); + EXPECT_TRUE(output.empty()); + } + + // invalid margin + { + const auto object_type = utils::getHighestProbLabel(object_data.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); + object_data.avoid_margin = std::nullopt; + + Polygon2d footprint; + footprint.outer() = { + Point2d{1.0, 0.0}, Point2d{3.0, 0.0}, Point2d{3.0, 1.0}, Point2d{1.0, 1.0}, + Point2d{1.0, 0.0}}; + + object_data.envelope_poly = + createEnvelopePolygon(footprint, object_pose, object_parameter.envelope_buffer_margin); + + ObjectDataArray objects{object_data}; + const auto output = generateObstaclePolygonsForDrivableArea(objects, parameters, vehicle_width); + EXPECT_TRUE(output.empty()); + } + + // invalid envelope polygon + { + const auto object_type = utils::getHighestProbLabel(object_data.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); + object_data.avoid_margin = object_parameter.lateral_soft_margin + 0.5 * vehicle_width; + object_data.envelope_poly = {}; + + ObjectDataArray objects{object_data}; + const auto output = generateObstaclePolygonsForDrivableArea(objects, parameters, vehicle_width); + EXPECT_TRUE(output.empty()); + } + + // nominal case + { + object_data.direction = Direction::RIGHT; + const auto object_type = utils::getHighestProbLabel(object_data.object.classification); + const auto object_parameter = parameters->object_parameters.at(object_type); + object_data.avoid_margin = object_parameter.lateral_soft_margin + 0.5 * vehicle_width; + + Polygon2d footprint; + footprint.outer() = { + Point2d{1.0, 0.0}, Point2d{3.0, 0.0}, Point2d{3.0, 1.0}, Point2d{1.0, 1.0}, + Point2d{1.0, 0.0}}; + + object_data.envelope_poly = + createEnvelopePolygon(footprint, object_pose, object_parameter.envelope_buffer_margin); + + ObjectDataArray objects{object_data}; + const auto output = generateObstaclePolygonsForDrivableArea(objects, parameters, vehicle_width); + EXPECT_FALSE(output.empty()); + + ASSERT_EQ(output.front().poly.outer().size(), 5); + EXPECT_NEAR(output.front().poly.outer().at(0).x(), 2.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(0).y(), -2.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(1).x(), -0.5, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(1).y(), 0.5, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(2).x(), 2.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(2).y(), 3.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(3).x(), 4.5, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(3).y(), 0.5, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(4).x(), 2.0, epsilon); + EXPECT_NEAR(output.front().poly.outer().at(4).y(), -2.0, epsilon); + } } -TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftNecessaryTest) +TEST(TestUtils, fillLongitudinalAndLengthByClosestEnvelopeFootprint) { - ObjectData right_obj; - right_obj.direction = Direction::RIGHT; - const double negative_shift_length = -1.0; - const double positive_shift_length = 1.0; + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); - ASSERT_TRUE(isShiftNecessary(isOnRight(right_obj), positive_shift_length)); - ASSERT_FALSE(isShiftNecessary(isOnRight(right_obj), negative_shift_length)); + const auto object_pose = geometry_msgs::build() + .position(createPoint(2.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto nearest_path_pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.8284271247461901, 1.41421356237309505, 2.0)); + + auto object_data = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + object_data.direction = Direction::LEFT; + object_data.envelope_poly = createEnvelopePolygon(object_data, nearest_path_pose, 0.0); + + fillLongitudinalAndLengthByClosestEnvelopeFootprint( + path, createPoint(0.0, 0.0, 0.0), object_data); + EXPECT_NEAR(object_data.longitudinal, 1.0, epsilon); + EXPECT_NEAR(object_data.length, 3.0, epsilon); +} + +TEST(TestUtils, fillObjectEnvelopePolygon) +{ + const auto path = autoware::test_utils::generateTrajectory( + 50L, 1.0, 20.0, 0.0, 0.0, std::numeric_limits::max()); + + const auto parameters = get_parameters(); + + const auto uuid = generateUUID(); + + const auto object_pose = geometry_msgs::build() + .position(createPoint(2.5, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + const auto nearest_path_pose = + path.points.at(autoware::motion_utils::findNearestIndex(path.points, object_pose.position)) + .point.pose; + + const auto shape = autoware_perception_msgs::build() + .type(Shape::BOUNDING_BOX) + .footprint(geometry_msgs::msg::Polygon{}) + .dimensions(createVector3(2.8284271247461901, 1.41421356237309505, 2.0)); + + auto stored_object = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + stored_object.object.object_id = uuid; + stored_object.envelope_poly = createEnvelopePolygon(stored_object, nearest_path_pose, 0.0); + stored_object.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build() + .pose(object_pose) + .covariance({1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + stored_object.error_eclipse_max = + calcErrorEclipseLongRadius(stored_object.object.kinematics.initial_pose_with_covariance); + stored_object.direction = Direction::LEFT; + + auto object_data = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + + // new object. + { + ObjectDataArray stored_objects{}; + + object_data.object.object_id = generateUUID(); + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build() + .pose(object_pose) + .covariance({1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -0.5, epsilon); + } + + // update envelope polygon by new pose. + { + ObjectDataArray stored_objects{stored_object}; + + const auto new_pose = geometry_msgs::build() + .position(createPoint(3.0, 0.5, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + object_data.object.object_id = uuid; + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build().pose(new_pose).covariance( + {1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -1.0, epsilon); + } + + // use previous envelope polygon because new pose's error eclipse long radius is larger than + // threshold. error eclipse long radius: 2.1213203435596 + { + ObjectDataArray stored_objects{stored_object}; + + const auto new_pose = geometry_msgs::build() + .position(createPoint(3.0, 0.5, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + object_data.object.object_id = uuid; + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build().pose(new_pose).covariance( + {2.5, 2.0, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -0.5, epsilon); + } + + // use new envelope polygon because new pose's error eclipse long radius is smaller than + // threshold. + { + auto huge_covariance_object = create_test_object( + object_pose, createVector3(0.0, 0.0, 0.0), shape, ObjectClassification::TRUCK); + huge_covariance_object.object.object_id = uuid; + huge_covariance_object.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build() + .pose(object_pose) + .covariance({5.0, 4.0, 0.0, 0.0, 0.0, 0.0, 4.0, 5.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + huge_covariance_object.error_eclipse_max = calcErrorEclipseLongRadius( + huge_covariance_object.object.kinematics.initial_pose_with_covariance); + huge_covariance_object.direction = Direction::LEFT; + + huge_covariance_object.envelope_poly = + createEnvelopePolygon(huge_covariance_object, nearest_path_pose, 0.0); + + ObjectDataArray stored_objects{huge_covariance_object}; + + const auto new_pose = geometry_msgs::build() + .position(createPoint(3.0, 0.5, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, deg2rad(45))); + + object_data.object.object_id = uuid; + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build().pose(new_pose).covariance( + {2.5, 2.0, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -1.0, epsilon); + } + + // use previous envelope polygon because the new one is within old one. + { + ObjectDataArray stored_objects{stored_object}; + + object_data.object.object_id = uuid; + object_data.object.kinematics.initial_pose_with_covariance = + geometry_msgs::build() + .pose(object_pose) + .covariance({1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); + object_data.direction = Direction::LEFT; + fillObjectEnvelopePolygon(object_data, stored_objects, nearest_path_pose, parameters); + + ASSERT_EQ(object_data.envelope_poly.outer().size(), 5); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(0).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(1).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(2).y(), 2.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).x(), 4.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(3).y(), -0.5, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).x(), 1.0, epsilon); + EXPECT_NEAR(object_data.envelope_poly.outer().at(4).y(), -0.5, epsilon); + } +} + +TEST(TestUtils, compensateLostTargetObjects) +{ + using namespace std::literals::chrono_literals; + + const auto parameters = get_parameters(); + + const auto planner_data = get_planner_data(); + + const auto uuid = generateUUID(); + + const auto init_time = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectData stored_object; + stored_object.object.object_id = uuid; + stored_object.last_seen = init_time; + stored_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(1.0, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + rclcpp::sleep_for(100ms); + + // add stored objects. + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{}; + + ObjectData new_object; + new_object.object.object_id = generateUUID(); + new_object.last_seen = now; + new_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(2.0, 5.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {new_object}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(stored_objects.empty()); + EXPECT_EQ(stored_objects.front().object.object_id, new_object.object.object_id); + } + + // compensate detection lost. + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(avoidance_planning_data.target_objects.empty()); + EXPECT_EQ( + avoidance_planning_data.target_objects.front().object.object_id, + stored_object.object.object_id); + } + + // update stored objects (same uuid). + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + ObjectData detected_object; + detected_object.object.object_id = uuid; + detected_object.last_seen = now; + detected_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(1.0, 1.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {detected_object}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(stored_objects.empty()); + EXPECT_EQ(stored_objects.front().last_seen, detected_object.last_seen); + } + + // update stored objects (detected near the stored object). + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + ObjectData detected_object; + detected_object.object.object_id = generateUUID(); + detected_object.last_seen = now; + detected_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(1.1, 1.1, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {detected_object}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(stored_objects.empty()); + EXPECT_EQ(stored_objects.front().last_seen, detected_object.last_seen); + } + + // don't update stored object because there is no matched object. + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + ObjectData detected_object; + detected_object.object.object_id = generateUUID(); + detected_object.last_seen = now; + detected_object.object.kinematics.initial_pose_with_covariance.pose = + geometry_msgs::build() + .position(createPoint(3.0, 3.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {detected_object}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + ASSERT_FALSE(stored_objects.empty()); + EXPECT_EQ(stored_objects.front().last_seen, init_time); + } + + rclcpp::sleep_for(200ms); + + // don't compensate detection lost because time elapses more than threshold. + { + const auto now = rclcpp::Clock{RCL_ROS_TIME}.now(); + + ObjectDataArray stored_objects{stored_object}; + + AvoidancePlanningData avoidance_planning_data; + avoidance_planning_data.target_objects = {}; + avoidance_planning_data.other_objects = {}; + + compensateLostTargetObjects( + stored_objects, avoidance_planning_data, now, planner_data, parameters); + EXPECT_TRUE(avoidance_planning_data.target_objects.empty()); + } +} + +TEST(TestUtils, calcErrorEclipseLongRadius) +{ + const auto pose = geometry_msgs::build() + .position(createPoint(3.0, 3.0, 0.0)) + .orientation(createQuaternionFromRPY(0.0, 0.0, 0.0)); + const auto pose_with_covariance = + geometry_msgs::build().pose(pose).covariance( + {5.0, 4.0, 0.0, 0.0, 0.0, 0.0, 4.0, 5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0}); - ObjectData left_obj; - left_obj.direction = Direction::LEFT; - ASSERT_TRUE(isShiftNecessary(isOnRight(left_obj), negative_shift_length)); - ASSERT_FALSE(isShiftNecessary(isOnRight(left_obj), positive_shift_length)); + EXPECT_DOUBLE_EQ(calcErrorEclipseLongRadius(pose_with_covariance), 3.0); } +} // namespace autoware::behavior_path_planner::utils::static_obstacle_avoidance diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp index 34e67cee12af2..64c98017d3007 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp @@ -21,7 +21,6 @@ #include #include -#include #include #include #include @@ -83,6 +82,10 @@ struct DebugData std::vector crosswalk_polygon; std::vector> ego_polygons; std::vector> obj_polygons; + + // occlusion data + std::vector occlusion_detection_areas; + geometry_msgs::msg::Point crosswalk_origin; }; std::vector> getCrosswalksOnPath( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp index d96256d2753ce..757803ef35578 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp @@ -24,8 +24,6 @@ namespace autoware::behavior_velocity_planner { -using autoware::motion_utils::createSlowDownVirtualWallMarker; -using autoware::motion_utils::createStopVirtualWallMarker; using autoware::universe_utils::appendMarkerArray; using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createDefaultMarker; @@ -173,6 +171,26 @@ visualization_msgs::msg::MarkerArray createCrosswalkMarkers( msg.markers.push_back(marker); } + if (!debug_data.occlusion_detection_areas.empty()) { + auto marker = createDefaultMarker( + "map", now, "occlusion_detection_areas", uid, Marker::LINE_LIST, + createMarkerScale(0.25, 0.25, 0.0), createMarkerColor(1.0, 1.0, 1.0, 0.5)); + for (const auto & area : debug_data.occlusion_detection_areas) { + for (auto i = 0UL; i + 1 < area.size(); ++i) { + const auto & p1 = area[i]; + const auto & p2 = area[i + 1]; + marker.points.push_back(createPoint(p1.x(), p1.y(), 0.0)); + marker.points.push_back(createPoint(p2.x(), p2.y(), 0.0)); + } + } + msg.markers.push_back(marker); + marker = createDefaultMarker( + "map", now, "crosswalk_origin", uid, Marker::SPHERE, createMarkerScale(0.25, 0.25, 0.25), + createMarkerColor(1.0, 1.0, 1.0, 0.5)); + marker.pose.position = debug_data.crosswalk_origin; + msg.markers.push_back(marker); + } + return msg; } } // namespace diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp index 6b78a72e887d0..3428fa4e53edb 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp @@ -14,18 +14,18 @@ #include "occluded_crosswalk.hpp" -#include "autoware/behavior_velocity_crosswalk_module/util.hpp" - -#include +#include #include +#include + #include #include namespace autoware::behavior_velocity_planner { bool is_occluded( - const grid_map::GridMap & grid_map, const int min_nb_of_cells, const grid_map::Index idx, + const grid_map::GridMap & grid_map, const int min_nb_of_cells, const grid_map::Index & idx, const autoware::behavior_velocity_planner::CrosswalkModule::PlannerParam & params) { grid_map::Index idx_offset; @@ -112,7 +112,7 @@ void clear_occlusions_behind_objects( }; const lanelet::BasicPoint2d grid_map_position = grid_map.getPosition(); const auto range = grid_map.getLength().maxCoeff() / 2.0; - for (auto object : objects) { + for (auto & object : objects) { const lanelet::BasicPoint2d object_position = { object.kinematics.initial_pose_with_covariance.pose.position.x, object.kinematics.initial_pose_with_covariance.pose.position.y}; @@ -137,9 +137,8 @@ void clear_occlusions_behind_objects( } bool is_crosswalk_occluded( - const lanelet::ConstLanelet & crosswalk_lanelet, const nav_msgs::msg::OccupancyGrid & occupancy_grid, - const geometry_msgs::msg::Point & path_intersection, const double detection_range, + const std::vector & detection_areas, const std::vector & dynamic_objects, const autoware::behavior_velocity_planner::CrosswalkModule::PlannerParam & params) { @@ -153,8 +152,7 @@ bool is_crosswalk_occluded( clear_occlusions_behind_objects(grid_map, objects); } const auto min_nb_of_cells = std::ceil(params.occlusion_min_size / grid_map.getResolution()); - for (const auto & detection_area : calculate_detection_areas( - crosswalk_lanelet, {path_intersection.x, path_intersection.y}, detection_range)) { + for (const auto & detection_area : detection_areas) { grid_map::Polygon poly; for (const auto & p : detection_area) poly.addVertex(grid_map::Position(p.x(), p.y())); for (autoware::grid_map_utils::PolygonIterator iter(grid_map, poly); !iter.isPastEnd(); ++iter) @@ -169,6 +167,6 @@ double calculate_detection_range( { constexpr double min_ego_velocity = 1.0; const auto time_to_crosswalk = dist_ego_to_crosswalk / std::max(min_ego_velocity, ego_velocity); - return time_to_crosswalk > 0.0 ? time_to_crosswalk / occluded_object_velocity : 20.0; + return time_to_crosswalk > 0.0 ? time_to_crosswalk * occluded_object_velocity : 20.0; } } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.hpp index c4f2c1a23c57e..1cf3131f1a7d3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.hpp @@ -26,7 +26,6 @@ #include #include -#include #include namespace autoware::behavior_velocity_planner @@ -39,7 +38,7 @@ namespace autoware::behavior_velocity_planner /// @param [in] params parameters /// @return true if the index is occluded bool is_occluded( - const grid_map::GridMap & grid_map, const int min_nb_of_cells, const grid_map::Index idx, + const grid_map::GridMap & grid_map, const int min_nb_of_cells, const grid_map::Index & idx, const autoware::behavior_velocity_planner::CrosswalkModule::PlannerParam & params); /// @brief interpolate a point beyond the end of the given segment @@ -50,17 +49,14 @@ lanelet::BasicPoint2d interpolate_point( const lanelet::BasicSegment2d & segment, const double extra_distance); /// @brief check if the crosswalk is occluded -/// @param crosswalk_lanelet lanelet of the crosswalk /// @param occupancy_grid occupancy grid with the occlusion information -/// @param path_intersection intersection between the crosswalk and the ego path -/// @param detection_range range away from the crosswalk until occlusions are considered +/// @param detection_areas areas to check for occlusions /// @param dynamic_objects dynamic objects /// @param params parameters /// @return true if the crosswalk is occluded bool is_crosswalk_occluded( - const lanelet::ConstLanelet & crosswalk_lanelet, const nav_msgs::msg::OccupancyGrid & occupancy_grid, - const geometry_msgs::msg::Point & path_intersection, const double detection_range, + const std::vector & detection_areas, const std::vector & dynamic_objects, const autoware::behavior_velocity_planner::CrosswalkModule::PlannerParam & params); @@ -89,6 +85,15 @@ std::vector select_and_inflate_o void clear_occlusions_behind_objects( grid_map::GridMap & grid_map, const std::vector & objects); + +/// @brief calculate areas to check for occlusions around the given crosswalk +/// @param crosswalk_lanelet crosswalk lanelet +/// @param crosswalk_origin crosswalk point from which to calculate the distances +/// @param detection_range [m] desired distance from the crosswalk origin +/// @return detection areas within the detection range of the crosswalk +std::vector calculate_detection_areas( + const lanelet::ConstLanelet & crosswalk_lanelet, const lanelet::BasicPoint2d & crosswalk_origin, + const double detection_range); } // namespace autoware::behavior_velocity_planner #endif // OCCLUDED_CROSSWALK_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 4ec3e43ee91ca..a56038d3a89d4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -49,13 +49,11 @@ using autoware::motion_utils::calcLongitudinalOffsetPose; using autoware::motion_utils::calcSignedArcLength; using autoware::motion_utils::calcSignedArcLengthPartialSum; using autoware::motion_utils::findNearestSegmentIndex; -using autoware::motion_utils::insertTargetPoint; using autoware::motion_utils::resamplePath; using autoware::universe_utils::createPoint; using autoware::universe_utils::getPose; using autoware::universe_utils::Point2d; using autoware::universe_utils::Polygon2d; -using autoware::universe_utils::pose2transform; using autoware::universe_utils::toHexString; namespace @@ -936,37 +934,46 @@ void CrosswalkModule::applySlowDownByOcclusion( const auto is_crosswalk_ignored = (planner_param_.occlusion_ignore_with_traffic_light && crosswalk_has_traffic_light) || crosswalk_.hasAttribute("skip_occluded_slowdown"); - if (planner_param_.occlusion_enable && !is_crosswalk_ignored) { - const auto dist_ego_to_crosswalk = - calcSignedArcLength(output.points, ego_pos, first_path_point_on_crosswalk); - const auto detection_range = - planner_data_->vehicle_info_.max_lateral_offset_m + - calculate_detection_range( - planner_param_.occlusion_occluded_object_velocity, dist_ego_to_crosswalk, - planner_data_->current_velocity->twist.linear.x); - const auto is_ego_on_the_crosswalk = - dist_ego_to_crosswalk <= planner_data_->vehicle_info_.max_longitudinal_offset_m; - if (!is_ego_on_the_crosswalk) { - if (is_crosswalk_occluded( - crosswalk_, *planner_data_->occupancy_grid, first_path_point_on_crosswalk, - detection_range, objects_ptr->objects, planner_param_)) { - if (!current_initial_occlusion_time_) current_initial_occlusion_time_ = now; - if (cmp_with_time_buffer(current_initial_occlusion_time_, std::greater_equal{})) - most_recent_occlusion_time_ = now; - } else if (!cmp_with_time_buffer(most_recent_occlusion_time_, std::greater{})) { - current_initial_occlusion_time_.reset(); - } - - if (cmp_with_time_buffer(most_recent_occlusion_time_, std::less_equal{})) { - const auto target_velocity = calcTargetVelocity(first_path_point_on_crosswalk, output); - applySlowDown( - output, first_path_point_on_crosswalk, last_path_point_on_crosswalk, - std::max(target_velocity, planner_param_.occlusion_slow_down_velocity)); - debug_data_.virtual_wall_suffix = " (occluded)"; - } else { - most_recent_occlusion_time_.reset(); - } + if (!planner_param_.occlusion_enable || is_crosswalk_ignored) { + return; + } + const auto dist_ego_to_crosswalk = + calcSignedArcLength(output.points, ego_pos, first_path_point_on_crosswalk); + const auto is_ego_on_the_crosswalk = + dist_ego_to_crosswalk <= planner_data_->vehicle_info_.max_longitudinal_offset_m; + if (is_ego_on_the_crosswalk) { + return; + } + const auto detection_range = + planner_data_->vehicle_info_.max_lateral_offset_m + + calculate_detection_range( + planner_param_.occlusion_occluded_object_velocity, dist_ego_to_crosswalk, + planner_data_->current_velocity->twist.linear.x); + const auto detection_areas = calculate_detection_areas( + crosswalk_, {first_path_point_on_crosswalk.x, first_path_point_on_crosswalk.y}, + detection_range); + debug_data_.occlusion_detection_areas = detection_areas; + debug_data_.crosswalk_origin = first_path_point_on_crosswalk; + if (is_crosswalk_occluded( + *planner_data_->occupancy_grid, detection_areas, objects_ptr->objects, planner_param_)) { + if (!current_initial_occlusion_time_) { + current_initial_occlusion_time_ = now; + } + if (cmp_with_time_buffer(current_initial_occlusion_time_, std::greater_equal{})) { + most_recent_occlusion_time_ = now; } + } else if (!cmp_with_time_buffer(most_recent_occlusion_time_, std::greater{})) { + current_initial_occlusion_time_.reset(); + } + + if (cmp_with_time_buffer(most_recent_occlusion_time_, std::less_equal{})) { + const auto target_velocity = calcTargetVelocity(first_path_point_on_crosswalk, output); + applySlowDown( + output, first_path_point_on_crosswalk, last_path_point_on_crosswalk, + std::max(target_velocity, planner_param_.occlusion_slow_down_velocity)); + debug_data_.virtual_wall_suffix = " (occluded)"; + } else { + most_recent_occlusion_time_.reset(); } } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt index 57eb826927663..3aff4a524ffdd 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/CMakeLists.txt @@ -6,9 +6,16 @@ autoware_package() pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED - src/debug.cpp - src/manager.cpp - src/scene.cpp + DIRECTORY src ) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_utils.cpp + ) + target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME}) +endif() + ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml index c707e2fbfdbde..8669aa16b7252 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml @@ -33,6 +33,7 @@ tf2_geometry_msgs visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp index d6a1747259962..ad3ba986733e1 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp @@ -14,32 +14,28 @@ #include "scene.hpp" +#include "utils.hpp" + #include #include #include -#ifdef ROS_DISTRO_GALACTIC -#include -#else #include -#endif #include -#include #include #include #include namespace autoware::behavior_velocity_planner { -namespace bg = boost::geometry; using autoware::motion_utils::calcLongitudinalOffsetPose; using autoware::motion_utils::calcSignedArcLength; DetectionAreaModule::DetectionAreaModule( const int64_t module_id, const int64_t lane_id, const lanelet::autoware::DetectionArea & detection_area_reg_elem, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id), @@ -51,13 +47,6 @@ DetectionAreaModule::DetectionAreaModule( velocity_factor_.init(PlanningBehavior::USER_DEFINED_DETECTION_AREA); } -LineString2d DetectionAreaModule::getStopLineGeometry2d() const -{ - const lanelet::ConstLineString3d stop_line = detection_area_reg_elem_.stopLine(); - return planning_utils::extendLine( - stop_line[0], stop_line[1], planner_data_->stop_line_extend_length); -} - bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) { // Store original path @@ -69,14 +58,16 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * *stop_reason = planning_utils::initializeStopReason(StopReason::DETECTION_AREA); // Find obstacles in detection area - const auto obstacle_points = getObstaclePoints(); + const auto obstacle_points = detection_area::get_obstacle_points( + detection_area_reg_elem_.detectionAreas(), *planner_data_->no_ground_pointcloud); debug_data_.obstacle_points = obstacle_points; if (!obstacle_points.empty()) { last_obstacle_found_time_ = std::make_shared(clock_->now()); } // Get stop line geometry - const auto stop_line = getStopLineGeometry2d(); + const auto stop_line = detection_area::get_stop_line_geometry2d( + detection_area_reg_elem_, planner_data_->stop_line_extend_length); // Get self pose const auto & self_pose = planner_data_->current_odometry->pose; @@ -118,7 +109,8 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * setDistance(stop_dist); // Check state - setSafe(canClearStopState()); + setSafe(detection_area::can_clear_stop_state( + last_obstacle_found_time_, clock_->now(), planner_param_.state_clear_time)); if (isActivated()) { state_ = State::GO; last_obstacle_found_time_ = {}; @@ -165,7 +157,14 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * // Ignore objects if braking distance is not enough if (planner_param_.use_pass_judge_line) { - if (state_ != State::STOP && !hasEnoughBrakingDistance(self_pose, stop_point->second)) { + const auto current_velocity = planner_data_->current_velocity->twist.linear.x; + const double pass_judge_line_distance = planning_utils::calcJudgeLineDistWithAccLimit( + current_velocity, planner_data_->current_acceleration->accel.accel.linear.x, + planner_data_->delay_response_time); + if ( + state_ != State::STOP && + !detection_area::has_enough_braking_distance( + self_pose, stop_point->second, pass_judge_line_distance, current_velocity)) { RCLCPP_WARN_THROTTLE( logger_, *clock_, std::chrono::milliseconds(1000).count(), "[detection_area] vehicle is over stop border"); @@ -206,138 +205,4 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * return true; } - -// calc smallest enclosing circle with average O(N) algorithm -// reference: -// https://erickimphotography.com/blog/wp-content/uploads/2018/09/Computational-Geometry-Algorithms-and-Applications-3rd-Ed.pdf -std::pair calcSmallestEnclosingCircle( - const lanelet::ConstPolygon2d & poly) -{ - // The `eps` is used to avoid precision bugs in circle inclusion checks. - // If the value of `eps` is too small, this function doesn't work well. More than 1e-10 is - // recommended. - const double eps = 1e-5; - lanelet::BasicPoint2d center(0.0, 0.0); - double radius_squared = 0.0; - - auto cross = [](const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2) -> double { - return p1.x() * p2.y() - p1.y() * p2.x(); - }; - - auto make_circle_3 = [&]( - const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2, - const lanelet::BasicPoint2d & p3) -> void { - // reference for circumcenter vector https://en.wikipedia.org/wiki/Circumscribed_circle - const double A = (p2 - p3).squaredNorm(); - const double B = (p3 - p1).squaredNorm(); - const double C = (p1 - p2).squaredNorm(); - const double S = cross(p2 - p1, p3 - p1); - if (std::abs(S) < eps) return; - center = (A * (B + C - A) * p1 + B * (C + A - B) * p2 + C * (A + B - C) * p3) / (4 * S * S); - radius_squared = (center - p1).squaredNorm() + eps; - }; - - auto make_circle_2 = - [&](const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2) -> void { - center = (p1 + p2) * 0.5; - radius_squared = (center - p1).squaredNorm() + eps; - }; - - auto in_circle = [&](const lanelet::BasicPoint2d & p) -> bool { - return (center - p).squaredNorm() <= radius_squared; - }; - - // mini disc - for (size_t i = 1; i < poly.size(); i++) { - const auto p1 = poly[i].basicPoint2d(); - if (in_circle(p1)) continue; - - // mini disc with point - const auto p0 = poly[0].basicPoint2d(); - make_circle_2(p0, p1); - for (size_t j = 0; j < i; j++) { - const auto p2 = poly[j].basicPoint2d(); - if (in_circle(p2)) continue; - - // mini disc with two points - make_circle_2(p1, p2); - for (size_t k = 0; k < j; k++) { - const auto p3 = poly[k].basicPoint2d(); - if (in_circle(p3)) continue; - - // mini disc with tree points - make_circle_3(p1, p2, p3); - } - } - } - - return std::make_pair(center, radius_squared); -} - -std::vector DetectionAreaModule::getObstaclePoints() const -{ - std::vector obstacle_points; - - const auto detection_areas = detection_area_reg_elem_.detectionAreas(); - const auto & points = *(planner_data_->no_ground_pointcloud); - - for (const auto & detection_area : detection_areas) { - const auto poly = lanelet::utils::to2D(detection_area); - const auto circle = calcSmallestEnclosingCircle(poly); - for (const auto p : points) { - const double squared_dist = (circle.first.x() - p.x) * (circle.first.x() - p.x) + - (circle.first.y() - p.y) * (circle.first.y() - p.y); - if (squared_dist <= circle.second) { - if (bg::within(Point2d{p.x, p.y}, poly.basicPolygon())) { - obstacle_points.push_back(autoware::universe_utils::createPoint(p.x, p.y, p.z)); - // get all obstacle point becomes high computation cost so skip if any point is found - break; - } - } - } - } - - return obstacle_points; -} - -bool DetectionAreaModule::canClearStopState() const -{ - // vehicle can clear stop state if the obstacle has never appeared in detection area - if (!last_obstacle_found_time_) { - return true; - } - - // vehicle can clear stop state if the certain time has passed since the obstacle disappeared - const auto elapsed_time = clock_->now() - *last_obstacle_found_time_; - if (elapsed_time.seconds() >= planner_param_.state_clear_time) { - return true; - } - - // rollback in simulation mode - if (elapsed_time.seconds() < 0.0) { - return true; - } - - return false; -} - -bool DetectionAreaModule::hasEnoughBrakingDistance( - const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const -{ - // get vehicle info and compute pass_judge_line_distance - const auto current_velocity = planner_data_->current_velocity->twist.linear.x; - const double max_acc = planner_data_->max_stop_acceleration_threshold; - const double delay_response_time = planner_data_->delay_response_time; - const double pass_judge_line_distance = - planning_utils::calcJudgeLineDistWithAccLimit(current_velocity, max_acc, delay_response_time); - - // prevent from being judged as not having enough distance when the current velocity is zero - // and the vehicle crosses the stop line - if (current_velocity < 1e-3) { - return true; - } - - return arc_lane_utils::calcSignedDistance(self_pose, line_pose.position) > - pass_judge_line_distance; -} } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp index efc1c1809302a..d756ea39a7f92 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp @@ -63,11 +63,10 @@ class DetectionAreaModule : public SceneModuleInterface double distance_to_judge_over_stop_line; }; -public: DetectionAreaModule( const int64_t module_id, const int64_t lane_id, const lanelet::autoware::DetectionArea & detection_area_reg_elem, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const PlannerParam & planner_param, const rclcpp::Logger & logger, const rclcpp::Clock::SharedPtr clock); bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; @@ -76,15 +75,6 @@ class DetectionAreaModule : public SceneModuleInterface autoware::motion_utils::VirtualWalls createVirtualWalls() override; private: - LineString2d getStopLineGeometry2d() const; - - std::vector getObstaclePoints() const; - - bool canClearStopState() const; - - bool hasEnoughBrakingDistance( - const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const; - // Lane id int64_t lane_id_; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp new file mode 100644 index 0000000000000..6b3bf416e6d99 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.cpp @@ -0,0 +1,165 @@ +// Copyright 2024 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 "utils.hpp" + +#include +#include +#include +#include + +#include +#include + +#include + +namespace +{ +// calc smallest enclosing circle with average O(N) algorithm +// reference: +// https://erickimphotography.com/blog/wp-content/uploads/2018/09/Computational-Geometry-Algorithms-and-Applications-3rd-Ed.pdf +std::pair get_smallest_enclosing_circle( + const lanelet::ConstPolygon2d & poly) +{ + // The `eps` is used to avoid precision bugs in circle inclusion checks. + // If the value of `eps` is too small, this function doesn't work well. More than 1e-10 is + // recommended. + const double eps = 1e-5; + lanelet::BasicPoint2d center(0.0, 0.0); + double radius_squared = 0.0; + + auto cross = [](const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2) -> double { + return p1.x() * p2.y() - p1.y() * p2.x(); + }; + + auto make_circle_3 = [&]( + const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2, + const lanelet::BasicPoint2d & p3) -> void { + // reference for circumcenter vector https://en.wikipedia.org/wiki/Circumscribed_circle + const double a = (p2 - p3).squaredNorm(); + const double b = (p3 - p1).squaredNorm(); + const double c = (p1 - p2).squaredNorm(); + const double s = cross(p2 - p1, p3 - p1); + if (std::abs(s) < eps) return; + center = (a * (b + c - a) * p1 + b * (c + a - b) * p2 + c * (a + b - c) * p3) / (4 * s * s); + radius_squared = (center - p1).squaredNorm() + eps; + }; + + auto make_circle_2 = + [&](const lanelet::BasicPoint2d & p1, const lanelet::BasicPoint2d & p2) -> void { + center = (p1 + p2) * 0.5; + radius_squared = (center - p1).squaredNorm() + eps; + }; + + auto in_circle = [&](const lanelet::BasicPoint2d & p) -> bool { + return (center - p).squaredNorm() <= radius_squared; + }; + + // mini disc + for (size_t i = 1; i < poly.size(); i++) { + const auto p1 = poly[i].basicPoint2d(); + if (in_circle(p1)) continue; + + // mini disc with point + const auto p0 = poly[0].basicPoint2d(); + make_circle_2(p0, p1); + for (size_t j = 0; j < i; j++) { + const auto p2 = poly[j].basicPoint2d(); + if (in_circle(p2)) continue; + + // mini disc with two points + make_circle_2(p1, p2); + for (size_t k = 0; k < j; k++) { + const auto p3 = poly[k].basicPoint2d(); + if (in_circle(p3)) continue; + + // mini disc with tree points + make_circle_3(p1, p2, p3); + } + } + } + + return std::make_pair(center, radius_squared); +} +} // namespace + +namespace autoware::behavior_velocity_planner::detection_area +{ +universe_utils::LineString2d get_stop_line_geometry2d( + const lanelet::autoware::DetectionArea & detection_area, const double extend_length) +{ + const auto stop_line = detection_area.stopLine(); + return planning_utils::extendLine(stop_line[0], stop_line[1], extend_length); +} + +std::vector get_obstacle_points( + const lanelet::ConstPolygons3d & detection_areas, const pcl::PointCloud & points) +{ + std::vector obstacle_points; + for (const auto & detection_area : detection_areas) { + const auto poly = lanelet::utils::to2D(detection_area); + const auto circle = get_smallest_enclosing_circle(poly); + for (const auto p : points) { + const double squared_dist = (circle.first.x() - p.x) * (circle.first.x() - p.x) + + (circle.first.y() - p.y) * (circle.first.y() - p.y); + if (squared_dist <= circle.second) { + if (boost::geometry::within(Point2d{p.x, p.y}, poly.basicPolygon())) { + obstacle_points.push_back(autoware::universe_utils::createPoint(p.x, p.y, p.z)); + // get all obstacle point becomes high computation cost so skip if any point is found + break; + } + } + } + } + return obstacle_points; +} + +bool can_clear_stop_state( + const std::shared_ptr & last_obstacle_found_time, const rclcpp::Time & now, + const double state_clear_time) +{ + // vehicle can clear stop state if the obstacle has never appeared in detection area + if (!last_obstacle_found_time) { + return true; + } + + // vehicle can clear stop state if the certain time has passed since the obstacle disappeared + const auto elapsed_time = now - *last_obstacle_found_time; + if (elapsed_time.seconds() >= state_clear_time) { + return true; + } + + // rollback in simulation mode + if (elapsed_time.seconds() < 0.0) { + return true; + } + + return false; +} + +bool has_enough_braking_distance( + const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose, + const double pass_judge_line_distance, const double current_velocity) +{ + // prevent from being judged as not having enough distance when the current velocity is zero + // and the vehicle crosses the stop line + if (current_velocity < 1e-3) { + return true; + } + + return arc_lane_utils::calcSignedDistance(self_pose, line_pose.position) > + pass_judge_line_distance; +} + +} // namespace autoware::behavior_velocity_planner::detection_area diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.hpp new file mode 100644 index 0000000000000..3a0ba0172cbd1 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/utils.hpp @@ -0,0 +1,71 @@ +// Copyright 2024 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 UTILS_HPP_ +#define UTILS_HPP_ + +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include +#include + +namespace autoware::behavior_velocity_planner::detection_area +{ + +/// @brief get the extended stop line of the given detection area +/// @param [in] detection_area detection area +/// @param [in] extend_length [m] extension length to add on each edge of the stop line +/// @return extended stop line +universe_utils::LineString2d get_stop_line_geometry2d( + const lanelet::autoware::DetectionArea & detection_area, const double extend_length); + +/// @brief get the obstacle points found inside a detection area +/// @param [in] detection_areas detection area polygons +/// @param [in] points obstacle points +/// @return the first obstacle point found in each detection area +std::vector get_obstacle_points( + const lanelet::ConstPolygons3d & detection_areas, const pcl::PointCloud & points); + +/// @brief return true if the stop state can be cleared +/// @details can be cleared if enough time passed since last detecting an obstacle +/// @param [in] last_obstacle_found_time pointer to the time when an obstacle was last detected +/// @param [in] now current time +/// @param [in] state_clear_time [s] minimum duration since last obstacle detection to clear the +/// stop state +/// @return true if the stop state can be cleared +bool can_clear_stop_state( + const std::shared_ptr & last_obstacle_found_time, const rclcpp::Time & now, + const double state_clear_time); + +/// @brief return true if distance to brake is enough +/// @param self_pose current ego pose +/// @param line_pose stop pose +/// @param pass_judge_line_distance braking distance +/// @param current_velocity current ego velocity +/// @return true if the distance to brake is enough +bool has_enough_braking_distance( + const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose, + const double pass_judge_line_distance, const double current_velocity); +} // namespace autoware::behavior_velocity_planner::detection_area + +#endif // UTILS_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_utils.cpp new file mode 100644 index 0000000000000..9b4dc5193f655 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/test/test_utils.cpp @@ -0,0 +1,183 @@ +// Copyright 2024 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 "../src/utils.hpp" + +#include +#include +#include +#include + +#include +#include + +TEST(TestUtils, getStopLine) +{ + using autoware::behavior_velocity_planner::detection_area::get_stop_line_geometry2d; + lanelet::LineString3d line; + line.push_back(lanelet::Point3d(lanelet::InvalId, 0.0, -1.0)); + line.push_back(lanelet::Point3d(lanelet::InvalId, 0.0, 1.0)); + lanelet::Polygons3d detection_areas; + lanelet::Polygon3d area; + area.push_back(lanelet::Point3d(lanelet::InvalId, 1.0, -1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 1.0, 1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, 1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, -1.0)); + detection_areas.push_back(area); + auto detection_area = + lanelet::autoware::DetectionArea::make(lanelet::InvalId, {}, detection_areas, line); + { + const double extend_length = 0.0; + const auto stop_line = get_stop_line_geometry2d(*detection_area, extend_length); + ASSERT_EQ(stop_line.size(), 2UL); + EXPECT_EQ(stop_line[0].x(), line[0].x()); + EXPECT_EQ(stop_line[0].y(), line[0].y()); + EXPECT_EQ(stop_line[1].x(), line[1].x()); + EXPECT_EQ(stop_line[1].y(), line[1].y()); + } + // extended line + for (auto extend_length = -2.0; extend_length < 2.0; extend_length += 0.1) { + const auto stop_line = get_stop_line_geometry2d(*detection_area, extend_length); + ASSERT_EQ(stop_line.size(), 2UL); + EXPECT_EQ(stop_line[0].x(), line[0].x()); + EXPECT_EQ(stop_line[0].y(), line[0].y() - extend_length); + EXPECT_EQ(stop_line[1].x(), line[1].x()); + EXPECT_EQ(stop_line[1].y(), line[1].y() + extend_length); + } +} + +TEST(TestUtils, getObstaclePoints) +{ + using autoware::behavior_velocity_planner::detection_area::get_obstacle_points; + lanelet::ConstPolygons3d detection_areas; + lanelet::Polygon3d area; + area.push_back(lanelet::Point3d(lanelet::InvalId, 1.0, -1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 1.0, 1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, 1.0)); + area.push_back(lanelet::Point3d(lanelet::InvalId, 3.0, -1.0)); + detection_areas.push_back(area); + pcl::PointCloud points; + // empty points + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + EXPECT_TRUE(obstacle_points.empty()); + } + // add points outside the detection area + points.emplace_back(0.0, 0.0, 0.0); + points.emplace_back(4.0, 4.0, 0.0); + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + EXPECT_TRUE(obstacle_points.empty()); + } + // add point on the edge of the detection area (will not be found) + points.emplace_back(1.0, 1.0, 0.0); + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + EXPECT_TRUE(obstacle_points.empty()); + } + // add point inside the detection area (will be found) + points.emplace_back(2.0, 0.0, 0.0); + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + ASSERT_EQ(obstacle_points.size(), 1UL); + EXPECT_EQ(obstacle_points[0].x, points[3].x); + EXPECT_EQ(obstacle_points[0].y, points[3].y); + } + // add a detection area that covers all points + lanelet::Polygon3d full_area; + full_area.push_back(lanelet::Point3d(lanelet::InvalId, -10.0, -10.0)); + full_area.push_back(lanelet::Point3d(lanelet::InvalId, -10.0, 10.0)); + full_area.push_back(lanelet::Point3d(lanelet::InvalId, 10.0, 10.0)); + full_area.push_back(lanelet::Point3d(lanelet::InvalId, 10.0, -10.0)); + detection_areas.push_back(full_area); + { + const auto obstacle_points = get_obstacle_points(detection_areas, points); + ASSERT_EQ(obstacle_points.size(), 2UL); // only the 1st point found for each area are returned + EXPECT_EQ(obstacle_points[0].x, points[3].x); + EXPECT_EQ(obstacle_points[0].y, points[3].y); + EXPECT_EQ(obstacle_points[1].x, points[0].x); + EXPECT_EQ(obstacle_points[1].y, points[0].y); + } +} + +TEST(TestUtils, canClearStopState) +{ + using autoware::behavior_velocity_planner::detection_area::can_clear_stop_state; + std::shared_ptr last_obstacle_found_time = nullptr; + // can clear if we never found an obstacle + for (auto now_s = 0; now_s <= 10; now_s += 1) { + for (auto now_ns = 0; now_ns <= 1e9; now_ns += 1e8) { + for (double state_clear_time = 0.0; state_clear_time <= 10.0; state_clear_time += 0.1) { + const auto can_clear = can_clear_stop_state( + last_obstacle_found_time, rclcpp::Time(now_s, now_ns, RCL_CLOCK_UNINITIALIZED), + state_clear_time); + EXPECT_TRUE(can_clear); + } + } + } + last_obstacle_found_time = std::make_shared(1.0, 0.0); + const auto state_clear_time = 1.0; + // special case for negative time difference which may occur with simulated time + EXPECT_TRUE(can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(0, 0), state_clear_time)); + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(0, 9 * 1e8), state_clear_time)); + // cannot clear before the time has passed since the obstacle disappeared + EXPECT_FALSE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(1, 1), state_clear_time)); + EXPECT_FALSE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(1, 1e9 - 1), state_clear_time)); + // can clear after the time has passed + EXPECT_TRUE(can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(2, 1), state_clear_time)); + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(100, 0), state_clear_time)); + // negative time + const auto negative_state_clear_time = -1.0; + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(0, 0), negative_state_clear_time)); + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(1, 0), negative_state_clear_time)); + EXPECT_TRUE( + can_clear_stop_state(last_obstacle_found_time, rclcpp::Time(2, 0), negative_state_clear_time)); +} + +TEST(TestUtils, hasEnoughBrakingDistance) +{ + using autoware::behavior_velocity_planner::detection_area::has_enough_braking_distance; + // prepare a stop pose 10m away from the self pose + geometry_msgs::msg::Pose self_pose; + self_pose.position.x = 0.0; + self_pose.position.y = 0.0; + geometry_msgs::msg::Pose line_pose; + line_pose.position.x = 10.0; + line_pose.position.y = 0.0; + // can always brake at zero velocity + for (auto pass_judge_line_distance = 0.0; pass_judge_line_distance <= 20.0; + pass_judge_line_distance += 0.1) { + double current_velocity = 0.0; + EXPECT_TRUE(has_enough_braking_distance( + self_pose, line_pose, pass_judge_line_distance, current_velocity)); + } + // if velocity is not zero, can brake if the pass judge line distance is lower than 10m + const double current_velocity = 5.0; + for (auto pass_judge_line_distance = 0.0; pass_judge_line_distance < 10.0; + pass_judge_line_distance += 0.1) { + EXPECT_TRUE(has_enough_braking_distance( + self_pose, line_pose, pass_judge_line_distance, current_velocity)); + } + for (auto pass_judge_line_distance = 10.0; pass_judge_line_distance <= 20.0; + pass_judge_line_distance += 0.1) { + EXPECT_FALSE(has_enough_braking_distance( + self_pose, line_pose, pass_judge_line_distance, current_velocity)); + } +} diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp index 5d1f1a1fcfca2..c211e1f43783e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.cpp @@ -16,53 +16,58 @@ namespace autoware::behavior_velocity_planner { -std::string formatDecisionResult(const DecisionResult & decision_result) +std::string formatDecisionResult( + const DecisionResult & decision_result, const bool int_activated, const bool int_occ_activated) { + const auto rtc = "RTC: intersection activated_ = " + std::to_string(int_activated) + + ", intersection_occlusion activated_ = " + std::to_string(int_occ_activated) + + "\n"; + if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "InternalError because " + state.error; + return rtc + "InternalError because " + state.error; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "OverPassJudge:\nsafety_report:" + state.safety_report + + return rtc + "OverPassJudge:\nsafety_report:" + state.safety_report + "\nevasive_report:" + state.evasive_report; } if (std::holds_alternative(decision_result)) { - return "StuckStop"; + return rtc + "StuckStop"; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "YieldStuckStop:\nocclusion_report:" + state.occlusion_report; + return rtc + "YieldStuckStop:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "NonOccludedCollisionStop:\nocclusion_report:" + state.occlusion_report; + return rtc + "NonOccludedCollisionStop:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "FirstWaitBeforeOcclusion:\nocclusion_report:" + state.occlusion_report; + return rtc + "FirstWaitBeforeOcclusion:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "PeekingTowardOcclusion:\nocclusion_report:" + state.occlusion_report; + return rtc + "PeekingTowardOcclusion:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "OccludedCollisionStop:\nocclusion_report:" + state.occlusion_report; + return rtc + "OccludedCollisionStop:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "OccludedAbsenceTrafficLight:\nocclusion_report:" + state.occlusion_report; + return rtc + "OccludedAbsenceTrafficLight:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "Safe:\nocclusion_report:" + state.occlusion_report; + return rtc + "Safe:\nocclusion_report:" + state.occlusion_report; } if (std::holds_alternative(decision_result)) { const auto & state = std::get(decision_result); - return "FullyPrioritized\nsafety_report:" + state.safety_report; + return rtc + "FullyPrioritized\nsafety_report:" + state.safety_report; } - return ""; + return rtc + ""; } } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.hpp index 26f78616a7b61..743829c814440 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/decision_result.hpp @@ -170,7 +170,8 @@ using DecisionResult = std::variant< FullyPrioritized //! only detect vehicles violating traffic rules >; -std::string formatDecisionResult(const DecisionResult & decision_result); +std::string formatDecisionResult( + const DecisionResult & decision_result, const bool int_activated, const bool int_occ_activated); } // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp index 9f6935e6d7e7b..844380f135559 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -103,7 +103,8 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason * { const std::string decision_type = - "intersection" + std::to_string(module_id_) + " : " + formatDecisionResult(decision_result); + "intersection" + std::to_string(module_id_) + " : " + + formatDecisionResult(decision_result, activated_, occlusion_activated_); internal_debug_data_.decision_type = decision_type; } @@ -1341,6 +1342,10 @@ IntersectionModule::PassJudgeStatus IntersectionModule::isOverPassJudgeLinesStat if (std::holds_alternative(prev_decision_result_)) { return true; } + if (std::holds_alternative(prev_decision_result_)) { + const auto & prev_decision = std::get(prev_decision_result_); + return !prev_decision.collision_detected; + } if (std::holds_alternative(prev_decision_result_)) { const auto & state = std::get(prev_decision_result_); return !state.collision_detected; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp index a446493793c53..6474435afa26e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp @@ -342,8 +342,12 @@ std::optional getIntersectionArea( { const std::string area_id_str = assigned_lane.attributeOr("intersection_area", "else"); if (area_id_str == "else") return std::nullopt; + if (!std::atoi(area_id_str.c_str())) return std::nullopt; const lanelet::Id area_id = std::atoi(area_id_str.c_str()); + const auto polygon_opt = lanelet_map_ptr->polygonLayer.find(area_id); + if (polygon_opt == lanelet_map_ptr->polygonLayer.end()) return std::nullopt; + const auto poly_3d = lanelet_map_ptr->polygonLayer.get(area_id); Polygon2d poly{}; for (const auto & p : poly_3d) poly.outer().emplace_back(p.x(), p.y()); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp index d716f17751dc0..78abb19b3fdbe 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp @@ -17,9 +17,9 @@ #include #include +#include #include #include -#include #include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt index 49ab46e26bd17..9cb992312f52a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt @@ -26,4 +26,4 @@ if(BUILD_TESTING) ) endif() -ament_auto_package(INSTALL_TO_SHARE test_map) +ament_auto_package() diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md index 311728b6b58d5..2abbb83575af5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md @@ -1,17 +1,3 @@ # Behavior Velocity Planner Common This package provides common functions as a library, which are used in the `behavior_velocity_planner` node and modules. - -## Test map - -### intersection - -The intersections lanelet map consist of a variety of intersections including: - -- 4-way crossing with traffic light -- 4-way crossing without traffic light -- T-shape crossing without traffic light -- intersection with a loop -- complicated intersection - -![intersection_test](./docs/intersection_test_map.png) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp index 769932259e3e6..56154879ea938 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp @@ -95,13 +95,19 @@ std::optional findForwardOffsetSegment( { double sum_length = 0.0; for (size_t i = base_idx; i < path.points.size() - 1; ++i) { - sum_length += + const double segment_length = autoware::universe_utils::calcDistance2d(path.points.at(i), path.points.at(i + 1)); // If it's over offset point, return front index and remain offset length - if (sum_length >= offset_length) { - return std::make_pair(i, sum_length - offset_length); + /** + * (base_idx) --- offset_length ---------> + * --------- (i) <-- remain -->-----------> (i+1) + */ + if (sum_length + segment_length >= offset_length) { + return std::make_pair(i, offset_length - sum_length); } + + sum_length += segment_length; } // No enough path length @@ -119,6 +125,10 @@ std::optional findBackwardOffsetSegment( autoware::universe_utils::calcDistance2d(path.points.at(i), path.points.at(i + 1)); // If it's over offset point, return front index and remain offset length + /** + * <-------- offset_length --- (base_idx) + * ----- (i) <-- remain -->-------> (i+1) + */ if (sum_length >= offset_length) { const auto k = static_cast(i); return std::make_pair(k, sum_length - offset_length); @@ -165,6 +175,9 @@ geometry_msgs::msg::Pose calcTargetPose(const T & path, const PathIndexWithOffse const auto p_eigen_back = Eigen::Vector2d(p_back.x, p_back.y); // Calculate interpolation ratio + /** + * (front) <-- remain_length --> (interp) <----> (back) + */ const auto interpolate_ratio = remain_offset_length / (p_eigen_back - p_eigen_front).norm(); // Add offset to front point diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm deleted file mode 100644 index 70ebd23ae88ee..0000000000000 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm +++ /dev/null @@ -1,20181 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt index 9d1fe762262dd..1d1484ec9647e 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/CMakeLists.txt @@ -9,6 +9,17 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp src/manager.cpp src/scene.cpp + src/utils.cpp ) ament_auto_package(INSTALL_TO_SHARE config) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + file(GLOB_RECURSE TEST_SOURCES test/*.cpp) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + ${TEST_SOURCES} + ) + target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME}) +endif() diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index 23dd3bc85b226..f2400839313b4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -8,6 +8,7 @@ Kosuke Takeuchi Tomoya Kimura Shumpei Wakabayashi + Mamoru Sobue Apache License 2.0 @@ -32,6 +33,7 @@ tier4_v2x_msgs visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp index f990d11927a24..e60e2a42e3a47 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp @@ -14,174 +14,25 @@ #include "scene.hpp" +#include "utils.hpp" + #include #include #include -#include - #include #include namespace autoware::behavior_velocity_planner { -namespace -{ -using autoware::universe_utils::calcDistance2d; - -struct SegmentIndexWithPoint -{ - size_t index; - geometry_msgs::msg::Point point; -}; - -struct SegmentIndexWithOffset -{ - size_t index; -}; - -tier4_v2x_msgs::msg::KeyValue createKeyValue(const std::string & key, const std::string & value) -{ - return tier4_v2x_msgs::build().key(key).value(value); -} - -autoware::universe_utils::LineString3d toAutowarePoints( - const lanelet::ConstLineString3d & line_string) -{ - autoware::universe_utils::LineString3d output; - for (const auto & p : line_string) { - output.emplace_back(p.x(), p.y(), p.z()); - } - return output; -} - -std::optional toAutowarePoints( - const lanelet::Optional & line_string) -{ - if (!line_string) { - return {}; - } - return toAutowarePoints(*line_string); -} - -std::vector toAutowarePoints( - const lanelet::ConstLineStrings3d & line_strings) -{ - std::vector output; - for (const auto & line_string : line_strings) { - output.emplace_back(toAutowarePoints(line_string)); - } - return output; -} - -[[maybe_unused]] autoware::universe_utils::LineString2d to_2d( - const autoware::universe_utils::LineString3d & line_string) -{ - autoware::universe_utils::LineString2d output; - for (const auto & p : line_string) { - output.emplace_back(p.x(), p.y()); - } - return output; -} - -autoware::universe_utils::Point3d calcCenter( - const autoware::universe_utils::LineString3d & line_string) -{ - const auto p1 = line_string.front(); - const auto p2 = line_string.back(); - const auto p_center = (p1 + p2) / 2; - return {p_center.x(), p_center.y(), p_center.z()}; -} - -geometry_msgs::msg::Pose calcHeadPose( - const geometry_msgs::msg::Pose & base_link_pose, const double base_link_to_front) -{ - return autoware::universe_utils::calcOffsetPose(base_link_pose, base_link_to_front, 0.0, 0.0); -} - -geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point3d & p) -{ - geometry_msgs::msg::Point geom_p; - geom_p.x = p.x(); - geom_p.y = p.y(); - - return geom_p; -} - -template -std::optional findLastCollisionBeforeEndLine( - const T & points, const autoware::universe_utils::LineString3d & target_line, - const size_t end_line_idx) -{ - const auto target_line_p1 = convertToGeomPoint(target_line.at(0)); - const auto target_line_p2 = convertToGeomPoint(target_line.at(1)); - - for (size_t i = end_line_idx; 0 < i; - --i) { // NOTE: size_t can be used since it will not be negative. - const auto & p1 = autoware::universe_utils::getPoint(points.at(i)); - const auto & p2 = autoware::universe_utils::getPoint(points.at(i - 1)); - const auto collision_point = - arc_lane_utils::checkCollision(p1, p2, target_line_p1, target_line_p2); - - if (collision_point) { - return SegmentIndexWithPoint{i, collision_point.value()}; - } - } - - return {}; -} - -template -std::optional findLastCollisionBeforeEndLine( - const T & points, const std::vector & lines, - const size_t end_line_idx) -{ - for (const auto & line : lines) { - const auto collision = findLastCollisionBeforeEndLine(points, line, end_line_idx); - if (collision) { - return collision; - } - } - - return {}; -} - -void insertStopVelocityFromStart(tier4_planning_msgs::msg::PathWithLaneId * path) -{ - for (auto & p : path->points) { - p.point.longitudinal_velocity_mps = 0.0; - } -} - -std::optional insertStopVelocityAtCollision( - const SegmentIndexWithPoint & collision, const double offset, - tier4_planning_msgs::msg::PathWithLaneId * path) -{ - const auto collision_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( - path->points, collision.index, collision.point); - - const auto offset_segment = - arc_lane_utils::findOffsetSegment(*path, collision.index, offset + collision_offset); - if (!offset_segment) { - return {}; - } - - const auto interpolated_pose = arc_lane_utils::calcTargetPose(*path, *offset_segment); - - if (offset_segment->second < 0) { - insertStopVelocityFromStart(path); - return 0; - } - - auto insert_index = static_cast(offset_segment->first + 1); - auto insert_point = path->points.at(insert_index); - insert_point.point.pose = interpolated_pose; - // Insert 0 velocity after stop point or replace velocity with 0 - autoware::behavior_velocity_planner::planning_utils::insertVelocity( - *path, insert_point, 0.0, insert_index); - return insert_index; -} -} // namespace +using virtual_traffic_light::calcCenter; +using virtual_traffic_light::calcHeadPose; +using virtual_traffic_light::createKeyValue; +using virtual_traffic_light::findLastCollisionBeforeEndLine; +using virtual_traffic_light::insertStopVelocityFromStart; +using virtual_traffic_light::SegmentIndexWithOffset; +using virtual_traffic_light::SegmentIndexWithPoint; +using virtual_traffic_light::toAutowarePoints; VirtualTrafficLightModule::VirtualTrafficLightModule( const int64_t module_id, const int64_t lane_id, diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp new file mode 100644 index 0000000000000..940e29f0a0c0e --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp @@ -0,0 +1,123 @@ +// Copyright 2024 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 "utils.hpp" + +#include +#include +#include +#include + +#include + +namespace autoware::behavior_velocity_planner::virtual_traffic_light +{ + +using autoware::universe_utils::calcDistance2d; + +tier4_v2x_msgs::msg::KeyValue createKeyValue(const std::string & key, const std::string & value) +{ + return tier4_v2x_msgs::build().key(key).value(value); +} + +autoware::universe_utils::LineString3d toAutowarePoints( + const lanelet::ConstLineString3d & line_string) +{ + autoware::universe_utils::LineString3d output; + for (const auto & p : line_string) { + output.emplace_back(p.x(), p.y(), p.z()); + } + return output; +} + +std::optional toAutowarePoints( + const lanelet::Optional & line_string) +{ + if (!line_string) { + return {}; + } + return toAutowarePoints(*line_string); +} + +std::vector toAutowarePoints( + const lanelet::ConstLineStrings3d & line_strings) +{ + std::vector output; + for (const auto & line_string : line_strings) { + output.emplace_back(toAutowarePoints(line_string)); + } + return output; +} + +autoware::universe_utils::Point3d calcCenter( + const autoware::universe_utils::LineString3d & line_string) +{ + const auto p1 = line_string.front(); + const auto p2 = line_string.back(); + const auto p_center = (p1 + p2) / 2; + return {p_center.x(), p_center.y(), p_center.z()}; +} + +geometry_msgs::msg::Pose calcHeadPose( + const geometry_msgs::msg::Pose & base_link_pose, const double base_link_to_front) +{ + return autoware::universe_utils::calcOffsetPose(base_link_pose, base_link_to_front, 0.0, 0.0); +} + +geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point3d & p) +{ + geometry_msgs::msg::Point geom_p; + geom_p.x = p.x(); + geom_p.y = p.y(); + + return geom_p; +} + +void insertStopVelocityFromStart(tier4_planning_msgs::msg::PathWithLaneId * path) +{ + for (auto & p : path->points) { + p.point.longitudinal_velocity_mps = 0.0; + } +} + +std::optional insertStopVelocityAtCollision( + const SegmentIndexWithPoint & collision, const double offset, + tier4_planning_msgs::msg::PathWithLaneId * path) +{ + const auto collision_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( + path->points, collision.index, collision.point); + + const auto offset_segment = + arc_lane_utils::findOffsetSegment(*path, collision.index, offset + collision_offset); + if (!offset_segment) { + return {}; + } + + const auto interpolated_pose = arc_lane_utils::calcTargetPose(*path, *offset_segment); + + if (offset_segment->second < 0) { + insertStopVelocityFromStart(path); + return 0; + } + + auto insert_index = static_cast(offset_segment->first + 1); + auto insert_point = path->points.at(insert_index); + insert_point.point.pose = interpolated_pose; + // Insert 0 velocity after stop point or replace velocity with 0 + autoware::behavior_velocity_planner::planning_utils::insertVelocity( + *path, insert_point, 0.0, insert_index); + return insert_index; +} + +} // namespace autoware::behavior_velocity_planner::virtual_traffic_light diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.hpp new file mode 100644 index 0000000000000..ab11ca5c81391 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.hpp @@ -0,0 +1,107 @@ +// Copyright 2024 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 UTILS_HPP_ +#define UTILS_HPP_ + +#include +#include + +#include +#include + +#include +#include +#include +#include + +namespace autoware::behavior_velocity_planner::virtual_traffic_light +{ +struct SegmentIndexWithPoint +{ + size_t index; + geometry_msgs::msg::Point point; +}; + +struct SegmentIndexWithOffset +{ + size_t index; +}; + +tier4_v2x_msgs::msg::KeyValue createKeyValue(const std::string & key, const std::string & value); + +autoware::universe_utils::LineString3d toAutowarePoints( + const lanelet::ConstLineString3d & line_string); + +std::optional toAutowarePoints( + const lanelet::Optional & line_string); + +std::vector toAutowarePoints( + const lanelet::ConstLineStrings3d & line_strings); + +autoware::universe_utils::Point3d calcCenter( + const autoware::universe_utils::LineString3d & line_string); + +geometry_msgs::msg::Pose calcHeadPose( + const geometry_msgs::msg::Pose & base_link_pose, const double base_link_to_front); + +geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point3d & p); + +void insertStopVelocityFromStart(tier4_planning_msgs::msg::PathWithLaneId * path); + +std::optional insertStopVelocityAtCollision( + const SegmentIndexWithPoint & collision, const double offset, + tier4_planning_msgs::msg::PathWithLaneId * path); + +template +std::optional findLastCollisionBeforeEndLine( + const T & points, const autoware::universe_utils::LineString3d & target_line, + const size_t end_line_idx) +{ + const auto target_line_p1 = convertToGeomPoint(target_line.at(0)); + const auto target_line_p2 = convertToGeomPoint(target_line.at(1)); + + for (size_t i = end_line_idx; 0 < i; + --i) { // NOTE: size_t can be used since it will not be negative. + const auto & p1 = autoware::universe_utils::getPoint(points.at(i)); + const auto & p2 = autoware::universe_utils::getPoint(points.at(i - 1)); + const auto collision_point = + arc_lane_utils::checkCollision(p1, p2, target_line_p1, target_line_p2); + + if (collision_point) { + return SegmentIndexWithPoint{i, collision_point.value()}; + } + } + + return {}; +} + +template +std::optional findLastCollisionBeforeEndLine( + const T & points, const std::vector & lines, + const size_t end_line_idx) +{ + for (const auto & line : lines) { + const auto collision = findLastCollisionBeforeEndLine(points, line, end_line_idx); + if (collision) { + return collision; + } + } + + return {}; +} + +} // namespace autoware::behavior_velocity_planner::virtual_traffic_light + +#endif // UTILS_HPP_ diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp new file mode 100644 index 0000000000000..dd01b1be7fb83 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/test/test_utils.cpp @@ -0,0 +1,462 @@ +// Copyright 2024 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 "../src/utils.hpp" + +#include +#include + +#include + +#include + +using autoware::behavior_velocity_planner::virtual_traffic_light::calcCenter; +using autoware::behavior_velocity_planner::virtual_traffic_light::calcHeadPose; +using autoware::behavior_velocity_planner::virtual_traffic_light::convertToGeomPoint; +using autoware::behavior_velocity_planner::virtual_traffic_light::createKeyValue; +using autoware::behavior_velocity_planner::virtual_traffic_light::findLastCollisionBeforeEndLine; +using autoware::behavior_velocity_planner::virtual_traffic_light::insertStopVelocityAtCollision; +using autoware::behavior_velocity_planner::virtual_traffic_light::insertStopVelocityFromStart; +using autoware::behavior_velocity_planner::virtual_traffic_light::SegmentIndexWithPoint; +using autoware::behavior_velocity_planner::virtual_traffic_light::toAutowarePoints; + +tier4_planning_msgs::msg::PathWithLaneId generateStraightPath() +{ + tier4_planning_msgs::msg::PathWithLaneId path; + for (size_t i = 0; i < 10; ++i) { + tier4_planning_msgs::msg::PathPointWithLaneId point; + point.point.pose.position.x = static_cast(i); + point.point.pose.position.y = 0; + point.point.pose.position.z = 0; + point.point.longitudinal_velocity_mps = 10.0; + path.points.push_back(point); + } + return path; +} + +TEST(VirtualTrafficLightTest, CreateKeyValue) +{ + auto key_value = createKeyValue("test_key", "test_value"); + EXPECT_EQ(key_value.key, "test_key"); + EXPECT_EQ(key_value.value, "test_value"); +} + +TEST(VirtualTrafficLightTest, ToAutowarePoints) +{ + // lanelet::ConstLineString3d line_string + { + lanelet::LineString3d line_string; + line_string.push_back(lanelet::Point3d(1, 1.0, 2.0, 3.0)); + line_string.push_back(lanelet::Point3d(2, 4.0, 5.0, 6.0)); + + const auto result = toAutowarePoints(line_string); + ASSERT_EQ(result.size(), 2); + EXPECT_DOUBLE_EQ(result[0].x(), 1.0); + EXPECT_DOUBLE_EQ(result[0].y(), 2.0); + EXPECT_DOUBLE_EQ(result[0].z(), 3.0); + EXPECT_DOUBLE_EQ(result[1].x(), 4.0); + EXPECT_DOUBLE_EQ(result[1].y(), 5.0); + EXPECT_DOUBLE_EQ(result[1].z(), 6.0); + } + + // lanelet::Optional line_string + { + lanelet::LineString3d line_string; + line_string = lanelet::LineString3d(); + line_string.push_back(lanelet::Point3d(1, 1.0, 2.0, 3.0)); + line_string.push_back(lanelet::Point3d(2, 4.0, 5.0, 6.0)); + lanelet::Optional line_string_opt = line_string; + + const auto result = toAutowarePoints(line_string_opt); + ASSERT_TRUE(result.has_value()); + ASSERT_EQ(result.value().size(), 2); + EXPECT_DOUBLE_EQ(result.value()[0].x(), 1.0); + EXPECT_DOUBLE_EQ(result.value()[0].y(), 2.0); + EXPECT_DOUBLE_EQ(result.value()[0].z(), 3.0); + EXPECT_DOUBLE_EQ(result.value()[1].x(), 4.0); + EXPECT_DOUBLE_EQ(result.value()[1].y(), 5.0); + EXPECT_DOUBLE_EQ(result.value()[1].z(), 6.0); + + // nullopt + const lanelet::Optional line_string_nullopt = {}; + const auto result_nullopt = toAutowarePoints(line_string_nullopt); + ASSERT_FALSE(result_nullopt.has_value()); + } + + // lanelet::ConstLineStrings3d line_strings + { + lanelet::LineString3d line_string1; + line_string1.push_back(lanelet::Point3d(1, 1.0, 2.0, 3.0)); + line_string1.push_back(lanelet::Point3d(2, 4.0, 5.0, 6.0)); + + lanelet::LineString3d line_string2; + line_string2.push_back(lanelet::Point3d(3, 7.0, 8.0, 9.0)); + line_string2.push_back(lanelet::Point3d(4, 10.0, 11.0, 12.0)); + + lanelet::ConstLineStrings3d line_strings; + line_strings.push_back(line_string1); + line_strings.push_back(line_string2); + + const auto result = toAutowarePoints(line_strings); + ASSERT_EQ(result.size(), 2); + ASSERT_EQ(result[0].size(), 2); + ASSERT_EQ(result[1].size(), 2); + EXPECT_DOUBLE_EQ(result[0][0].x(), 1.0); + EXPECT_DOUBLE_EQ(result[0][0].y(), 2.0); + EXPECT_DOUBLE_EQ(result[0][0].z(), 3.0); + EXPECT_DOUBLE_EQ(result[0][1].x(), 4.0); + EXPECT_DOUBLE_EQ(result[0][1].y(), 5.0); + EXPECT_DOUBLE_EQ(result[0][1].z(), 6.0); + EXPECT_DOUBLE_EQ(result[1][0].x(), 7.0); + EXPECT_DOUBLE_EQ(result[1][0].y(), 8.0); + EXPECT_DOUBLE_EQ(result[1][0].z(), 9.0); + EXPECT_DOUBLE_EQ(result[1][1].x(), 10.0); + EXPECT_DOUBLE_EQ(result[1][1].y(), 11.0); + EXPECT_DOUBLE_EQ(result[1][1].z(), 12.0); + } +} + +TEST(VirtualTrafficLightTest, CalcCenter) +{ + autoware::universe_utils::LineString3d line_string; + line_string.emplace_back(1.0, 2.0, 3.0); + line_string.emplace_back(4.0, 5.0, 6.0); + + auto center = calcCenter(line_string); + EXPECT_DOUBLE_EQ(center.x(), 2.5); + EXPECT_DOUBLE_EQ(center.y(), 3.5); + EXPECT_DOUBLE_EQ(center.z(), 4.5); +} + +TEST(VirtualTrafficLightTest, CalcHeadPose) +{ + geometry_msgs::msg::Pose base_link_pose; + base_link_pose.position.x = 1.0; + base_link_pose.position.y = 2.0; + base_link_pose.position.z = 3.0; + + double base_link_to_front = 1.0; + auto head_pose = calcHeadPose(base_link_pose, base_link_to_front); + + EXPECT_DOUBLE_EQ(head_pose.position.x, 2.0); + EXPECT_DOUBLE_EQ(head_pose.position.y, 2.0); + EXPECT_DOUBLE_EQ(head_pose.position.z, 3.0); +} + +TEST(VirtualTrafficLightTest, ConvertToGeomPoint) +{ + autoware::universe_utils::Point3d point(1.0, 2.0, 3.0); + auto geom_point = convertToGeomPoint(point); + + EXPECT_DOUBLE_EQ(geom_point.x, 1.0); + EXPECT_DOUBLE_EQ(geom_point.y, 2.0); + EXPECT_DOUBLE_EQ(geom_point.z, 0.0); // z is not set in convertToGeomPoint +} + +TEST(VirtualTrafficLightTest, InsertStopVelocityFromStart) +{ + tier4_planning_msgs::msg::PathWithLaneId path; + tier4_planning_msgs::msg::PathPointWithLaneId point; + point.point.longitudinal_velocity_mps = 10.0; + path.points.push_back(point); + + insertStopVelocityFromStart(&path); + for (const auto & p : path.points) { + EXPECT_DOUBLE_EQ(p.point.longitudinal_velocity_mps, 0.0); + } +} + +TEST(VirtualTrafficLightTest, InsertStopVelocityAtCollision) +{ + // 1) insert stop velocity at first point + { + std::cout << "----- insert stop velocity at first point -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 0; + collision.point.x = 0.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 0); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 0.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 2) insert stop velocity at middle point + { + std::cout << "----- insert stop velocity at middle point -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 5); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 3) insert stop velocity at last + // NOTE: autoware::motion_utils::calcLongitudinalOffsetToSegment() return std::nan(""); + // so cannot insert stop velocity at last point. + // todo(someone): We need to review whether this is the correct specification. + { + std::cout << "----- insert stop velocity at last -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 9; + collision.point.x = 9.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_FALSE(result.has_value()); + } + + // 4) insert stop velocity at middle point with offset 0.01 + { + std::cout << "----- insert stop velocity at middle point with offset 0.01 -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.01; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 6); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 5) insert stop velocity at middle point with offset 0.5 + { + std::cout << "----- insert stop velocity at middle point with offset 0.4 -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.4; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 6); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 6) insert stop velocity at middle point with offset 1.0 + { + std::cout << "----- insert stop velocity at middle point with offset 1.0 -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 1.0; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 6); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } +} + +TEST(VirtualTrafficLightTest, insertStopVelocityAtCollision) +{ + // 1) insert stop velocity at first point + { + std::cout << "----- insert stop velocity at first point -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 0; + collision.point.x = 0.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 0); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 0.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 2) insert stop velocity at middle point + { + std::cout << "----- insert stop velocity at middle point -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 5); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 3) insert stop velocity at last + // NOTE: autoware::motion_utils::calcLongitudinalOffsetToSegment() return std::nan(""); + // so cannot insert stop velocity at last point. + // todo(someone): We need to review whether this is the correct specification. + { + std::cout << "----- insert stop velocity at last -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.0; + SegmentIndexWithPoint collision; + collision.index = 9; + collision.point.x = 9.0; + collision.point.y = 0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_FALSE(result.has_value()); + } + + // 4) insert stop velocity at middle with offset + { + std::cout << "----- insert stop velocity at middle point with 0.5 offset -----" << std::endl; + auto path = generateStraightPath(); + const double offset = 0.5; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 6); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } + + // 5) insert stop velocity at middle with negative offset + { + std::cout << "----- insert stop velocity at middle point with -0.5 offset -----" << std::endl; + auto path = generateStraightPath(); + const double offset = -0.5; + SegmentIndexWithPoint collision; + collision.index = 5; + collision.point.x = 5.0; + collision.point.y = 0.0; + const auto result = insertStopVelocityAtCollision(collision, offset, &path); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value(), 5); + const auto & point = path.points.at(result.value()); + EXPECT_DOUBLE_EQ(point.point.longitudinal_velocity_mps, 0.0); + EXPECT_DOUBLE_EQ(point.point.pose.position.x, 5.0 + offset); + EXPECT_DOUBLE_EQ(point.point.pose.position.y, 0); + } +} + +TEST(VirtualTrafficLightTest, FindLastCollisionBeforeEndLine) +{ + // LineString3d + // 1) find first collision point + { + std::cout << "----- find first collision point -----" << std::endl; + autoware::universe_utils::LineString3d target_line; + target_line.emplace_back(0.0, -1.0, 0.0); + target_line.emplace_back(0.0, 1.0, 0.0); + + const auto path = generateStraightPath(); + + const auto result = + findLastCollisionBeforeEndLine(path.points, target_line, path.points.size() - 1); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value().index, 1); + } + + // 2-1) find middle collision point + { + std::cout << "----- find middle collision point -----" << std::endl; + + autoware::universe_utils::LineString3d target_line; + target_line.emplace_back(5.0, -1.0, 0.0); + target_line.emplace_back(5.0, 1.0, 0.0); + + const auto path = generateStraightPath(); + + // target line intersects with p5-p6 + const auto result = + findLastCollisionBeforeEndLine(path.points, target_line, path.points.size() - 1); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value().index, 6); + } + + // 2-2) find middle collision point + { + std::cout << "----- find middle collision point -----" << std::endl; + + autoware::universe_utils::LineString3d target_line; + target_line.emplace_back(4.5, -1.0, 0.0); + target_line.emplace_back(4.5, 1.0, 0.0); + + const auto path = generateStraightPath(); + + // target line intersects with p4-p5 + const auto result = + findLastCollisionBeforeEndLine(path.points, target_line, path.points.size() - 1); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value().index, 5); + } + + // std::vector + // 3) find middle collision point with multi target lines + { + std::cout << "----- find collision point with multi target lines -----" << std::endl; + + std::vector target_lines; + { + autoware::universe_utils::LineString3d target_line1; + + target_line1.emplace_back(3.5, -1.0, 0.0); + target_line1.emplace_back(3.5, 1.0, 0.0); + + autoware::universe_utils::LineString3d target_line2; + target_line2.emplace_back(6.5, -1.0, 0.0); + target_line2.emplace_back(6.5, 1.0, 0.0); + + target_lines.push_back(target_line1); + target_lines.push_back(target_line2); + + const auto path = generateStraightPath(); + + // NOTE: the name of this function is findLastCollisionBeforeEndLine, but it returns the + // collision with the first line added to multiple lines + // the first target line intersects with p3-p4 + const auto result = + findLastCollisionBeforeEndLine(path.points, target_lines, path.points.size() - 1); + ASSERT_TRUE(result.has_value()); + EXPECT_EQ(result.value().index, 4); + } + } +} diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.cpp index 424734801eb8f..19ee076b978ac 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/occupancy_grid_utils.cpp @@ -14,7 +14,7 @@ #include "occupancy_grid_utils.hpp" -#include +#include #include #include #include diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp index e551aedab8cf5..0f3437a2a8881 100644 --- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp +++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp @@ -14,7 +14,7 @@ #ifndef AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ #define AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ -#include +#include #include #include @@ -47,7 +47,7 @@ class GNSSPoser : public rclcpp::Node explicit GNSSPoser(const rclcpp::NodeOptions & node_options); private: - using MapProjectorInfo = map_interface::MapProjectorInfo; + using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; void callback_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg); void callback_nav_sat_fix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr); diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index 7d7fb27777fed..6565148df73cd 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -19,9 +19,9 @@ libboost-dev + autoware_component_interface_specs autoware_geography_utils autoware_sensing_msgs - component_interface_specs component_interface_utils geographic_msgs geographiclib diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt index 94deffd5ae9d0..56dab521d7dff 100644 --- a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt @@ -36,6 +36,7 @@ target_include_directories(pointcloud_preprocessor_filter_base PUBLIC ) ament_target_dependencies(pointcloud_preprocessor_filter_base + SYSTEM message_filters pcl_conversions rclcpp @@ -56,6 +57,7 @@ target_include_directories(faster_voxel_grid_downsample_filter PUBLIC ) ament_target_dependencies(faster_voxel_grid_downsample_filter + SYSTEM pcl_conversions rclcpp sensor_msgs @@ -64,8 +66,8 @@ ament_target_dependencies(faster_voxel_grid_downsample_filter ament_auto_add_library(pointcloud_preprocessor_filter SHARED src/concatenate_data/concatenate_and_time_sync_nodelet.cpp src/concatenate_data/concatenate_pointclouds.cpp + src/crop_box_filter/crop_box_filter_node.cpp src/time_synchronizer/time_synchronizer_node.cpp - src/crop_box_filter/crop_box_filter_nodelet.cpp src/downsample_filter/voxel_grid_downsample_filter_node.cpp src/downsample_filter/random_downsample_filter_node.cpp src/downsample_filter/approximate_downsample_filter_node.cpp diff --git a/sensing/autoware_pointcloud_preprocessor/config/crop_box_filter_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/crop_box_filter_node.param.yaml new file mode 100644 index 0000000000000..4ec29e8f66137 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/config/crop_box_filter_node.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + min_x: -1.0 + min_y: -1.0 + min_z: -1.0 + max_x: 1.0 + max_y: 1.0 + max_z: 1.0 + negative: false diff --git a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml index eca08c37b6458..90ded7ffc9c97 100644 --- a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml +++ b/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml @@ -3,4 +3,5 @@ base_frame: base_link use_imu: true use_3d_distortion_correction: false + update_azimuth_and_distance: false has_static_tf_only: true diff --git a/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md index 4539a85e26a1d..3f8373f1d65bc 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/crop-box-filter.md @@ -20,14 +20,7 @@ This implementation inherit `autoware::pointcloud_preprocessor::Filter` class, p ### Core Parameters -| Name | Type | Default Value | Description | -| ------- | ------ | ------------- | ----------------------------------------- | -| `min_x` | double | -1.0 | x-coordinate minimum value for crop range | -| `max_x` | double | 1.0 | x-coordinate maximum value for crop range | -| `min_y` | double | -1.0 | y-coordinate minimum value for crop range | -| `max_y` | double | 1.0 | y-coordinate maximum value for crop range | -| `min_z` | double | -1.0 | z-coordinate minimum value for crop range | -| `max_z` | double | 1.0 | z-coordinate maximum value for crop range | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md b/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md index ab5a07b5279bc..75cdccc4453ba 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md @@ -48,3 +48,24 @@ ros2 launch autoware_pointcloud_preprocessor distortion_corrector.launch.xml - The node requires time synchronization between the topics from lidars, twist, and IMU. - If you want to use a 3D distortion corrector without IMU, please check that the linear and angular velocity fields of your twist message are not empty. +- The node updates the per-point azimuth and distance values based on the undistorted XYZ coordinates when the input point cloud is in the sensor frame (not in the `base_link`) and the `update_azimuth_and_distance` parameter is set to `true`. The azimuth values are calculated using a modified version of OpenCV's `cv::fastAtan2` function. +- Please note that updating the azimuth and distance fields increases the execution time by approximately 20%. Additionally, due to the `cv::fastAtan2` algorithm's has a maximum error of 0.3 degrees, there is a **possibility of changing the beam order for high azimuth resolution LiDAR**. +- LiDARs from different vendors have different azimuth coordinates, as shown in the images below. Currently, the coordinate systems listed below have been tested, and the node will update the azimuth based on the input coordinate system. + - `velodyne`: (x: 0 degrees, y: 270 degrees) + - `hesai`: (x: 90 degrees, y: 0 degrees) + - `others`: (x: 0 degrees, y: 90 degrees) and (x: 270 degrees, y: 0 degrees) + + + + + + + + + + +
velodyne azimuth coordinatehesai azimuth coordinate

Velodyne azimuth coordinate

Hesai azimuth coordinate

+ +## References/External links + + diff --git a/sensing/autoware_pointcloud_preprocessor/docs/image/hesai.drawio.png b/sensing/autoware_pointcloud_preprocessor/docs/image/hesai.drawio.png new file mode 100644 index 0000000000000..d406eb3896850 Binary files /dev/null and b/sensing/autoware_pointcloud_preprocessor/docs/image/hesai.drawio.png differ diff --git a/sensing/autoware_pointcloud_preprocessor/docs/image/velodyne.drawio.png b/sensing/autoware_pointcloud_preprocessor/docs/image/velodyne.drawio.png new file mode 100644 index 0000000000000..b3b8eda6140a4 Binary files /dev/null and b/sensing/autoware_pointcloud_preprocessor/docs/image/velodyne.drawio.png differ diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp index 977adc59cd7e5..40adad3521f8d 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp @@ -61,7 +61,7 @@ #include // ROS includes -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include #include @@ -88,7 +88,7 @@ namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRC; using point_cloud_msg_wrapper::PointCloud2Modifier; /** \brief @b PointCloudConcatenateDataSynchronizerComponent is a special form of data diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp index b7e0e86ca1d3a..0e959eedae1b6 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp @@ -61,10 +61,10 @@ #include // ROS includes +#include #include #include #include -#include #include #include @@ -86,7 +86,7 @@ namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRC; using point_cloud_msg_wrapper::PointCloud2Modifier; /** \brief @b PointCloudConcatenationComponent is a special form of data * synchronizer: it listens for a set of input PointCloud messages on the same topic, diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp similarity index 98% rename from sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp index 09b5c7fd5f5fa..7cc61798bfef9 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp @@ -50,8 +50,8 @@ * */ -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ +#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_ +#define AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_ #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/transform_info.hpp" @@ -104,4 +104,4 @@ class CropBoxFilterComponent : public autoware::pointcloud_preprocessor::Filter }; } // namespace autoware::pointcloud_preprocessor -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODELET_HPP_ +#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__CROP_BOX_FILTER__CROP_BOX_FILTER_NODE_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp index e786bff04b3cd..d4432c24dd5b0 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp @@ -47,74 +47,95 @@ namespace autoware::pointcloud_preprocessor { -class DistortionCorrectorBase +struct AngleConversion { -public: - virtual bool pointcloud_transform_exists() = 0; - virtual bool pointcloud_transform_needed() = 0; - virtual std::deque get_twist_queue() = 0; - virtual std::deque get_angular_velocity_queue() = 0; - - virtual void processTwistMessage( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) = 0; - virtual void processIMUMessage( - const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) = 0; - virtual void setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) = 0; - virtual void initialize() = 0; - virtual void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) = 0; + // Equation for the conversion between sensor azimuth coordinates and Cartesian coordinates: + // sensor azimuth coordinates = offset_rad + sign * cartesian coordinates; + // offset_rad is restricted to be a multiple of 90, and sign is restricted to be 1 or -1. + float offset_rad{0}; + float sign{1}; + static constexpr float offset_rad_threshold{(5.0f / 180.0f) * M_PI}; + + static constexpr float sign_threshold{0.1f}; }; -template -class DistortionCorrector : public DistortionCorrectorBase +class DistortionCorrectorBase { protected: geometry_msgs::msg::TransformStamped::SharedPtr geometry_imu_to_base_link_ptr_; bool pointcloud_transform_needed_{false}; bool pointcloud_transform_exists_{false}; bool imu_transform_exists_{false}; - rclcpp::Node * node_; std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_queue_; std::deque angular_velocity_queue_; - void getIMUTransformation(const std::string & base_frame, const std::string & imu_frame); - void enqueueIMU(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); - void getTwistAndIMUIterator( + rclcpp::Node & node_; + + void get_imu_transformation(const std::string & base_frame, const std::string & imu_frame); + void enqueue_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); + void get_twist_and_imu_iterator( bool use_imu, double first_point_time_stamp_sec, std::deque::iterator & it_twist, std::deque::iterator & it_imu); - void warnIfTimestampIsTooLate(bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late); - void undistortPoint( - sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, - sensor_msgs::PointCloud2Iterator & it_z, - std::deque::iterator & it_twist, - std::deque::iterator & it_imu, float const & time_offset, - const bool & is_twist_valid, const bool & is_imu_valid) - { - static_cast(this)->undistortPointImplementation( - it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); - }; - void convertMatrixToTransform(const Eigen::Matrix4f & matrix, tf2::Transform & transform); + void warn_if_timestamp_is_too_late( + bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late); + static tf2::Transform convert_matrix_to_transform(const Eigen::Matrix4f & matrix); public: - explicit DistortionCorrector(rclcpp::Node * node, const bool & has_static_tf_only) : node_(node) + explicit DistortionCorrectorBase(rclcpp::Node & node, const bool & has_static_tf_only) + : node_(node) { managed_tf_buffer_ = - std::make_unique(node, has_static_tf_only); + std::make_unique(&node, has_static_tf_only); } - bool pointcloud_transform_exists(); - bool pointcloud_transform_needed(); + [[nodiscard]] bool pointcloud_transform_exists() const; + [[nodiscard]] bool pointcloud_transform_needed() const; std::deque get_twist_queue(); std::deque get_angular_velocity_queue(); - void processTwistMessage( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) override; + void process_twist_message( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); + + void process_imu_message( + const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); + + std::optional try_compute_angle_conversion( + sensor_msgs::msg::PointCloud2 & pointcloud); + + bool is_pointcloud_valid(sensor_msgs::msg::PointCloud2 & pointcloud); + + virtual void set_pointcloud_transform( + const std::string & base_frame, const std::string & lidar_frame) = 0; + virtual void initialize() = 0; + virtual void undistort_pointcloud( + bool use_imu, std::optional angle_conversion_opt, + sensor_msgs::msg::PointCloud2 & pointcloud) = 0; +}; - void processIMUMessage( - const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) override; - void undistortPointCloud(bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) override; - bool isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud); +template +class DistortionCorrector : public DistortionCorrectorBase +{ +public: + explicit DistortionCorrector(rclcpp::Node & node, const bool & has_static_tf_only) + : DistortionCorrectorBase(node, has_static_tf_only) + { + } + + void undistort_pointcloud( + bool use_imu, std::optional angle_conversion_opt, + sensor_msgs::msg::PointCloud2 & pointcloud) override; + + void undistort_point( + sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, + sensor_msgs::PointCloud2Iterator & it_z, + std::deque::iterator & it_twist, + std::deque::iterator & it_imu, float const & time_offset, + const bool & is_twist_valid, const bool & is_imu_valid) + { + static_cast(this)->undistort_point_implementation( + it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); + }; }; class DistortionCorrector2D : public DistortionCorrector @@ -134,20 +155,19 @@ class DistortionCorrector2D : public DistortionCorrector tf2::Transform tf2_base_link_to_lidar_; public: - explicit DistortionCorrector2D(rclcpp::Node * node, const bool & has_static_tf_only) + explicit DistortionCorrector2D(rclcpp::Node & node, const bool & has_static_tf_only) : DistortionCorrector(node, has_static_tf_only) { } void initialize() override; - void undistortPointImplementation( + void set_pointcloud_transform( + const std::string & base_frame, const std::string & lidar_frame) override; + void undistort_point_implementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, sensor_msgs::PointCloud2Iterator & it_z, std::deque::iterator & it_twist, std::deque::iterator & it_imu, const float & time_offset, const bool & is_twist_valid, const bool & is_imu_valid); - - void setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) override; }; class DistortionCorrector3D : public DistortionCorrector @@ -164,19 +184,19 @@ class DistortionCorrector3D : public DistortionCorrector Eigen::Matrix4f eigen_base_link_to_lidar_; public: - explicit DistortionCorrector3D(rclcpp::Node * node, const bool & has_static_tf_only) + explicit DistortionCorrector3D(rclcpp::Node & node, const bool & has_static_tf_only) : DistortionCorrector(node, has_static_tf_only) { } void initialize() override; - void undistortPointImplementation( + void set_pointcloud_transform( + const std::string & base_frame, const std::string & lidar_frame) override; + void undistort_point_implementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, sensor_msgs::PointCloud2Iterator & it_z, std::deque::iterator & it_twist, std::deque::iterator & it_imu, const float & time_offset, const bool & is_twist_valid, const bool & is_imu_valid); - void setPointCloudTransform( - const std::string & base_frame, const std::string & lidar_frame) override; }; } // namespace autoware::pointcloud_preprocessor diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp index 0d8c9436bda4b..b96774c37f621 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp @@ -52,12 +52,16 @@ class DistortionCorrectorComponent : public rclcpp::Node std::string base_frame_; bool use_imu_; bool use_3d_distortion_correction_; + bool update_azimuth_and_distance_; + + std::optional angle_conversion_opt_; std::unique_ptr distortion_corrector_; - void onPointCloud(PointCloud2::UniquePtr points_msg); - void onTwist(const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); - void onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); + void pointcloud_callback(PointCloud2::UniquePtr pointcloud_msg); + void twist_callback( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg); + void imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg); }; } // namespace autoware::pointcloud_preprocessor diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp index cf396e3e3a4be..b5aa9d56a0dfb 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp @@ -15,9 +15,9 @@ #ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_ #define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__RING_OUTLIER_FILTER_NODE_HPP_ +#include "autoware/point_types/types.hpp" #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/transform_info.hpp" -#include "autoware_point_types/types.hpp" #include #include @@ -40,9 +40,9 @@ using point_cloud_msg_wrapper::PointCloud2Modifier; class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Filter { protected: - using InputPointIndex = autoware_point_types::PointXYZIRCAEDTIndex; - using InputPointType = autoware_point_types::PointXYZIRCAEDT; - using OutputPointType = autoware_point_types::PointXYZIRC; + using InputPointIndex = autoware::point_types::PointXYZIRCAEDTIndex; + using InputPointType = autoware::point_types::PointXYZIRCAEDT; + using OutputPointType = autoware::point_types::PointXYZIRC; virtual void filter( const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output); diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp index b02860a6f112e..d36fcb36a7be1 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp @@ -61,10 +61,10 @@ #include // ROS includes +#include #include #include #include -#include #include #include @@ -87,7 +87,7 @@ namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRC; +using autoware::point_types::PointXYZIRC; using point_cloud_msg_wrapper::PointCloud2Modifier; // cspell:ignore Yoshi /** \brief @b PointCloudDataSynchronizerComponent is a special form of data diff --git a/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml new file mode 100644 index 0000000000000..bb07daf8841b9 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/launch/crop_box_filter_node.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json new file mode 100644 index 0000000000000..31fdef4a2a7a0 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/schema/crop_box_filter_node.schema.json @@ -0,0 +1,63 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Crop Box Filter Node", + "type": "object", + "definitions": { + "crop_box_filter": { + "type": "object", + "properties": { + "min_x": { + "type": "number", + "description": "minimum x-coordinate value for crop range in meters", + "default": "-1.0" + }, + "min_y": { + "type": "number", + "description": "minimum y-coordinate value for crop range in meters", + "default": "-1.0" + }, + "min_z": { + "type": "number", + "description": "minimum z-coordinate value for crop range in meters", + "default": "-1.0" + }, + "max_x": { + "type": "number", + "description": "maximum x-coordinate value for crop range in meters", + "default": "1.0" + }, + "max_y": { + "type": "number", + "description": "maximum y-coordinate value for crop range in meters", + "default": "1.0" + }, + "max_z": { + "type": "number", + "description": "maximum z-coordinate value for crop range in meters", + "default": "1.0" + }, + "negative": { + "type": "boolean", + "description": "if true, remove points within the box from the pointcloud; otherwise, remove points outside the box.", + "default": "false" + } + }, + "required": ["min_x", "min_y", "min_z", "max_x", "max_y", "max_z", "negative"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/crop_box_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json index 75579227981ac..091695716c610 100644 --- a/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json +++ b/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json @@ -21,13 +21,24 @@ "description": "Use 3d distortion correction algorithm, otherwise, use 2d distortion correction algorithm.", "default": "false" }, + "update_azimuth_and_distance": { + "type": "boolean", + "description": "Flag to update the azimuth and distance values of each point after undistortion. If set to false, the azimuth and distance values will remain unchanged after undistortion, resulting in a mismatch with the updated x, y, z coordinates.", + "default": "false" + }, "has_static_tf_only": { "type": "boolean", "description": "Flag to indicate if only static TF is used.", "default": false } }, - "required": ["base_frame", "use_imu", "use_3d_distortion_correction", "has_static_tf_only"] + "required": [ + "base_frame", + "use_imu", + "use_3d_distortion_correction", + "update_azimuth_and_distance", + "has_static_tf_only" + ] } }, "properties": { diff --git a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp index 6703eb6b70741..26be762acca43 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp @@ -14,14 +14,14 @@ #include "autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp" -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include #include namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRCAEDT; +using autoware::point_types::PointXYZIRCAEDT; using diagnostic_msgs::msg::DiagnosticStatus; BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options) diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index d0911f769d3bd..a67c9f7f018e1 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -481,7 +481,7 @@ void PointCloudConcatenateDataSynchronizerComponent::convertToXYZIRCCloud( { output_ptr->header = input_ptr->header; - PointCloud2Modifier output_modifier{ + PointCloud2Modifier output_modifier{ *output_ptr, input_ptr->header.frame_id}; output_modifier.reserve(input_ptr->width); diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index 5e1911c93409d..ba29389b88bf7 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -311,7 +311,7 @@ void PointCloudConcatenationComponent::convertToXYZIRCCloud( { output_ptr->header = input_ptr->header; - PointCloud2Modifier output_modifier{ + PointCloud2Modifier output_modifier{ *output_ptr, input_ptr->header.frame_id}; output_modifier.reserve(input_ptr->width); diff --git a/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp similarity index 95% rename from sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp index a09b6bfb6a1ce..c1b3605c8b97c 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// Copyright 2024 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. @@ -49,7 +49,7 @@ * */ -#include "autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp" +#include "autoware/pointcloud_preprocessor/crop_box_filter/crop_box_filter_node.hpp" #include @@ -73,13 +73,13 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio // set initial parameters { auto & p = param_; - p.min_x = static_cast(declare_parameter("min_x", -1.0)); - p.min_y = static_cast(declare_parameter("min_y", -1.0)); - p.min_z = static_cast(declare_parameter("min_z", -1.0)); - p.max_x = static_cast(declare_parameter("max_x", 1.0)); - p.max_y = static_cast(declare_parameter("max_y", 1.0)); - p.max_z = static_cast(declare_parameter("max_z", 1.0)); - p.negative = static_cast(declare_parameter("negative", false)); + p.min_x = declare_parameter("min_x"); + p.min_y = declare_parameter("min_y"); + p.min_z = declare_parameter("min_z"); + p.max_x = declare_parameter("max_x"); + p.max_y = declare_parameter("max_y"); + p.max_z = declare_parameter("max_z"); + p.negative = declare_parameter("negative"); if (tf_input_frame_.empty()) { throw std::invalid_argument("Crop box requires non-empty input_frame"); } diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index d0119fbc44f24..43a44f836b61a 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -15,91 +15,86 @@ #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" #include "autoware/pointcloud_preprocessor/utility/memory.hpp" +#include "autoware/universe_utils/math/constants.hpp" #include #include -#include - namespace autoware::pointcloud_preprocessor { -template -bool DistortionCorrector::pointcloud_transform_exists() +bool DistortionCorrectorBase::pointcloud_transform_exists() const { return pointcloud_transform_exists_; } -template -bool DistortionCorrector::pointcloud_transform_needed() +bool DistortionCorrectorBase::pointcloud_transform_needed() const { return pointcloud_transform_needed_; } -template -std::deque DistortionCorrector::get_twist_queue() +std::deque DistortionCorrectorBase::get_twist_queue() { return twist_queue_; } -template -std::deque DistortionCorrector::get_angular_velocity_queue() +std::deque DistortionCorrectorBase::get_angular_velocity_queue() { return angular_velocity_queue_; } -template -void DistortionCorrector::processTwistMessage( +void DistortionCorrectorBase::process_twist_message( const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) { geometry_msgs::msg::TwistStamped msg; msg.header = twist_msg->header; msg.twist = twist_msg->twist.twist; - twist_queue_.push_back(msg); + + // If time jumps backwards (e.g. when a rosbag restarts), clear buffer + if (!twist_queue_.empty()) { + if (rclcpp::Time(twist_queue_.front().header.stamp) > rclcpp::Time(msg.header.stamp)) { + twist_queue_.clear(); + } + } + + // Twist data in the queue that is older than the current twist by 1 second will be cleared. + auto cutoff_time = rclcpp::Time(msg.header.stamp) - rclcpp::Duration::from_seconds(1.0); while (!twist_queue_.empty()) { - // for replay rosbag - if (rclcpp::Time(twist_queue_.front().header.stamp) > rclcpp::Time(twist_msg->header.stamp)) { - twist_queue_.pop_front(); - } else if ( // NOLINT - rclcpp::Time(twist_queue_.front().header.stamp) < - rclcpp::Time(twist_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { - twist_queue_.pop_front(); - } else { + if (rclcpp::Time(twist_queue_.front().header.stamp) > cutoff_time) { break; } + twist_queue_.pop_front(); } + + twist_queue_.push_back(msg); } -template -void DistortionCorrector::processIMUMessage( +void DistortionCorrectorBase::process_imu_message( const std::string & base_frame, const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) { - getIMUTransformation(base_frame, imu_msg->header.frame_id); - enqueueIMU(imu_msg); + get_imu_transformation(base_frame, imu_msg->header.frame_id); + enqueue_imu(imu_msg); } -template -void DistortionCorrector::getIMUTransformation( +void DistortionCorrectorBase::get_imu_transformation( const std::string & base_frame, const std::string & imu_frame) { if (imu_transform_exists_) { return; } - tf2::Transform tf2_imu_to_base_link; Eigen::Matrix4f eigen_imu_to_base_link; imu_transform_exists_ = managed_tf_buffer_->getTransform(base_frame, imu_frame, eigen_imu_to_base_link); - convertMatrixToTransform(eigen_imu_to_base_link, tf2_imu_to_base_link); + tf2::Transform tf2_imu_to_base_link = convert_matrix_to_transform(eigen_imu_to_base_link); geometry_imu_to_base_link_ptr_ = std::make_shared(); geometry_imu_to_base_link_ptr_->transform.rotation = tf2::toMsg(tf2_imu_to_base_link.getRotation()); } -template -void DistortionCorrector::enqueueIMU(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) +void DistortionCorrectorBase::enqueue_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) { geometry_msgs::msg::Vector3Stamped angular_velocity; angular_velocity.vector = imu_msg->angular_velocity; @@ -107,26 +102,30 @@ void DistortionCorrector::enqueueIMU(const sensor_msgs::msg::Imu::ConstShared geometry_msgs::msg::Vector3Stamped transformed_angular_velocity; tf2::doTransform(angular_velocity, transformed_angular_velocity, *geometry_imu_to_base_link_ptr_); transformed_angular_velocity.header = imu_msg->header; - angular_velocity_queue_.push_back(transformed_angular_velocity); - while (!angular_velocity_queue_.empty()) { - // for replay rosbag + // If time jumps backwards (e.g. when a rosbag restarts), clear buffer + if (!angular_velocity_queue_.empty()) { if ( rclcpp::Time(angular_velocity_queue_.front().header.stamp) > rclcpp::Time(imu_msg->header.stamp)) { - angular_velocity_queue_.pop_front(); - } else if ( // NOLINT - rclcpp::Time(angular_velocity_queue_.front().header.stamp) < - rclcpp::Time(imu_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0)) { - angular_velocity_queue_.pop_front(); - } else { + angular_velocity_queue_.clear(); + } + } + + // IMU data in the queue that is older than the current imu msg by 1 second will be cleared. + auto cutoff_time = rclcpp::Time(imu_msg->header.stamp) - rclcpp::Duration::from_seconds(1.0); + + while (!angular_velocity_queue_.empty()) { + if (rclcpp::Time(angular_velocity_queue_.front().header.stamp) > cutoff_time) { break; } + angular_velocity_queue_.pop_front(); } + + angular_velocity_queue_.push_back(transformed_angular_velocity); } -template -void DistortionCorrector::getTwistAndIMUIterator( +void DistortionCorrectorBase::get_twist_and_imu_iterator( bool use_imu, double first_point_time_stamp_sec, std::deque::iterator & it_twist, std::deque::iterator & it_imu) @@ -149,13 +148,11 @@ void DistortionCorrector::getTwistAndIMUIterator( } } -template -bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointcloud) +bool DistortionCorrectorBase::is_pointcloud_valid(sensor_msgs::msg::PointCloud2 & pointcloud) { - if (pointcloud.data.empty() || twist_queue_.empty()) { + if (pointcloud.data.empty()) { RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "input pointcloud or twist_queue_ is empty."); + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, "Input pointcloud is empty."); return false; } @@ -164,19 +161,18 @@ bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointc [](const sensor_msgs::msg::PointField & field) { return field.name == "time_stamp"; }); if (time_stamp_field_it == pointcloud.fields.cend()) { RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, "Required field time stamp doesn't exist in the point cloud."); return false; } if (!utils::is_data_layout_compatible_with_point_xyzircaedt(pointcloud)) { RCLCPP_ERROR( - node_->get_logger(), - "The pointcloud layout is not compatible with PointXYZIRCAEDT. Aborting"); + node_.get_logger(), "The pointcloud layout is not compatible with PointXYZIRCAEDT. Aborting"); if (utils::is_data_layout_compatible_with_point_xyziradrt(pointcloud)) { RCLCPP_ERROR( - node_->get_logger(), + node_.get_logger(), "The pointcloud layout is compatible with PointXYZIRADRT. You may be using legacy " "code/data"); } @@ -187,15 +183,141 @@ bool DistortionCorrector::isInputValid(sensor_msgs::msg::PointCloud2 & pointc return true; } +std::optional DistortionCorrectorBase::try_compute_angle_conversion( + sensor_msgs::msg::PointCloud2 & pointcloud) +{ + // This function tries to compute the angle conversion from Cartesian coordinates to LiDAR azimuth + // coordinates system + + if (!is_pointcloud_valid(pointcloud)) return std::nullopt; + + AngleConversion angle_conversion; + + sensor_msgs::PointCloud2Iterator it_x(pointcloud, "x"); + sensor_msgs::PointCloud2Iterator it_y(pointcloud, "y"); + sensor_msgs::PointCloud2Iterator it_azimuth(pointcloud, "azimuth"); + + auto next_it_x = it_x; + auto next_it_y = it_y; + auto next_it_azimuth = it_azimuth; + + if (it_x != it_x.end() && it_x + 1 != it_x.end()) { + next_it_x = it_x + 1; + next_it_y = it_y + 1; + next_it_azimuth = it_azimuth + 1; + } else { + RCLCPP_WARN_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Current point cloud only has a single point. Could not calculate the angle conversion."); + return std::nullopt; + } + + for (; next_it_x != it_x.end(); + ++it_x, ++it_y, ++it_azimuth, ++next_it_x, ++next_it_y, ++next_it_azimuth) { + auto current_cartesian_rad = autoware::universe_utils::opencv_fast_atan2(*it_y, *it_x); + auto next_cartesian_rad = autoware::universe_utils::opencv_fast_atan2(*next_it_y, *next_it_x); + + // If the angle exceeds 180 degrees, it may cross the 0-degree axis, + // which could disrupt the calculation of the formula. + if ( + std::abs(*next_it_azimuth - *it_azimuth) == 0 || + std::abs(next_cartesian_rad - current_cartesian_rad) == 0) { + RCLCPP_DEBUG_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Angle between two points is 0 degrees. Iterate to next point ..."); + continue; + } + + // restrict the angle difference between [-180, 180] (degrees) + float azimuth_diff = + std::abs(*next_it_azimuth - *it_azimuth) > autoware::universe_utils::pi + ? std::abs(*next_it_azimuth - *it_azimuth) - 2 * autoware::universe_utils::pi + : *next_it_azimuth - *it_azimuth; + float cartesian_rad_diff = + std::abs(next_cartesian_rad - current_cartesian_rad) > autoware::universe_utils::pi + ? std::abs(next_cartesian_rad - current_cartesian_rad) - 2 * autoware::universe_utils::pi + : next_cartesian_rad - current_cartesian_rad; + + float sign = azimuth_diff / cartesian_rad_diff; + + // Check if 'sign' can be adjusted to 1 or -1 + if (std::abs(sign - 1.0f) <= angle_conversion.sign_threshold) { + angle_conversion.sign = 1.0f; + } else if (std::abs(sign + 1.0f) <= angle_conversion.sign_threshold) { + angle_conversion.sign = -1.0f; + } else { + RCLCPP_DEBUG_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Value of sign is not close to 1 or -1. Iterate to next point ..."); + continue; + } + + float offset_rad = *it_azimuth - sign * current_cartesian_rad; + // Check if 'offset_rad' can be adjusted to offset_rad multiple of π/2 + int multiple_of_90_degrees = std::round(offset_rad / (autoware::universe_utils::pi / 2)); + if ( + std::abs(offset_rad - multiple_of_90_degrees * (autoware::universe_utils::pi / 2)) > + angle_conversion.offset_rad_threshold) { + RCLCPP_DEBUG_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Value of offset_rad is not close to multiplication of 90 degrees. Iterate to next point " + "..."); + continue; + } + + // Limit the range of offset_rad in [0, 360) + multiple_of_90_degrees = (multiple_of_90_degrees % 4 + 4) % 4; + + angle_conversion.offset_rad = multiple_of_90_degrees * (autoware::universe_utils::pi / 2); + + return angle_conversion; + } + return std::nullopt; +} + +void DistortionCorrectorBase::warn_if_timestamp_is_too_late( + bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late) +{ + if (is_twist_time_stamp_too_late) { + RCLCPP_WARN_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "Twist time_stamp is too late. Could not interpolate."); + } + + if (is_imu_time_stamp_too_late) { + RCLCPP_WARN_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, + "IMU time_stamp is too late. Could not interpolate."); + } +} + +tf2::Transform DistortionCorrectorBase::convert_matrix_to_transform(const Eigen::Matrix4f & matrix) +{ + tf2::Transform transform; + transform.setOrigin(tf2::Vector3(matrix(0, 3), matrix(1, 3), matrix(2, 3))); + transform.setBasis(tf2::Matrix3x3( + matrix(0, 0), matrix(0, 1), matrix(0, 2), matrix(1, 0), matrix(1, 1), matrix(1, 2), + matrix(2, 0), matrix(2, 1), matrix(2, 2))); + return transform; +} + template -void DistortionCorrector::undistortPointCloud( - bool use_imu, sensor_msgs::msg::PointCloud2 & pointcloud) +void DistortionCorrector::undistort_pointcloud( + bool use_imu, std::optional angle_conversion_opt, + sensor_msgs::msg::PointCloud2 & pointcloud) { - if (!isInputValid(pointcloud)) return; + if (!is_pointcloud_valid(pointcloud)) return; + if (twist_queue_.empty()) { + RCLCPP_WARN_STREAM_THROTTLE( + node_.get_logger(), *node_.get_clock(), 10000 /* ms */, "Twist queue is empty."); + return; + } sensor_msgs::PointCloud2Iterator it_x(pointcloud, "x"); sensor_msgs::PointCloud2Iterator it_y(pointcloud, "y"); sensor_msgs::PointCloud2Iterator it_z(pointcloud, "z"); + sensor_msgs::PointCloud2Iterator it_azimuth(pointcloud, "azimuth"); + sensor_msgs::PointCloud2Iterator it_distance(pointcloud, "distance"); sensor_msgs::PointCloud2ConstIterator it_time_stamp(pointcloud, "time_stamp"); double prev_time_stamp_sec{ @@ -205,7 +327,7 @@ void DistortionCorrector::undistortPointCloud( std::deque::iterator it_twist; std::deque::iterator it_imu; - getTwistAndIMUIterator(use_imu, first_point_time_stamp_sec, it_twist, it_imu); + get_twist_and_imu_iterator(use_imu, first_point_time_stamp_sec, it_twist, it_imu); // For performance, do not instantiate `rclcpp::Time` inside of the for-loop double twist_stamp = rclcpp::Time(it_twist->header.stamp).seconds(); @@ -250,42 +372,39 @@ void DistortionCorrector::undistortPointCloud( is_imu_valid = false; } - float time_offset = static_cast(global_point_stamp - prev_time_stamp_sec); + auto time_offset = static_cast(global_point_stamp - prev_time_stamp_sec); // Undistort a single point based on the strategy - undistortPoint(it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); - - prev_time_stamp_sec = global_point_stamp; - } + undistort_point(it_x, it_y, it_z, it_twist, it_imu, time_offset, is_twist_valid, is_imu_valid); + + if (angle_conversion_opt.has_value()) { + if (!pointcloud_transform_needed_) { + throw std::runtime_error( + "The pointcloud is not in the sensor's frame and thus azimuth and distance cannot be " + "updated. " + "Please change the input pointcloud or set update_azimuth_and_distance to false."); + } + float cartesian_coordinate_azimuth = + autoware::universe_utils::opencv_fast_atan2(*it_y, *it_x); + float updated_azimuth = angle_conversion_opt->offset_rad + + angle_conversion_opt->sign * cartesian_coordinate_azimuth; + if (updated_azimuth < 0) { + updated_azimuth += autoware::universe_utils::pi * 2; + } else if (updated_azimuth > 2 * autoware::universe_utils::pi) { + updated_azimuth -= autoware::universe_utils::pi * 2; + } - warnIfTimestampIsTooLate(is_twist_time_stamp_too_late, is_imu_time_stamp_too_late); -} + *it_azimuth = updated_azimuth; + *it_distance = sqrt(*it_x * *it_x + *it_y * *it_y + *it_z * *it_z); -template -void DistortionCorrector::warnIfTimestampIsTooLate( - bool is_twist_time_stamp_too_late, bool is_imu_time_stamp_too_late) -{ - if (is_twist_time_stamp_too_late) { - RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "Twist time_stamp is too late. Could not interpolate."); - } + ++it_azimuth; + ++it_distance; + } - if (is_imu_time_stamp_too_late) { - RCLCPP_WARN_STREAM_THROTTLE( - node_->get_logger(), *node_->get_clock(), 10000 /* ms */, - "IMU time_stamp is too late. Could not interpolate."); + prev_time_stamp_sec = global_point_stamp; } -} -template -void DistortionCorrector::convertMatrixToTransform( - const Eigen::Matrix4f & matrix, tf2::Transform & transform) -{ - transform.setOrigin(tf2::Vector3(matrix(0, 3), matrix(1, 3), matrix(2, 3))); - transform.setBasis(tf2::Matrix3x3( - matrix(0, 0), matrix(0, 1), matrix(0, 2), matrix(1, 0), matrix(1, 1), matrix(1, 2), - matrix(2, 0), matrix(2, 1), matrix(2, 2))); + warn_if_timestamp_is_too_late(is_twist_time_stamp_too_late, is_imu_time_stamp_too_late); } ///////////////////////// Functions for different undistortion strategies ///////////////////////// @@ -302,7 +421,7 @@ void DistortionCorrector3D::initialize() prev_transformation_matrix_ = Eigen::Matrix4f::Identity(); } -void DistortionCorrector2D::setPointCloudTransform( +void DistortionCorrector2D::set_pointcloud_transform( const std::string & base_frame, const std::string & lidar_frame) { if (pointcloud_transform_exists_) { @@ -312,12 +431,12 @@ void DistortionCorrector2D::setPointCloudTransform( Eigen::Matrix4f eigen_lidar_to_base_link; pointcloud_transform_exists_ = managed_tf_buffer_->getTransform(base_frame, lidar_frame, eigen_lidar_to_base_link); - convertMatrixToTransform(eigen_lidar_to_base_link, tf2_lidar_to_base_link_); + tf2_lidar_to_base_link_ = convert_matrix_to_transform(eigen_lidar_to_base_link); tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_.inverse(); pointcloud_transform_needed_ = base_frame != lidar_frame && pointcloud_transform_exists_; } -void DistortionCorrector3D::setPointCloudTransform( +void DistortionCorrector3D::set_pointcloud_transform( const std::string & base_frame, const std::string & lidar_frame) { if (pointcloud_transform_exists_) { @@ -330,7 +449,7 @@ void DistortionCorrector3D::setPointCloudTransform( pointcloud_transform_needed_ = base_frame != lidar_frame && pointcloud_transform_exists_; } -inline void DistortionCorrector2D::undistortPointImplementation( +inline void DistortionCorrector2D::undistort_point_implementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, sensor_msgs::PointCloud2Iterator & it_z, std::deque::iterator & it_twist, @@ -338,7 +457,8 @@ inline void DistortionCorrector2D::undistortPointImplementation( const bool & is_twist_valid, const bool & is_imu_valid) { // Initialize linear velocity and angular velocity - float v{0.0f}, w{0.0f}; + float v{0.0f}; + float w{0.0f}; if (is_twist_valid) { v = static_cast(it_twist->twist.linear.x); w = static_cast(it_twist->twist.angular.z); @@ -354,14 +474,15 @@ inline void DistortionCorrector2D::undistortPointImplementation( point_tf_ = tf2_lidar_to_base_link_ * point_tf_; } theta_ += w * time_offset; + auto [sin_half_theta, cos_half_theta] = autoware::universe_utils::sin_and_cos(theta_ * 0.5f); + auto [sin_theta, cos_theta] = autoware::universe_utils::sin_and_cos(theta_); + baselink_quat_.setValue( - 0, 0, autoware::universe_utils::sin(theta_ * 0.5f), - autoware::universe_utils::cos( - theta_ * - 0.5f)); // baselink_quat.setRPY(0.0, 0.0, theta); (Note that the value is slightly different) + 0, 0, sin_half_theta, cos_half_theta); // baselink_quat.setRPY(0.0, 0.0, theta); (Note that the + // value is slightly different) const float dis = v * time_offset; - x_ += dis * autoware::universe_utils::cos(theta_); - y_ += dis * autoware::universe_utils::sin(theta_); + x_ += dis * cos_theta; + y_ += dis * sin_theta; baselink_tf_odom_.setOrigin(tf2::Vector3(x_, y_, 0.0)); baselink_tf_odom_.setRotation(baselink_quat_); @@ -377,7 +498,7 @@ inline void DistortionCorrector2D::undistortPointImplementation( *it_z = static_cast(undistorted_point_tf_.getZ()); } -inline void DistortionCorrector3D::undistortPointImplementation( +inline void DistortionCorrector3D::undistort_point_implementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, sensor_msgs::PointCloud2Iterator & it_z, std::deque::iterator & it_twist, @@ -385,19 +506,24 @@ inline void DistortionCorrector3D::undistortPointImplementation( const bool & is_twist_valid, const bool & is_imu_valid) { // Initialize linear velocity and angular velocity - float v_x_{0.0f}, v_y_{0.0f}, v_z_{0.0f}, w_x_{0.0f}, w_y_{0.0f}, w_z_{0.0f}; + float v_x{0.0f}; + float v_y{0.0f}; + float v_z{0.0f}; + float w_x{0.0f}; + float w_y{0.0f}; + float w_z{0.0f}; if (is_twist_valid) { - v_x_ = static_cast(it_twist->twist.linear.x); - v_y_ = static_cast(it_twist->twist.linear.y); - v_z_ = static_cast(it_twist->twist.linear.z); - w_x_ = static_cast(it_twist->twist.angular.x); - w_y_ = static_cast(it_twist->twist.angular.y); - w_z_ = static_cast(it_twist->twist.angular.z); + v_x = static_cast(it_twist->twist.linear.x); + v_y = static_cast(it_twist->twist.linear.y); + v_z = static_cast(it_twist->twist.linear.z); + w_x = static_cast(it_twist->twist.angular.x); + w_y = static_cast(it_twist->twist.angular.y); + w_z = static_cast(it_twist->twist.angular.z); } if (is_imu_valid) { - w_x_ = static_cast(it_imu->vector.x); - w_y_ = static_cast(it_imu->vector.y); - w_z_ = static_cast(it_imu->vector.z); + w_x = static_cast(it_imu->vector.x); + w_y = static_cast(it_imu->vector.y); + w_z = static_cast(it_imu->vector.z); } // Undistort point @@ -406,7 +532,7 @@ inline void DistortionCorrector3D::undistortPointImplementation( point_eigen_ = eigen_lidar_to_base_link_ * point_eigen_; } - Sophus::SE3f::Tangent twist(v_x_, v_y_, v_z_, w_x_, w_y_, w_z_); + Sophus::SE3f::Tangent twist(v_x, v_y, v_z, w_x, w_y, w_z); twist = twist * time_offset; transformation_matrix_ = Sophus::SE3f::exp(twist).matrix(); transformation_matrix_ = transformation_matrix_ * prev_transformation_matrix_; diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp index 8e4eaa6ec8f11..896c7fe563e64 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp @@ -35,6 +35,7 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt base_frame_ = declare_parameter("base_frame"); use_imu_ = declare_parameter("use_imu"); use_3d_distortion_correction_ = declare_parameter("use_3d_distortion_correction"); + update_azimuth_and_distance_ = declare_parameter("update_azimuth_and_distance"); auto has_static_tf_only = declare_parameter("has_static_tf_only", false); // TODO(amadeuszsz): remove default value @@ -50,39 +51,39 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt // Subscriber twist_sub_ = this->create_subscription( "~/input/twist", 10, - std::bind(&DistortionCorrectorComponent::onTwist, this, std::placeholders::_1)); + std::bind(&DistortionCorrectorComponent::twist_callback, this, std::placeholders::_1)); imu_sub_ = this->create_subscription( "~/input/imu", 10, - std::bind(&DistortionCorrectorComponent::onImu, this, std::placeholders::_1)); + std::bind(&DistortionCorrectorComponent::imu_callback, this, std::placeholders::_1)); pointcloud_sub_ = this->create_subscription( "~/input/pointcloud", rclcpp::SensorDataQoS(), - std::bind(&DistortionCorrectorComponent::onPointCloud, this, std::placeholders::_1)); + std::bind(&DistortionCorrectorComponent::pointcloud_callback, this, std::placeholders::_1)); // Setup the distortion corrector if (use_3d_distortion_correction_) { - distortion_corrector_ = std::make_unique(this, has_static_tf_only); + distortion_corrector_ = std::make_unique(*this, has_static_tf_only); } else { - distortion_corrector_ = std::make_unique(this, has_static_tf_only); + distortion_corrector_ = std::make_unique(*this, has_static_tf_only); } } -void DistortionCorrectorComponent::onTwist( +void DistortionCorrectorComponent::twist_callback( const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg) { - distortion_corrector_->processTwistMessage(twist_msg); + distortion_corrector_->process_twist_message(twist_msg); } -void DistortionCorrectorComponent::onImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) +void DistortionCorrectorComponent::imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg) { if (!use_imu_) { return; } - distortion_corrector_->processIMUMessage(base_frame_, imu_msg); + distortion_corrector_->process_imu_message(base_frame_, imu_msg); } -void DistortionCorrectorComponent::onPointCloud(PointCloud2::UniquePtr pointcloud_msg) +void DistortionCorrectorComponent::pointcloud_callback(PointCloud2::UniquePtr pointcloud_msg) { stop_watch_ptr_->toc("processing_time", true); const auto points_sub_count = undistorted_pointcloud_pub_->get_subscription_count() + @@ -92,10 +93,25 @@ void DistortionCorrectorComponent::onPointCloud(PointCloud2::UniquePtr pointclou return; } - distortion_corrector_->setPointCloudTransform(base_frame_, pointcloud_msg->header.frame_id); - + distortion_corrector_->set_pointcloud_transform(base_frame_, pointcloud_msg->header.frame_id); distortion_corrector_->initialize(); - distortion_corrector_->undistortPointCloud(use_imu_, *pointcloud_msg); + + if (update_azimuth_and_distance_ && !angle_conversion_opt_.has_value()) { + angle_conversion_opt_ = distortion_corrector_->try_compute_angle_conversion(*pointcloud_msg); + if (angle_conversion_opt_.has_value()) { + RCLCPP_INFO( + this->get_logger(), + "Success to get the conversion formula between Cartesian coordinates and LiDAR azimuth " + "coordinates"); + } else { + RCLCPP_ERROR_STREAM_THROTTLE( + this->get_logger(), *this->get_clock(), 10000 /* ms */, + "Failed to get the angle conversion between Cartesian coordinates and LiDAR azimuth " + "coordinates. This pointcloud will not update azimuth and distance"); + } + } + + distortion_corrector_->undistort_pointcloud(use_imu_, angle_conversion_opt_, *pointcloud_msg); if (debug_publisher_) { auto pipeline_latency_ms = diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp index d3f81473ed06f..a8024e02de2c1 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp @@ -14,7 +14,7 @@ #include "autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp" -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include @@ -28,8 +28,8 @@ namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRCAEDT; -using autoware_point_types::ReturnType; +using autoware::point_types::PointXYZIRCAEDT; +using autoware::point_types::ReturnType; using diagnostic_msgs::msg::DiagnosticStatus; DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent( diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp index bf140e662440b..59000d71b8ad6 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp @@ -14,7 +14,7 @@ #include "autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp" -#include "autoware_point_types/types.hpp" +#include "autoware/point_types/types.hpp" #include @@ -22,7 +22,7 @@ #include namespace autoware::pointcloud_preprocessor { -using autoware_point_types::PointXYZIRADRT; +using autoware::point_types::PointXYZIRADRT; RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions & options) : Filter("RingOutlierFilter", options) diff --git a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp index e34c165383867..5bf5069f1200f 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp @@ -413,7 +413,7 @@ void PointCloudDataSynchronizerComponent::convertToXYZIRCCloud( { output_ptr->header = input_ptr->header; - PointCloud2Modifier output_modifier{ + PointCloud2Modifier output_modifier{ *output_ptr, input_ptr->header.frame_id}; output_modifier.reserve(input_ptr->width); diff --git a/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp b/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp index 7e265bcfb4960..c1fd55943d13a 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/utility/memory.cpp @@ -14,14 +14,14 @@ #include "autoware/pointcloud_preprocessor/utility/memory.hpp" -#include +#include namespace autoware::pointcloud_preprocessor::utils { bool is_data_layout_compatible_with_point_xyzi(const sensor_msgs::msg::PointCloud2 & input) { - using PointIndex = autoware_point_types::PointXYZIIndex; - using autoware_point_types::PointXYZI; + using PointIndex = autoware::point_types::PointXYZIIndex; + using autoware::point_types::PointXYZI; if (input.fields.size() < 4) { return false; } @@ -51,8 +51,8 @@ bool is_data_layout_compatible_with_point_xyzi(const sensor_msgs::msg::PointClou bool is_data_layout_compatible_with_point_xyzirc(const sensor_msgs::msg::PointCloud2 & input) { - using PointIndex = autoware_point_types::PointXYZIRCIndex; - using autoware_point_types::PointXYZIRC; + using PointIndex = autoware::point_types::PointXYZIRCIndex; + using autoware::point_types::PointXYZIRC; if (input.fields.size() < 6) { return false; } @@ -93,8 +93,8 @@ bool is_data_layout_compatible_with_point_xyzirc(const sensor_msgs::msg::PointCl bool is_data_layout_compatible_with_point_xyziradrt(const sensor_msgs::msg::PointCloud2 & input) { - using PointIndex = autoware_point_types::PointXYZIRADRTIndex; - using autoware_point_types::PointXYZIRADRT; + using PointIndex = autoware::point_types::PointXYZIRADRTIndex; + using autoware::point_types::PointXYZIRADRT; if (input.fields.size() < 9) { return false; } @@ -149,8 +149,8 @@ bool is_data_layout_compatible_with_point_xyziradrt(const sensor_msgs::msg::Poin bool is_data_layout_compatible_with_point_xyzircaedt(const sensor_msgs::msg::PointCloud2 & input) { - using PointIndex = autoware_point_types::PointXYZIRCAEDTIndex; - using autoware_point_types::PointXYZIRCAEDT; + using PointIndex = autoware::point_types::PointXYZIRCAEDTIndex; + using autoware::point_types::PointXYZIRCAEDT; if (input.fields.size() != 10) { return false; } diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp index 047d021a4c6da..895061229a994 100644 --- a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -26,6 +26,7 @@ // 10.09, 10.117, 10.144, 10.171, 10.198, 10.225 #include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp" +#include "autoware/universe_utils/math/constants.hpp" #include "autoware/universe_utils/math/trigonometry.hpp" #include @@ -41,6 +42,7 @@ #include +enum AngleCoordinateSystem { HESAI, VELODYNE, CARTESIAN }; class DistortionCorrectorTest : public ::testing::Test { protected: @@ -48,13 +50,13 @@ class DistortionCorrectorTest : public ::testing::Test { node_ = std::make_shared("test_node"); distortion_corrector_2d_ = - std::make_shared(node_.get(), true); + std::make_shared(*node_, true); distortion_corrector_3d_ = - std::make_shared(node_.get(), true); + std::make_shared(*node_, true); // Setup TF tf_broadcaster_ = std::make_shared(node_); - tf_broadcaster_->sendTransform(generateStaticTransformMsg()); + tf_broadcaster_->sendTransform(generate_static_transform_msgs()); // Spin the node for a while to ensure transforms are published auto start = std::chrono::steady_clock::now(); @@ -67,27 +69,27 @@ class DistortionCorrectorTest : public ::testing::Test void TearDown() override {} - void checkInput(int ms) { ASSERT_LT(ms, 1000) << "ms should be less than a second."; } + static void check_input(int ms) { ASSERT_LT(ms, 1000) << "ms should be less than a second."; } - rclcpp::Time addMilliseconds(rclcpp::Time stamp, int ms) + static rclcpp::Time add_milliseconds(const rclcpp::Time & stamp, int ms) { - checkInput(ms); + check_input(ms); auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); return stamp + ms_in_ns; } - rclcpp::Time subtractMilliseconds(rclcpp::Time stamp, int ms) + static rclcpp::Time subtract_milliseconds(const rclcpp::Time & stamp, int ms) { - checkInput(ms); + check_input(ms); auto ms_in_ns = rclcpp::Duration(0, ms * 1000000); return stamp - ms_in_ns; } - geometry_msgs::msg::TransformStamped generateTransformMsg( + static geometry_msgs::msg::TransformStamped generate_transform_msg( const std::string & parent_frame, const std::string & child_frame, double x, double y, double z, double qx, double qy, double qz, double qw) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); geometry_msgs::msg::TransformStamped tf_msg; tf_msg.header.stamp = timestamp; tf_msg.header.frame_id = parent_frame; @@ -102,16 +104,16 @@ class DistortionCorrectorTest : public ::testing::Test return tf_msg; } - std::vector generateStaticTransformMsg() + static std::vector generate_static_transform_msgs() { // generate defined transformations return { - generateTransformMsg("base_link", "lidar_top", 5.0, 5.0, 5.0, 0.683, 0.5, 0.183, 0.499), - generateTransformMsg("base_link", "imu_link", 1.0, 1.0, 3.0, 0.278, 0.717, 0.441, 0.453)}; + generate_transform_msg("base_link", "lidar_top", 5.0, 5.0, 5.0, 0.683, 0.5, 0.183, 0.499), + generate_transform_msg("base_link", "imu_link", 1.0, 1.0, 3.0, 0.278, 0.717, 0.441, 0.453)}; } - std::shared_ptr generateTwistMsg( - double linear_x, double angular_z, rclcpp::Time stamp) + static std::shared_ptr generate_twist_msg( + double linear_x, double angular_z, const rclcpp::Time & stamp) { auto twist_msg = std::make_shared(); twist_msg->header.stamp = stamp; @@ -121,8 +123,8 @@ class DistortionCorrectorTest : public ::testing::Test return twist_msg; } - std::shared_ptr generateImuMsg( - double angular_vel_x, double angular_vel_y, double angular_vel_z, rclcpp::Time stamp) + static std::shared_ptr generate_imu_msg( + double angular_vel_x, double angular_vel_y, double angular_vel_z, const rclcpp::Time & stamp) { auto imu_msg = std::make_shared(); imu_msg->header.stamp = stamp; @@ -133,44 +135,98 @@ class DistortionCorrectorTest : public ::testing::Test return imu_msg; } - std::vector> generateTwistMsgs( - rclcpp::Time pointcloud_timestamp) + static std::vector> + generate_twist_msgs(const rclcpp::Time & pointcloud_timestamp) { std::vector> twist_msgs; - rclcpp::Time twist_stamp = subtractMilliseconds(pointcloud_timestamp, 5); + rclcpp::Time twist_stamp = subtract_milliseconds(pointcloud_timestamp, 5); - for (int i = 0; i < number_of_twist_msgs_; ++i) { - auto twist_msg = generateTwistMsg( - twist_linear_x_ + i * twist_linear_x_increment_, - twist_angular_z_ + i * twist_angular_z_increment_, twist_stamp); + for (int i = 0; i < number_of_twist_msgs; ++i) { + auto twist_msg = generate_twist_msg( + twist_linear_x + i * twist_linear_x_increment, + twist_angular_z + i * twist_angular_z_increment, twist_stamp); twist_msgs.push_back(twist_msg); - twist_stamp = addMilliseconds(twist_stamp, twist_msgs_interval_ms_); + twist_stamp = add_milliseconds(twist_stamp, twist_msgs_interval_ms); } return twist_msgs; } - std::vector> generateImuMsgs( - rclcpp::Time pointcloud_timestamp) + static std::vector> generate_imu_msgs( + const rclcpp::Time & pointcloud_timestamp) { std::vector> imu_msgs; - rclcpp::Time imu_stamp = subtractMilliseconds(pointcloud_timestamp, 10); + rclcpp::Time imu_stamp = subtract_milliseconds(pointcloud_timestamp, 10); - for (int i = 0; i < number_of_imu_msgs_; ++i) { - auto imu_msg = generateImuMsg( - imu_angular_x_ + i * imu_angular_x_increment_, - imu_angular_y_ + i * imu_angular_y_increment_, - imu_angular_z_ + i * imu_angular_z_increment_, imu_stamp); + for (int i = 0; i < number_of_imu_msgs; ++i) { + auto imu_msg = generate_imu_msg( + imu_angular_x + i * imu_angular_x_increment, imu_angular_y + i * imu_angular_y_increment, + imu_angular_z + i * imu_angular_z_increment, imu_stamp); imu_msgs.push_back(imu_msg); - imu_stamp = addMilliseconds(imu_stamp, imu_msgs_interval_ms_); + imu_stamp = add_milliseconds(imu_stamp, imu_msgs_interval_ms); } return imu_msgs; } - sensor_msgs::msg::PointCloud2 generatePointCloudMsg( - bool generate_points, bool is_lidar_frame, rclcpp::Time stamp) + static std::tuple, std::vector> generate_default_pointcloud( + AngleCoordinateSystem coordinate_system) + { + // Generate all combinations of signs { -, 0, + } x { -, 0, + } for x and y. + // Also include the case of (0, 0 ,0) + std::vector default_points = {{ + Eigen::Vector3f(0.0f, 0.0f, 0.0f), // point 1 + Eigen::Vector3f(0.0f, 0.0f, 0.0f), // point 2 + Eigen::Vector3f(10.0f, 0.0f, 1.0f), // point 3 + Eigen::Vector3f(5.0f, -5.0f, 2.0f), // point 4 + Eigen::Vector3f(0.0f, -10.0f, 3.0f), // point 5 + Eigen::Vector3f(-5.0f, -5.0f, 4.0f), // point 6 + Eigen::Vector3f(-10.0f, 0.0f, 5.0f), // point 7 + Eigen::Vector3f(-5.0f, 5.0f, -5.0f), // point 8 + Eigen::Vector3f(0.0f, 10.0f, -4.0f), // point 9 + Eigen::Vector3f(5.0f, 5.0f, -3.0f), // point 10 + }}; + + std::vector default_azimuths; + for (const auto & point : default_points) { + if (coordinate_system == AngleCoordinateSystem::VELODYNE) { + // velodyne coordinates: x-axis is 0 degrees, y-axis is 270 degrees, angle increase in + // clockwise direction + float cartesian_deg = std::atan2(point.y(), point.x()) * 180 / autoware::universe_utils::pi; + if (cartesian_deg < 0) cartesian_deg += 360; + float velodyne_deg = 360 - cartesian_deg; + if (velodyne_deg == 360) velodyne_deg = 0; + default_azimuths.push_back(velodyne_deg * autoware::universe_utils::pi / 180); + } else if (coordinate_system == AngleCoordinateSystem::HESAI) { + // hesai coordinates: y-axis is 0 degrees, x-axis is 90 degrees, angle increase in clockwise + // direction + float cartesian_deg = std::atan2(point.y(), point.x()) * 180 / autoware::universe_utils::pi; + if (cartesian_deg < 0) cartesian_deg += 360; + float hesai_deg = 90 - cartesian_deg < 0 ? 90 - cartesian_deg + 360 : 90 - cartesian_deg; + if (hesai_deg == 360) hesai_deg = 0; + default_azimuths.push_back(hesai_deg * autoware::universe_utils::pi / 180); + } else if (coordinate_system == AngleCoordinateSystem::CARTESIAN) { + // Cartesian coordinates: x-axis is 0 degrees, y-axis is 90 degrees, angle increase in + // counterclockwise direction + default_azimuths.push_back(std::atan2(point.y(), point.x())); + } else { + throw std::runtime_error("Invalid angle coordinate system"); + } + } + + return std::make_tuple(default_points, default_azimuths); + } + + sensor_msgs::msg::PointCloud2 generate_empty_pointcloud_msg(const rclcpp::Time & stamp) + { + auto empty_pointcloud_msg = generate_pointcloud_msg(true, stamp, {}, {}); + return empty_pointcloud_msg; + } + + sensor_msgs::msg::PointCloud2 generate_pointcloud_msg( + bool is_lidar_frame, const rclcpp::Time & stamp, std::vector points, + std::vector azimuths) { sensor_msgs::msg::PointCloud2 pointcloud_msg; pointcloud_msg.header.stamp = stamp; @@ -179,72 +235,81 @@ class DistortionCorrectorTest : public ::testing::Test pointcloud_msg.is_dense = true; pointcloud_msg.is_bigendian = false; - if (generate_points) { - std::array points = {{ - Eigen::Vector3f(10.0f, 0.0f, 0.0f), // point 1 - Eigen::Vector3f(0.0f, 10.0f, 0.0f), // point 2 - Eigen::Vector3f(0.0f, 0.0f, 10.0f), // point 3 - Eigen::Vector3f(20.0f, 0.0f, 0.0f), // point 4 - Eigen::Vector3f(0.0f, 20.0f, 0.0f), // point 5 - Eigen::Vector3f(0.0f, 0.0f, 20.0f), // point 6 - Eigen::Vector3f(30.0f, 0.0f, 0.0f), // point 7 - Eigen::Vector3f(0.0f, 30.0f, 0.0f), // point 8 - Eigen::Vector3f(0.0f, 0.0f, 30.0f), // point 9 - Eigen::Vector3f(10.0f, 10.0f, 10.0f) // point 10 - }}; - - // Generate timestamps for the points - std::vector timestamps = generatePointTimestamps(stamp, number_of_points_); - - sensor_msgs::PointCloud2Modifier modifier(pointcloud_msg); - modifier.setPointCloud2Fields( - 10, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1, - sensor_msgs::msg::PointField::FLOAT32, "z", 1, sensor_msgs::msg::PointField::FLOAT32, - "intensity", 1, sensor_msgs::msg::PointField::UINT8, "return_type", 1, - sensor_msgs::msg::PointField::UINT8, "channel", 1, sensor_msgs::msg::PointField::UINT16, - "azimuth", 1, sensor_msgs::msg::PointField::FLOAT32, "elevation", 1, - sensor_msgs::msg::PointField::FLOAT32, "distance", 1, sensor_msgs::msg::PointField::FLOAT32, - "time_stamp", 1, sensor_msgs::msg::PointField::UINT32); - - modifier.resize(number_of_points_); - - sensor_msgs::PointCloud2Iterator iter_x(pointcloud_msg, "x"); - sensor_msgs::PointCloud2Iterator iter_y(pointcloud_msg, "y"); - sensor_msgs::PointCloud2Iterator iter_z(pointcloud_msg, "z"); - sensor_msgs::PointCloud2Iterator iter_t(pointcloud_msg, "time_stamp"); - - for (size_t i = 0; i < number_of_points_; ++i) { - *iter_x = points[i].x(); - *iter_y = points[i].y(); - *iter_z = points[i].z(); - *iter_t = timestamps[i]; - ++iter_x; - ++iter_y; - ++iter_z; - ++iter_t; - } - } else { - pointcloud_msg.width = 0; - pointcloud_msg.row_step = 0; + // Generate timestamps for the points + std::vector timestamps = generate_point_timestamps(stamp, points.size()); + + sensor_msgs::PointCloud2Modifier modifier(pointcloud_msg); + modifier.setPointCloud2Fields( + 10, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1, + sensor_msgs::msg::PointField::FLOAT32, "z", 1, sensor_msgs::msg::PointField::FLOAT32, + "intensity", 1, sensor_msgs::msg::PointField::UINT8, "return_type", 1, + sensor_msgs::msg::PointField::UINT8, "channel", 1, sensor_msgs::msg::PointField::UINT16, + "azimuth", 1, sensor_msgs::msg::PointField::FLOAT32, "elevation", 1, + sensor_msgs::msg::PointField::FLOAT32, "distance", 1, sensor_msgs::msg::PointField::FLOAT32, + "time_stamp", 1, sensor_msgs::msg::PointField::UINT32); + + modifier.resize(points.size()); + + sensor_msgs::PointCloud2Iterator iter_x(pointcloud_msg, "x"); + sensor_msgs::PointCloud2Iterator iter_y(pointcloud_msg, "y"); + sensor_msgs::PointCloud2Iterator iter_z(pointcloud_msg, "z"); + sensor_msgs::PointCloud2Iterator iter_azimuth(pointcloud_msg, "azimuth"); + sensor_msgs::PointCloud2Iterator iter_distance(pointcloud_msg, "distance"); + sensor_msgs::PointCloud2Iterator iter_t(pointcloud_msg, "time_stamp"); + + for (size_t i = 0; i < points.size(); ++i) { + *iter_x = points[i].x(); + *iter_y = points[i].y(); + *iter_z = points[i].z(); + + *iter_azimuth = azimuths[i]; + *iter_distance = points[i].norm(); + *iter_t = timestamps[i]; + ++iter_x; + ++iter_y; + ++iter_z; + ++iter_azimuth; + ++iter_distance; + ++iter_t; } return pointcloud_msg; } - std::vector generatePointTimestamps( - rclcpp::Time pointcloud_timestamp, size_t number_of_points) + std::vector generate_point_timestamps( + const rclcpp::Time & pointcloud_timestamp, size_t number_of_points) { std::vector timestamps; rclcpp::Time global_point_stamp = pointcloud_timestamp; for (size_t i = 0; i < number_of_points; ++i) { std::uint32_t relative_timestamp = (global_point_stamp - pointcloud_timestamp).nanoseconds(); timestamps.push_back(relative_timestamp); - global_point_stamp = addMilliseconds(global_point_stamp, points_interval_ms_); + global_point_stamp = add_milliseconds(global_point_stamp, points_interval_ms); } return timestamps; } + template + void generate_and_process_twist_msgs( + const std::shared_ptr & distortion_corrector, const rclcpp::Time & timestamp) + { + auto twist_msgs = generate_twist_msgs(timestamp); + for (const auto & twist_msg : twist_msgs) { + distortion_corrector->process_twist_message(twist_msg); + } + } + + template + void generate_and_process_imu_msgs( + const std::shared_ptr & distortion_corrector, const rclcpp::Time & timestamp) + { + auto imu_msgs = generate_imu_msgs(timestamp); + for (const auto & imu_msg : imu_msgs) { + distortion_corrector->process_imu_message("base_link", imu_msg); + } + } + std::shared_ptr node_; std::shared_ptr distortion_corrector_2d_; @@ -252,29 +317,29 @@ class DistortionCorrectorTest : public ::testing::Test distortion_corrector_3d_; std::shared_ptr tf_broadcaster_; - static constexpr float standard_tolerance_{1e-4}; - static constexpr float coarse_tolerance_{5e-3}; - static constexpr int number_of_twist_msgs_{6}; - static constexpr int number_of_imu_msgs_{6}; - static constexpr size_t number_of_points_{10}; - static constexpr int32_t timestamp_seconds_{10}; - static constexpr uint32_t timestamp_nanoseconds_{100000000}; - - static constexpr double twist_linear_x_{10.0}; - static constexpr double twist_angular_z_{0.02}; - static constexpr double twist_linear_x_increment_{2.0}; - static constexpr double twist_angular_z_increment_{0.01}; - - static constexpr double imu_angular_x_{0.01}; - static constexpr double imu_angular_y_{-0.02}; - static constexpr double imu_angular_z_{0.05}; - static constexpr double imu_angular_x_increment_{0.005}; - static constexpr double imu_angular_y_increment_{0.005}; - static constexpr double imu_angular_z_increment_{0.005}; - - static constexpr int points_interval_ms_{10}; - static constexpr int twist_msgs_interval_ms_{24}; - static constexpr int imu_msgs_interval_ms_{27}; + static constexpr float standard_tolerance{1e-4}; + static constexpr float coarse_tolerance{5e-3}; + static constexpr int number_of_twist_msgs{6}; + static constexpr int number_of_imu_msgs{6}; + static constexpr size_t number_of_points{10}; + static constexpr int32_t timestamp_seconds{10}; + static constexpr uint32_t timestamp_nanoseconds{100000000}; + + static constexpr double twist_linear_x{10.0}; + static constexpr double twist_angular_z{0.02}; + static constexpr double twist_linear_x_increment{2.0}; + static constexpr double twist_angular_z_increment{0.01}; + + static constexpr double imu_angular_x{0.01}; + static constexpr double imu_angular_y{-0.02}; + static constexpr double imu_angular_z{0.05}; + static constexpr double imu_angular_x_increment{0.005}; + static constexpr double imu_angular_y_increment{0.005}; + static constexpr double imu_angular_z_increment{0.005}; + + static constexpr int points_interval_ms{10}; + static constexpr int twist_msgs_interval_ms{24}; + static constexpr int imu_msgs_interval_ms{27}; // for debugging or regenerating the ground truth point cloud bool debug_{false}; @@ -282,92 +347,87 @@ class DistortionCorrectorTest : public ::testing::Test TEST_F(DistortionCorrectorTest, TestProcessTwistMessage) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - auto twist_msg = generateTwistMsg(twist_linear_x_, twist_angular_z_, timestamp); - distortion_corrector_2d_->processTwistMessage(twist_msg); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto twist_msg = generate_twist_msg(twist_linear_x, twist_angular_z, timestamp); + distortion_corrector_2d_->process_twist_message(twist_msg); ASSERT_FALSE(distortion_corrector_2d_->get_twist_queue().empty()); - EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.linear.x, twist_linear_x_); - EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.angular.z, twist_angular_z_); + EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.linear.x, twist_linear_x); + EXPECT_EQ(distortion_corrector_2d_->get_twist_queue().front().twist.angular.z, twist_angular_z); } -TEST_F(DistortionCorrectorTest, TestProcessIMUMessage) +TEST_F(DistortionCorrectorTest, TestProcessImuMessage) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - auto imu_msg = generateImuMsg(imu_angular_x_, imu_angular_y_, imu_angular_z_, timestamp); - distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto imu_msg = generate_imu_msg(imu_angular_x, imu_angular_y, imu_angular_z, timestamp); + distortion_corrector_2d_->process_imu_message("base_link", imu_msg); ASSERT_FALSE(distortion_corrector_2d_->get_angular_velocity_queue().empty()); EXPECT_NEAR( distortion_corrector_2d_->get_angular_velocity_queue().front().vector.z, -0.03159, - standard_tolerance_); + standard_tolerance); } -TEST_F(DistortionCorrectorTest, TestIsInputValid) +TEST_F(DistortionCorrectorTest, TestIsPointcloudValid) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); - // input normal pointcloud without twist - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); - bool result = distortion_corrector_2d_->isInputValid(pointcloud); - EXPECT_FALSE(result); - - // input normal pointcloud with valid twist - auto twist_msg = generateTwistMsg(twist_linear_x_, twist_angular_z_, timestamp); - distortion_corrector_2d_->processTwistMessage(twist_msg); - - pointcloud = generatePointCloudMsg(true, false, timestamp); - result = distortion_corrector_2d_->isInputValid(pointcloud); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); + auto result = distortion_corrector_2d_->is_pointcloud_valid(pointcloud); EXPECT_TRUE(result); // input empty pointcloud - pointcloud = generatePointCloudMsg(false, false, timestamp); - result = distortion_corrector_2d_->isInputValid(pointcloud); + auto empty_pointcloud = generate_empty_pointcloud_msg(timestamp); + result = distortion_corrector_2d_->is_pointcloud_valid(empty_pointcloud); EXPECT_FALSE(result); } -TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithBaseLink) +TEST_F(DistortionCorrectorTest, TestSetPointcloudTransformWithBaseLink) { - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists()); EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed()); } -TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithLidarFrame) +TEST_F(DistortionCorrectorTest, TestSetPointcloudTransformWithLidarFrame) { - distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_exists()); EXPECT_TRUE(distortion_corrector_2d_->pointcloud_transform_needed()); } -TEST_F(DistortionCorrectorTest, TestSetPointCloudTransformWithMissingFrame) +TEST_F(DistortionCorrectorTest, TestSetPointcloudTransformWithMissingFrame) { - distortion_corrector_2d_->setPointCloudTransform("base_link", "missing_lidar_frame"); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "missing_lidar_frame"); EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_exists()); EXPECT_FALSE(distortion_corrector_2d_->pointcloud_transform_needed()); } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyTwist) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudWithEmptyTwist) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); // Generate the point cloud message - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Process empty twist queue distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->undistortPointCloud(false, pointcloud); + distortion_corrector_2d_->undistort_pointcloud(false, std::nullopt, pointcloud); // Verify the point cloud is not changed sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); sensor_msgs::PointCloud2ConstIterator iter_z(pointcloud, "z"); - std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0f, 10.0f, 0.0f), - Eigen::Vector3f(0.0f, 0.0f, 10.0f), Eigen::Vector3f(20.0f, 0.0f, 0.0f), - Eigen::Vector3f(0.0f, 20.0f, 0.0f), Eigen::Vector3f(0.0f, 0.0f, 20.0f), - Eigen::Vector3f(30.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0f, 30.0f, 0.0f), - Eigen::Vector3f(0.0f, 0.0f, 30.0f), Eigen::Vector3f(10.0f, 10.0f, 10.0f)}}; + std::array expected_pointcloud = { + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0f, 0.0f, 0.0f), + Eigen::Vector3f(10.0f, 0.0f, 1.0f), Eigen::Vector3f(5.0f, -5.0f, 2.0f), + Eigen::Vector3f(0.0f, -10.0f, 3.0f), Eigen::Vector3f(-5.0f, -5.0f, 4.0f), + Eigen::Vector3f(-10.0f, 0.0f, 5.0f), Eigen::Vector3f(-5.0f, 5.0f, -5.0f), + Eigen::Vector3f(0.0f, 10.0f, -4.0f), Eigen::Vector3f(5.0f, 5.0f, -3.0f)}}; size_t i = 0; std::ostringstream oss; @@ -375,9 +435,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyTwist) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -385,42 +445,38 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyTwist) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithEmptyPointCloud) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudWithEmptyPointCloud) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); // Generate an empty point cloud message - sensor_msgs::msg::PointCloud2 empty_pointcloud = generatePointCloudMsg(false, false, timestamp); + auto empty_pointcloud = generate_empty_pointcloud_msg(timestamp); // Process empty point cloud distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->undistortPointCloud(true, empty_pointcloud); + distortion_corrector_2d_->undistort_pointcloud(true, std::nullopt, empty_pointcloud); // Verify the point cloud is still empty EXPECT_EQ(empty_pointcloud.width, 0); EXPECT_EQ(empty_pointcloud.row_step, 0); } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud2dWithoutImuInBaseLink) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); // Test using only twist distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(false, pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_2d_->undistort_pointcloud(false, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -428,11 +484,11 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.117124f, 10.0f, 0.0f), - Eigen::Vector3f(0.26f, 0.000135182f, 10.0f), Eigen::Vector3f(20.4f, 0.0213818f, 0.0f), - Eigen::Vector3f(0.50932f, 20.0005f, 0.0f), Eigen::Vector3f(0.699999f, 0.000819721f, 20.0f), - Eigen::Vector3f(30.8599f, 0.076f, 0.0f), Eigen::Vector3f(0.947959f, 30.0016f, 0.0f), - Eigen::Vector3f(1.22f, 0.00244382f, 30.0f), Eigen::Vector3f(11.3568f, 10.0463f, 10.0f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.12f, 3.45146e-05f, 0.0f), + Eigen::Vector3f(10.26f, 0.00684635f, 1.0f), Eigen::Vector3f(5.40527f, -4.99443f, 2.0f), + Eigen::Vector3f(0.55534f, -9.99949f, 3.0f), Eigen::Vector3f(-4.28992f, -5.00924f, 4.0f), + Eigen::Vector3f(-9.13997f, -0.0237086f, 5.0f), Eigen::Vector3f(-3.97532f, 4.98642f, -5.0f), + Eigen::Vector3f(1.18261f, 10.0024f, -4.0f), Eigen::Vector3f(6.37838f, 5.02475f, -3.0f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -441,9 +497,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -451,27 +507,23 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithoutImuInBaseLink) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud2dWithImuInBaseLink) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); - } + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(true, pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_2d_->undistort_pointcloud(true, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -479,11 +531,11 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.122876f, 9.99996f, 0.0f), - Eigen::Vector3f(0.26f, -0.000115049f, 10.0f), Eigen::Vector3f(20.4f, -0.0174931f, 0.0f), - Eigen::Vector3f(0.56301f, 19.9996f, 0.0f), Eigen::Vector3f(0.7f, -0.000627014f, 20.0f), - Eigen::Vector3f(30.86f, -0.052675f, 0.0f), Eigen::Vector3f(1.1004f, 29.9987f, 0.0f), - Eigen::Vector3f(1.22f, -0.00166245f, 30.0f), Eigen::Vector3f(11.4249f, 9.97293f, 10.0f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.12f, -3.45146e-05f, 0.0f), + Eigen::Vector3f(10.26f, -0.00586748f, 1.0f), Eigen::Vector3f(5.39568f, -5.00455f, 2.0f), + Eigen::Vector3f(0.528495f, -10.0004f, 3.0f), Eigen::Vector3f(-4.30719f, -4.99343f, 4.0f), + Eigen::Vector3f(-9.13999f, 0.0163541f, 5.0f), Eigen::Vector3f(-3.94992f, 5.0088f, -5.0f), + Eigen::Vector3f(1.24205f, 9.99831f, -4.0f), Eigen::Vector3f(6.41245f, 4.98541f, -3.0f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -492,9 +544,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -502,27 +554,23 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInBaseLink) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud2dWithImuInLidarFrame) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_2d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_2d_->processIMUMessage("base_link", imu_msg); - } + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "lidar_top"); - distortion_corrector_2d_->undistortPointCloud(true, pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); + distortion_corrector_2d_->undistort_pointcloud(true, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -530,16 +578,14 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, -1.77636e-15f, -4.44089e-16f), - Eigen::Vector3f(0.049989f, 10.0608f, 0.0924992f), - Eigen::Vector3f(0.106107f, 0.130237f, 10.1986f), - Eigen::Vector3f(20.1709f, 0.210011f, 0.32034f), - Eigen::Vector3f(0.220674f, 20.2734f, 0.417974f), - Eigen::Vector3f(0.274146f, 0.347043f, 20.5341f), - Eigen::Vector3f(30.3673f, 0.457564f, 0.700818f), - Eigen::Vector3f(0.418014f, 30.5259f, 0.807963f), - Eigen::Vector3f(0.464088f, 0.600081f, 30.9292f), - Eigen::Vector3f(10.5657f, 10.7121f, 11.094f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.0512387f, 0.0608269f, 0.0917824f), + Eigen::Vector3f(10.1106f, 0.134026f, 1.20356f), Eigen::Vector3f(5.17128f, -4.79604f, 2.30806f), + Eigen::Vector3f(0.232686f, -9.7275f, 3.40938f), + Eigen::Vector3f(-4.70281f, -4.65034f, 4.52609f), + Eigen::Vector3f(-9.64009f, 0.425434f, 5.64106f), + Eigen::Vector3f(-4.55139f, 5.5241f, -4.21327f), + Eigen::Vector3f(0.519385f, 10.6188f, -3.06522f), + Eigen::Vector3f(5.5992f, 5.71475f, -1.91985f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -548,9 +594,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -558,22 +604,21 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud2dWithImuInLidarFrame) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud3dWithoutImuInBaseLink) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_3d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_3d_, timestamp); // Test using only twist distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(false, pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_3d_->undistort_pointcloud(false, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -581,11 +626,11 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.117f, 10.0f, 0.0f), - Eigen::Vector3f(0.26f, 9.27035e-05f, 10.0f), Eigen::Vector3f(20.4f, 0.0222176f, 0.0f), - Eigen::Vector3f(0.51f, 20.0004f, 0.0f), Eigen::Vector3f(0.7f, 0.000706573f, 20.0f), - Eigen::Vector3f(30.8599f, 0.0760946f, 0.0f), Eigen::Vector3f(0.946998f, 30.0015f, 0.0f), - Eigen::Vector3f(1.22f, 0.00234201f, 30.0f), Eigen::Vector3f(11.3569f, 10.046f, 10.0f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.12f, 2.38419e-05f, 0.0f), + Eigen::Vector3f(10.26f, 0.0070927f, 1.0f), Eigen::Vector3f(5.4055f, -4.99428f, 2.0f), + Eigen::Vector3f(0.555f, -9.99959f, 3.0f), Eigen::Vector3f(-4.28999f, -5.00928f, 4.0f), + Eigen::Vector3f(-9.13997f, -0.0239053f, 5.0f), Eigen::Vector3f(-3.97548f, 4.98614f, -5.0f), + Eigen::Vector3f(1.183f, 10.0023f, -4.0f), Eigen::Vector3f(6.37845f, 5.02458f, -3.0f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -594,9 +639,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -604,27 +649,23 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithoutImuInBaseLink) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud3dWithImuInBaseLink) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_3d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_3d_, timestamp); // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); - } + generate_and_process_imu_msgs(distortion_corrector_3d_, timestamp); distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(true, pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_3d_->undistort_pointcloud(true, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -632,15 +673,14 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.123015f, 9.99998f, 0.00430552f), - Eigen::Vector3f(0.266103f, -0.00895269f, 9.99992f), - Eigen::Vector3f(20.4f, -0.0176539f, -0.0193392f), - Eigen::Vector3f(0.563265f, 19.9997f, 0.035628f), - Eigen::Vector3f(0.734597f, -0.046068f, 19.9993f), - Eigen::Vector3f(30.8599f, -0.0517931f, -0.0658165f), - Eigen::Vector3f(1.0995f, 29.9989f, 0.0956997f), - Eigen::Vector3f(1.31283f, -0.113544f, 29.9977f), - Eigen::Vector3f(11.461f, 9.93096f, 10.0035f)}}; + {Eigen::Vector3f(0.0f, 0.0f, 0.0f), Eigen::Vector3f(0.12f, -1.86084e-05f, -1.63216e-05f), + Eigen::Vector3f(10.2606f, -0.00683919f, 0.993812f), + Eigen::Vector3f(5.39753f, -5.00722f, 1.9883f), Eigen::Vector3f(0.532273f, -10.0057f, 2.98165f), + Eigen::Vector3f(-4.30025f, -5.0024f, 3.99665f), + Eigen::Vector3f(-9.12918f, 0.00256404f, 5.02064f), + Eigen::Vector3f(-3.96298f, 5.02511f, -4.97218f), + Eigen::Vector3f(1.23005f, 10.0137f, -3.96452f), + Eigen::Vector3f(6.40165f, 4.99868f, -2.99944f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -649,9 +689,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -659,27 +699,23 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInBaseLink) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloud3dWithImuInLidarFrame) { // Generate the point cloud message - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 pointcloud = generatePointCloudMsg(true, true, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud = generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); // Generate and process multiple twist messages - auto twist_msgs = generateTwistMsgs(timestamp); - for (const auto & twist_msg : twist_msgs) { - distortion_corrector_3d_->processTwistMessage(twist_msg); - } + generate_and_process_twist_msgs(distortion_corrector_3d_, timestamp); // Generate and process multiple IMU messages - auto imu_msgs = generateImuMsgs(timestamp); - for (const auto & imu_msg : imu_msgs) { - distortion_corrector_3d_->processIMUMessage("base_link", imu_msg); - } + generate_and_process_imu_msgs(distortion_corrector_3d_, timestamp); distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "lidar_top"); - distortion_corrector_3d_->undistortPointCloud(true, pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "lidar_top"); + distortion_corrector_3d_->undistort_pointcloud(true, std::nullopt, pointcloud); sensor_msgs::PointCloud2ConstIterator iter_x(pointcloud, "x"); sensor_msgs::PointCloud2ConstIterator iter_y(pointcloud, "y"); @@ -687,15 +723,13 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) // Expected undistorted point cloud values std::array expected_pointcloud = { - {Eigen::Vector3f(10.0f, 0.0f, 0.0f), Eigen::Vector3f(0.046484f, 10.0622f, 0.098484f), - Eigen::Vector3f(0.107595f, 0.123767f, 10.2026f), - Eigen::Vector3f(20.1667f, 0.22465f, 0.313351f), - Eigen::Vector3f(0.201149f, 20.2784f, 0.464665f), - Eigen::Vector3f(0.290531f, 0.303489f, 20.5452f), - Eigen::Vector3f(30.3598f, 0.494116f, 0.672914f), - Eigen::Vector3f(0.375848f, 30.5336f, 0.933633f), - Eigen::Vector3f(0.510001f, 0.479651f, 30.9493f), - Eigen::Vector3f(10.5629f, 10.6855f, 11.1461f)}}; + {Eigen::Vector3f(0.0f, 4.76837e-07f, 0.0f), Eigen::Vector3f(0.049716f, 0.0622373f, 0.0935726f), + Eigen::Vector3f(10.1082f, 0.139472f, 1.20323f), Eigen::Vector3f(5.17113f, -4.79225f, 2.30392f), + Eigen::Vector3f(0.23695f, -9.72807f, 3.39875f), + Eigen::Vector3f(-4.70053f, -4.65832f, 4.53053f), + Eigen::Vector3f(-9.64065f, 0.407413f, 5.66885f), Eigen::Vector3f(-4.5738f, 5.5446f, -4.17022f), + Eigen::Vector3f(0.489763f, 10.6448f, -3.00165f), + Eigen::Vector3f(5.57566f, 5.74589f, -1.88189f)}}; // Verify each point in the undistorted point cloud size_t i = 0; @@ -704,9 +738,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++i) { oss << "Point " << i << ": (" << *iter_x << ", " << *iter_y << ", " << *iter_z << ")\n"; - EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance_); - EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance_); - EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance_); + EXPECT_NEAR(*iter_x, expected_pointcloud[i].x(), standard_tolerance); + EXPECT_NEAR(*iter_y, expected_pointcloud[i].y(), standard_tolerance); + EXPECT_NEAR(*iter_z, expected_pointcloud[i].z(), standard_tolerance); } if (debug_) { @@ -714,35 +748,39 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloud3dWithImuInLidarFrame) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureLinearMotion) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudWithPureLinearMotion) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 test2d_pointcloud = generatePointCloudMsg(true, false, timestamp); - sensor_msgs::msg::PointCloud2 test3d_pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto test2d_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); + auto test3d_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process a single twist message with constant linear velocity - auto twist_msg = generateTwistMsg(1.0, 0.0, timestamp); + auto twist_msg = generate_twist_msg(1.0, 0.0, timestamp); - distortion_corrector_2d_->processTwistMessage(twist_msg); + distortion_corrector_2d_->process_twist_message(twist_msg); distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(false, test2d_pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_2d_->undistort_pointcloud(false, std::nullopt, test2d_pointcloud); - distortion_corrector_3d_->processTwistMessage(twist_msg); + distortion_corrector_3d_->process_twist_message(twist_msg); distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(false, test3d_pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_3d_->undistort_pointcloud(false, std::nullopt, test3d_pointcloud); // Generate expected point cloud for testing - sensor_msgs::msg::PointCloud2 expected_pointcloud_msg = - generatePointCloudMsg(true, false, timestamp); + auto expected_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Calculate expected point cloud values based on constant linear motion double velocity = 1.0; // 1 m/s linear velocity - sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud_msg, "x"); - sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud_msg, "y"); - sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud_msg, "z"); - sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); + sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud, "z"); + sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud, "time_stamp"); std::vector expected_points; for (; iter_t != iter_t.end(); ++iter_t, ++iter_x, ++iter_y, ++iter_z) { @@ -801,37 +839,41 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureLinearMotion) } } -TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudWithPureRotationalMotion) { - rclcpp::Time timestamp(timestamp_seconds_, timestamp_nanoseconds_, RCL_ROS_TIME); - sensor_msgs::msg::PointCloud2 test2d_pointcloud = generatePointCloudMsg(true, false, timestamp); - sensor_msgs::msg::PointCloud2 test3d_pointcloud = generatePointCloudMsg(true, false, timestamp); + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto test2d_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); + auto test3d_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Generate and process a single twist message with constant angular velocity - auto twist_msg = generateTwistMsg(0.0, 0.1, timestamp); + auto twist_msg = generate_twist_msg(0.0, 0.1, timestamp); - distortion_corrector_2d_->processTwistMessage(twist_msg); + distortion_corrector_2d_->process_twist_message(twist_msg); distortion_corrector_2d_->initialize(); - distortion_corrector_2d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_2d_->undistortPointCloud(false, test2d_pointcloud); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_2d_->undistort_pointcloud(false, std::nullopt, test2d_pointcloud); - distortion_corrector_3d_->processTwistMessage(twist_msg); + distortion_corrector_3d_->process_twist_message(twist_msg); distortion_corrector_3d_->initialize(); - distortion_corrector_3d_->setPointCloudTransform("base_link", "base_link"); - distortion_corrector_3d_->undistortPointCloud(false, test3d_pointcloud); + distortion_corrector_3d_->set_pointcloud_transform("base_link", "base_link"); + distortion_corrector_3d_->undistort_pointcloud(false, std::nullopt, test3d_pointcloud); // Generate expected point cloud for testing - sensor_msgs::msg::PointCloud2 expected_pointcloud_msg = - generatePointCloudMsg(true, false, timestamp); + auto expected_pointcloud = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); // Calculate expected point cloud values based on constant rotational motion double angular_velocity = 0.1; // 0.1 rad/s rotational velocity - sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud_msg, "x"); - sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud_msg, "y"); - sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud_msg, "z"); - sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud_msg, "time_stamp"); + sensor_msgs::PointCloud2Iterator iter_x(expected_pointcloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(expected_pointcloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(expected_pointcloud, "z"); + sensor_msgs::PointCloud2Iterator iter_t(expected_pointcloud, "time_stamp"); - std::vector expected_pointcloud; + std::vector expected_points; for (; iter_t != iter_t.end(); ++iter_t, ++iter_x, ++iter_y, ++iter_z) { double time_offset = static_cast(*iter_t) / 1e9; float angle = angular_velocity * time_offset; @@ -844,7 +886,7 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) tf2::Vector3 point(*iter_x, *iter_y, *iter_z); tf2::Vector3 rotated_point = tf2::quatRotate(quaternion, point); - expected_pointcloud.emplace_back( + expected_points.emplace_back( static_cast(rotated_point.x()), static_cast(rotated_point.y()), static_cast(rotated_point.z())); } @@ -862,9 +904,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) ++test2d_iter_x, ++test2d_iter_y, ++test2d_iter_z, ++i) { oss << "Point " << i << ": (" << *test2d_iter_x << ", " << *test2d_iter_y << ", " << *test2d_iter_z << ")\n"; - EXPECT_FLOAT_EQ(*test2d_iter_x, expected_pointcloud[i].x()); - EXPECT_FLOAT_EQ(*test2d_iter_y, expected_pointcloud[i].y()); - EXPECT_FLOAT_EQ(*test2d_iter_z, expected_pointcloud[i].z()); + EXPECT_FLOAT_EQ(*test2d_iter_x, expected_points[i].x()); + EXPECT_FLOAT_EQ(*test2d_iter_y, expected_points[i].y()); + EXPECT_FLOAT_EQ(*test2d_iter_z, expected_points[i].z()); } if (debug_) { @@ -891,9 +933,9 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) << *test2d_iter_z << ")" << " vs 3D: (" << *test3d_iter_x << ", " << *test3d_iter_y << ", " << *test3d_iter_z << ")\n"; - EXPECT_NEAR(*test2d_iter_x, *test3d_iter_x, coarse_tolerance_); - EXPECT_NEAR(*test2d_iter_y, *test3d_iter_y, coarse_tolerance_); - EXPECT_NEAR(*test2d_iter_z, *test3d_iter_z, coarse_tolerance_); + EXPECT_NEAR(*test2d_iter_x, *test3d_iter_x, coarse_tolerance); + EXPECT_NEAR(*test2d_iter_y, *test3d_iter_y, coarse_tolerance); + EXPECT_NEAR(*test2d_iter_z, *test3d_iter_z, coarse_tolerance); } if (debug_) { @@ -901,6 +943,341 @@ TEST_F(DistortionCorrectorTest, TestUndistortPointCloudWithPureRotationalMotion) } } +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudNotUpdatingAzimuthAndDistance) +{ + // Test the case when the cloud will not update the azimuth and distance values + // 1. when pointcloud is in base_link (pointcloud_transform_needed() is false) + + // Generate the point cloud message in base_link + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::CARTESIAN); + auto pointcloud_base_link = + generate_pointcloud_msg(false, timestamp, default_points, default_azimuths); + + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + // Generate and process multiple IMU messages + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "base_link"); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(pointcloud_base_link); + + // Test for expected runtime error + EXPECT_THROW( + { + distortion_corrector_2d_->undistort_pointcloud( + true, angle_conversion_opt, pointcloud_base_link); + }, + std::runtime_error); + + // Test the case when the cloud will not update the azimuth and distance values + // 2. when the return value of try_compute_angle_conversion is std::nullopt (couldn't find the + // angle conversion) + + // Generate the point cloud message in sensor frame + auto pointcloud_lidar_top = + generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + // Generate and process multiple IMU messages + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); + + angle_conversion_opt = std::nullopt; + distortion_corrector_2d_->undistort_pointcloud(true, angle_conversion_opt, pointcloud_lidar_top); + + auto original_pointcloud_lidar_top = + generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + sensor_msgs::PointCloud2ConstIterator test_iter_azimuth_lidar_top( + pointcloud_lidar_top, "azimuth"); + sensor_msgs::PointCloud2ConstIterator test_iter_distance_lidar_top( + pointcloud_lidar_top, "distance"); + + sensor_msgs::PointCloud2ConstIterator original_iter_azimuth_lidar_top( + original_pointcloud_lidar_top, "azimuth"); + sensor_msgs::PointCloud2ConstIterator original_iter_distance_lidar_top( + original_pointcloud_lidar_top, "distance"); + + size_t i = 0; + std::ostringstream oss; + + oss << "Expected pointcloud:\n"; + for (; test_iter_azimuth_lidar_top != test_iter_azimuth_lidar_top.end(); + ++test_iter_azimuth_lidar_top, ++test_iter_distance_lidar_top, + ++original_iter_azimuth_lidar_top, ++original_iter_distance_lidar_top, ++i) { + oss << "Point " << i << " - Output azimuth and distance: (" << *test_iter_azimuth_lidar_top + << ", " << *test_iter_distance_lidar_top << ")" + << " vs Original azimuth and distance: (" << *original_iter_azimuth_lidar_top << ", " + << *original_iter_distance_lidar_top << ")\n"; + + EXPECT_FLOAT_EQ(*test_iter_azimuth_lidar_top, *original_iter_azimuth_lidar_top); + EXPECT_FLOAT_EQ(*test_iter_distance_lidar_top, *original_iter_distance_lidar_top); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudUpdateAzimuthAndDistanceInVelodyne) +{ + // Generate the point cloud message in sensor frame + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::VELODYNE); + auto pointcloud = generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + // Generate and process multiple IMU messages + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); + + auto angle_conversion_opt = distortion_corrector_2d_->try_compute_angle_conversion(pointcloud); + distortion_corrector_2d_->undistort_pointcloud(true, angle_conversion_opt, pointcloud); + + auto original_pointcloud = + generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + sensor_msgs::PointCloud2ConstIterator iter_azimuth(pointcloud, "azimuth"); + sensor_msgs::PointCloud2ConstIterator iter_distance(pointcloud, "distance"); + + // Expected undistorted azimuth and distance values + std::array, 10> expected_azimuth_distance = {{ + {0.0f, 0.0f}, // points: (0.0f, 0.0f, 0.0f) + {5.41248f, 0.121447f}, // points: (0.0512387f, 0.0608269f, 0.0917824f) + {6.26993f, 10.1829f}, // points: (10.1106f, 0.134026f, 1.20356f) + {0.747926f, 7.421f}, // points: (5.17128f, -4.79604f, 2.30806f) + {1.54689f, 10.3103f}, // points: (0.232686f, -9.7275f, 3.40938f) + {2.36187f, 8.01421f}, // points: (-4.70281f, -4.65034f, 4.52609f) + {3.18569f, 11.1774f}, // points: (-9.64009f, 0.425434f, 5.64106f) + {4.02323f, 8.30557f}, // points: (-4.55139f, 5.5241f, -4.21327f) + {4.76125f, 11.0645f}, // points: (0.519385f, 10.6188f, -3.06522f) + {5.48757f, 8.22771f} // points: (5.5992f, 5.71475f, -1.91985f) + }}; + + size_t i = 0; + std::ostringstream oss; + + oss << "Expected pointcloud:\n"; + for (; iter_azimuth != iter_azimuth.end(); ++iter_azimuth, ++iter_distance, ++i) { + oss << "Point " << i << " - Output azimuth and distance: (" << *iter_azimuth << ", " + << *iter_distance << ")" + << " vs Expected azimuth and distance: (" << expected_azimuth_distance[i][0] << ", " + << expected_azimuth_distance[i][1] << ")\n"; + + EXPECT_NEAR(*iter_azimuth, expected_azimuth_distance[i][0], standard_tolerance); + EXPECT_NEAR(*iter_distance, expected_azimuth_distance[i][1], standard_tolerance); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestUndistortPointcloudUpdateAzimuthAndDistanceInHesai) +{ + // Generate the point cloud message in sensor frame + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + + auto [default_points, default_azimuths] = + generate_default_pointcloud(AngleCoordinateSystem::HESAI); + auto pointcloud = generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + // Generate and process multiple IMU messages + generate_and_process_imu_msgs(distortion_corrector_2d_, timestamp); + + distortion_corrector_2d_->initialize(); + distortion_corrector_2d_->set_pointcloud_transform("base_link", "lidar_top"); + + auto angle_conversion_opt = distortion_corrector_2d_->try_compute_angle_conversion(pointcloud); + distortion_corrector_2d_->undistort_pointcloud(true, angle_conversion_opt, pointcloud); + + auto original_pointcloud = + generate_pointcloud_msg(true, timestamp, default_points, default_azimuths); + + sensor_msgs::PointCloud2ConstIterator iter_azimuth(pointcloud, "azimuth"); + sensor_msgs::PointCloud2ConstIterator iter_distance(pointcloud, "distance"); + + // Expected undistorted azimuth and distance values + std::array, 10> expected_azimuth_distance = {{ + {1.5708f, 0.0f}, // points: (0.0f, 0.0f, 0.0f) + {0.70009f, 0.121447f}, // points: (0.0512387f, 0.0608269f, 0.0917824f) + {1.55754f, 10.1829f}, // points: (10.1106f, 0.134026f, 1.20356f) + {2.31872f, 7.421f}, // points: (5.17128f, -4.79604f, 2.30806f) + {3.11768f, 10.3103f}, // points: (0.232686f, -9.7275f, 3.40938f) + {3.93267f, 8.01421f}, // points: (-4.70281f, -4.65034f, 4.52609f) + {4.75648f, 11.1774f}, // points: (-9.64009f, 0.425434f, 5.64106f) + {5.59403f, 8.30557f}, // points: (-4.55139f, 5.5241f, -4.21327f) + {0.0488634f, 11.0645f}, // points: (0.519385f, 10.6188f, -3.06522f) + {0.775183f, 8.22771f} // points: (5.5992f, 5.71475f, -1.91985f) + }}; + + size_t i = 0; + std::ostringstream oss; + + oss << "Expected pointcloud:\n"; + for (; iter_azimuth != iter_azimuth.end(); ++iter_azimuth, ++iter_distance, ++i) { + oss << "Point " << i << " - Output azimuth and distance: (" << *iter_azimuth << ", " + << *iter_distance << ")" + << " vs Expected azimuth and distance: (" << expected_azimuth_distance[i][0] << ", " + << expected_azimuth_distance[i][1] << ")\n"; + + EXPECT_NEAR(*iter_azimuth, expected_azimuth_distance[i][0], standard_tolerance); + EXPECT_NEAR(*iter_distance, expected_azimuth_distance[i][1], standard_tolerance); + } + + if (debug_) { + RCLCPP_INFO(node_->get_logger(), "%s", oss.str().c_str()); + } +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnEmptyPointcloud) +{ + // test empty pointcloud + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + + auto empty_pointcloud = generate_empty_pointcloud_msg(timestamp); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(empty_pointcloud); + + EXPECT_FALSE(angle_conversion_opt.has_value()); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnVelodynePointcloud) +{ + // test velodyne pointcloud (x-axis: 0 degree, y-axis: 270 degree) + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + + std::vector velodyne_points = { + Eigen::Vector3f(0.0f, 0.0f, 0.0f), + Eigen::Vector3f(1.0f, -1.0f, 1.0f), + Eigen::Vector3f(0.0f, -2.0f, 1.0f), + }; + std::vector velodyne_azimuths = { + 0.0f, autoware::universe_utils::pi / 4, autoware::universe_utils::pi / 2}; + + auto velodyne_pointcloud = + generate_pointcloud_msg(true, timestamp, velodyne_points, velodyne_azimuths); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(velodyne_pointcloud); + EXPECT_TRUE(angle_conversion_opt.has_value()); + + EXPECT_EQ(angle_conversion_opt->sign, -1); + EXPECT_NEAR(angle_conversion_opt->offset_rad, 0, standard_tolerance); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnHesaiPointcloud) +{ + // test hesai pointcloud (x-axis: 90 degree, y-axis: 0 degree) + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + std::vector hesai_points = { + Eigen::Vector3f(0.0f, 0.0f, 0.0f), + Eigen::Vector3f(1.0f, -1.0f, 1.0f), + Eigen::Vector3f(0.0f, -2.0f, 1.0f), + }; + std::vector hesai_azimuths = { + autoware::universe_utils::pi / 2, autoware::universe_utils::pi * 3 / 4, + autoware::universe_utils::pi}; + + auto hesai_pointcloud = generate_pointcloud_msg(true, timestamp, hesai_points, hesai_azimuths); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(hesai_pointcloud); + + EXPECT_TRUE(angle_conversion_opt.has_value()); + EXPECT_EQ(angle_conversion_opt->sign, -1); + EXPECT_NEAR( + angle_conversion_opt->offset_rad, autoware::universe_utils::pi / 2, standard_tolerance); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionCartesianPointcloud) +{ + // test pointcloud that use cartesian coordinate for azimuth (x-axis: 0 degree, y-axis: 90 degree) + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + std::vector cartesian_points = { + Eigen::Vector3f(0.0f, 0.0f, 0.0f), + Eigen::Vector3f(1.0f, 1.0f, 1.0f), + Eigen::Vector3f(0.0f, 2.0f, 1.0f), + }; + std::vector cartesian_azimuths = { + 0, autoware::universe_utils::pi / 4, autoware::universe_utils::pi / 2}; + + auto cartesian_pointcloud = + generate_pointcloud_msg(true, timestamp, cartesian_points, cartesian_azimuths); + auto angle_conversion_opt = + distortion_corrector_2d_->try_compute_angle_conversion(cartesian_pointcloud); + + EXPECT_TRUE(angle_conversion_opt.has_value()); + EXPECT_EQ(angle_conversion_opt->sign, 1); + EXPECT_NEAR(angle_conversion_opt->offset_rad, 0, standard_tolerance); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnRandomPointcloud) +{ + // test pointcloud that use coordinate (x-axis: 270 degree, y-axis: 0 degree) + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + std::vector points = { + Eigen::Vector3f(0.0f, 1.0f, 0.0f), + Eigen::Vector3f(2.0f, 0.0f, 1.0f), + Eigen::Vector3f(1.0f, 1.0f, 1.0f), + }; + std::vector azimuths = { + 0, autoware::universe_utils::pi * 3 / 2, autoware::universe_utils::pi * 7 / 4}; + + auto pointcloud = generate_pointcloud_msg(true, timestamp, points, azimuths); + auto angle_conversion_opt = distortion_corrector_2d_->try_compute_angle_conversion(pointcloud); + + EXPECT_TRUE(angle_conversion_opt.has_value()); + EXPECT_EQ(angle_conversion_opt->sign, 1); + EXPECT_NEAR( + angle_conversion_opt->offset_rad, autoware::universe_utils::pi * 3 / 2, standard_tolerance); +} + +TEST_F(DistortionCorrectorTest, TestTryComputeAngleConversionOnBadAzimuthPointcloud) +{ + // test pointcloud that can cause the angle conversion to fail. + // 1. angle difference is 0 + // 2. azimuth value is wrong + rclcpp::Time timestamp(timestamp_seconds, timestamp_nanoseconds, RCL_ROS_TIME); + // Generate and process multiple twist messages + generate_and_process_twist_msgs(distortion_corrector_2d_, timestamp); + + std::vector points = { + Eigen::Vector3f(0.0f, 1.0f, 0.0f), + Eigen::Vector3f(2.0f, 0.0f, 1.0f), + Eigen::Vector3f(1.0f, 1.0f, 1.0f), + }; + + // generate random bad azimuths + std::vector azimuths = {0, 0, autoware::universe_utils::pi}; + + auto pointcloud = generate_pointcloud_msg(true, timestamp, points, azimuths); + auto angle_conversion_opt = distortion_corrector_2d_->try_compute_angle_conversion(pointcloud); + + EXPECT_FALSE(angle_conversion_opt.has_value()); +} + int main(int argc, char ** argv) { ::testing::InitGoogleTest(&argc, argv); diff --git a/simulator/autoware_carla_interface/resource/carla_autoware b/simulator/autoware_carla_interface/resource/autoware_carla_interface similarity index 100% rename from simulator/autoware_carla_interface/resource/carla_autoware rename to simulator/autoware_carla_interface/resource/autoware_carla_interface diff --git a/simulator/autoware_carla_interface/setup.py b/simulator/autoware_carla_interface/setup.py index 32bf726b02299..9b3ce02a4989c 100644 --- a/simulator/autoware_carla_interface/setup.py +++ b/simulator/autoware_carla_interface/setup.py @@ -14,6 +14,7 @@ ("share/" + package_name, glob("calibration_maps/*.csv")), ("share/" + package_name, ["package.xml"]), (os.path.join("share", package_name), glob("launch/autoware_carla_interface.launch.xml")), + ("share/ament_index/resource_index/packages", ["resource/autoware_carla_interface"]), ], install_requires=["setuptools"], zip_safe=True, diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/__init__.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/__init__.py b/simulator/autoware_carla_interface/src/autoware_carla_interface/modules/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp index 5d9c3ec74115a..83f574554fe76 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp @@ -63,8 +63,8 @@ class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface YAW, VX, STEER, - PEDAL_ACCX, ACCX, + PEDAL_ACCX, }; enum IDX_U { PEDAL_ACCX_DES = 0, GEAR, SLOPE_ACCX, STEER_DES }; diff --git a/simulator/vehicle_door_simulator/src/dummy_doors.cpp b/simulator/vehicle_door_simulator/src/dummy_doors.cpp index b78ca9973e7e1..cad0aa721dc73 100644 --- a/simulator/vehicle_door_simulator/src/dummy_doors.cpp +++ b/simulator/vehicle_door_simulator/src/dummy_doors.cpp @@ -29,7 +29,8 @@ DummyDoors::DummyDoors() : Node("dummy_doors") srv_layout_ = create_service( "~/doors/layout", std::bind(&DummyDoors::on_layout, this, _1, _2)); - pub_status_ = create_publisher("~/doors/status", rclcpp::QoS(1)); + pub_status_ = + create_publisher("~/doors/status", rclcpp::QoS(1).transient_local()); const auto period = rclcpp::Rate(5.0).period(); timer_ = rclcpp::create_timer(this, get_clock(), period, [this]() { on_timer(); }); diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index 5c6e10a73fa9c..4c9664912db40 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -15,13 +15,13 @@ autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs + autoware_component_interface_specs autoware_geography_utils autoware_motion_utils autoware_planning_msgs autoware_system_msgs autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_specs component_interface_utils diagnostic_graph_utils geographic_msgs diff --git a/system/autoware_default_adapi/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp index 268fc6d4d95e4..7b42b97205672 100644 --- a/system/autoware_default_adapi/src/fail_safe.hpp +++ b/system/autoware_default_adapi/src/fail_safe.hpp @@ -15,8 +15,8 @@ #ifndef FAIL_SAFE_HPP_ #define FAIL_SAFE_HPP_ +#include #include -#include #include #include @@ -34,7 +34,7 @@ class FailSafeNode : public rclcpp::Node private: using MrmState = autoware_ad_api::fail_safe::MrmState::Message; Pub pub_mrm_state_; - Sub sub_mrm_state_; + Sub sub_mrm_state_; MrmState prev_state_; void on_state(const MrmState::ConstSharedPtr msg); }; diff --git a/system/autoware_default_adapi/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp index d9104f393f712..dbbc106621156 100644 --- a/system/autoware_default_adapi/src/localization.hpp +++ b/system/autoware_default_adapi/src/localization.hpp @@ -15,8 +15,8 @@ #ifndef LOCALIZATION_HPP_ #define LOCALIZATION_HPP_ +#include #include -#include #include // This file should be included after messages. @@ -34,8 +34,8 @@ class LocalizationNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_initialize_; Pub pub_state_; - Cli cli_initialize_; - Sub sub_state_; + Cli cli_initialize_; + Sub sub_state_; void on_initialize( const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req, diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp index 87d4df371abb7..2073b1dad9f77 100644 --- a/system/autoware_default_adapi/src/motion.cpp +++ b/system/autoware_default_adapi/src/motion.cpp @@ -121,7 +121,8 @@ void MotionNode::update_pause(const State state) void MotionNode::change_pause(bool pause) { if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) { - const auto req = std::make_shared(); + const auto req = + std::make_shared(); req->pause = pause; is_calling_set_pause_ = true; cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; }); @@ -133,14 +134,15 @@ void MotionNode::on_timer() update_state(); } -void MotionNode::on_is_paused(const control_interface::IsPaused::Message::ConstSharedPtr msg) +void MotionNode::on_is_paused( + const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg) { is_paused_ = msg->data; update_state(); } void MotionNode::on_is_start_requested( - const control_interface::IsStartRequested::Message::ConstSharedPtr msg) + const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr msg) { is_start_requested_ = msg->data; update_state(); diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp index 043eb6568e141..3854753a39cc7 100644 --- a/system/autoware_default_adapi/src/motion.hpp +++ b/system/autoware_default_adapi/src/motion.hpp @@ -15,9 +15,9 @@ #ifndef MOTION_HPP_ #define MOTION_HPP_ +#include #include #include -#include #include #include #include @@ -39,9 +39,9 @@ class MotionNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_accept_; Pub pub_state_; - Cli cli_set_pause_; - Sub sub_is_paused_; - Sub sub_is_start_requested_; + Cli cli_set_pause_; + Sub sub_is_paused_; + Sub sub_is_start_requested_; enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving }; State state_; @@ -57,9 +57,11 @@ class MotionNode : public rclcpp::Node void update_pause(const State state); void change_pause(bool pause); void on_timer(); - void on_is_paused(const control_interface::IsPaused::Message::ConstSharedPtr msg); + void on_is_paused( + const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg); void on_is_start_requested( - const control_interface::IsStartRequested::Message::ConstSharedPtr msg); + const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr + msg); void on_accept( const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req, const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res); diff --git a/system/autoware_default_adapi/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp index 3b139ad875b8d..c76cd5f92cdf0 100644 --- a/system/autoware_default_adapi/src/operation_mode.hpp +++ b/system/autoware_default_adapi/src/operation_mode.hpp @@ -15,8 +15,8 @@ #ifndef OPERATION_MODE_HPP_ #define OPERATION_MODE_HPP_ +#include #include -#include #include #include @@ -45,8 +45,10 @@ class OperationModeNode : public rclcpp::Node using ChangeToAutonomous = autoware_ad_api::operation_mode::ChangeToAutonomous; using ChangeToLocal = autoware_ad_api::operation_mode::ChangeToLocal; using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote; - using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request; - using AutowareControlRequest = system_interface::ChangeAutowareControl::Service::Request; + using OperationModeRequest = + autoware::component_interface_specs::system::ChangeOperationMode::Service::Request; + using AutowareControlRequest = + autoware::component_interface_specs::system::ChangeAutowareControl::Service::Request; using OperationModeAvailability = tier4_system_msgs::msg::OperationModeAvailability; OperationModeState::Message curr_state_; @@ -62,9 +64,9 @@ class OperationModeNode : public rclcpp::Node Srv srv_remote_mode_; Srv srv_enable_control_; Srv srv_disable_control_; - Sub sub_state_; - Cli cli_mode_; - Cli cli_control_; + Sub sub_state_; + Cli cli_mode_; + Cli cli_control_; rclcpp::Subscription::SharedPtr sub_availability_; void on_change_to_stop( diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp index c92bac2f5f139..2b4eaae0e2afb 100644 --- a/system/autoware_default_adapi/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -50,7 +50,8 @@ uint8_t PerceptionNode::mapping( } void PerceptionNode::object_recognize( - const perception_interface::ObjectRecognition::Message::ConstSharedPtr msg) + const autoware::component_interface_specs::perception::ObjectRecognition::Message::ConstSharedPtr + msg) { DynamicObjectArray::Message objects; objects.header = msg->header; diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp index 4eb83c57293ba..af551d874663b 100644 --- a/system/autoware_default_adapi/src/perception.hpp +++ b/system/autoware_default_adapi/src/perception.hpp @@ -15,8 +15,8 @@ #ifndef PERCEPTION_HPP_ #define PERCEPTION_HPP_ +#include #include -#include #include #include @@ -41,8 +41,9 @@ class PerceptionNode : public rclcpp::Node private: Pub pub_object_recognized_; - Sub sub_object_recognized_; - void object_recognize(const perception_interface::ObjectRecognition::Message::ConstSharedPtr msg); + Sub sub_object_recognized_; + void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition:: + Message::ConstSharedPtr msg); uint8_t mapping( std::unordered_map hash_map, uint8_t input, uint8_t default_value); }; diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp index f67de9f7b9221..50e044bec018c 100644 --- a/system/autoware_default_adapi/src/planning.hpp +++ b/system/autoware_default_adapi/src/planning.hpp @@ -15,10 +15,10 @@ #ifndef PLANNING_HPP_ #define PLANNING_HPP_ +#include +#include #include #include -#include -#include #include #include @@ -40,8 +40,8 @@ class PlanningNode : public rclcpp::Node using SteeringFactorArray = autoware_adapi_v1_msgs::msg::SteeringFactorArray; Pub pub_velocity_factors_; Pub pub_steering_factors_; - Sub sub_trajectory_; - Sub sub_kinematic_state_; + Sub sub_trajectory_; + Sub sub_kinematic_state_; std::vector::SharedPtr> sub_velocity_factors_; std::vector::SharedPtr> sub_steering_factors_; std::vector velocity_factors_; @@ -49,8 +49,8 @@ class PlanningNode : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_; using VehicleStopChecker = autoware::motion_utils::VehicleStopCheckerBase; - using Trajectory = planning_interface::Trajectory::Message; - using KinematicState = localization_interface::KinematicState::Message; + using Trajectory = autoware::component_interface_specs::planning::Trajectory::Message; + using KinematicState = autoware::component_interface_specs::localization::KinematicState::Message; void on_trajectory(const Trajectory::ConstSharedPtr msg); void on_kinematic_state(const KinematicState::ConstSharedPtr msg); void on_timer(); diff --git a/system/autoware_default_adapi/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp index 767cfc37d3f25..bdb745b0e0dac 100644 --- a/system/autoware_default_adapi/src/routing.cpp +++ b/system/autoware_default_adapi/src/routing.cpp @@ -74,7 +74,8 @@ RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing", void RoutingNode::change_stop_mode() { - using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request; + using OperationModeRequest = + autoware::component_interface_specs::system::ChangeOperationMode::Service::Request; if (is_auto_mode_) { const auto req = std::make_shared(); req->mode = OperationModeRequest::STOP; diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp index 9033373c3a064..b78237697dcf0 100644 --- a/system/autoware_default_adapi/src/routing.hpp +++ b/system/autoware_default_adapi/src/routing.hpp @@ -15,9 +15,9 @@ #ifndef ROUTING_HPP_ #define ROUTING_HPP_ +#include +#include #include -#include -#include #include #include @@ -33,9 +33,9 @@ class RoutingNode : public rclcpp::Node explicit RoutingNode(const rclcpp::NodeOptions & options); private: - using OperationModeState = system_interface::OperationModeState; - using State = planning_interface::RouteState; - using Route = planning_interface::LaneletRoute; + using OperationModeState = autoware::component_interface_specs::system::OperationModeState; + using State = autoware::component_interface_specs::planning::RouteState; + using Route = autoware::component_interface_specs::planning::LaneletRoute; rclcpp::CallbackGroup::SharedPtr group_cli_; Pub pub_state_; @@ -45,13 +45,13 @@ class RoutingNode : public rclcpp::Node Srv srv_change_route_points_; Srv srv_change_route_; Srv srv_clear_route_; - Sub sub_state_; - Sub sub_route_; - Cli cli_set_waypoint_route_; - Cli cli_set_lanelet_route_; - Cli cli_clear_route_; - Cli cli_operation_mode_; - Sub sub_operation_mode_; + Sub sub_state_; + Sub sub_route_; + Cli cli_set_waypoint_route_; + Cli cli_set_lanelet_route_; + Cli cli_clear_route_; + Cli cli_operation_mode_; + Sub sub_operation_mode_; bool is_auto_mode_; State::Message state_; diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp index 5421f382795ef..a38bf9cb9a9b3 100644 --- a/system/autoware_default_adapi/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -24,13 +24,14 @@ namespace autoware::default_adapi { -using GearReport = vehicle_interface::GearStatus::Message; +using GearReport = autoware::component_interface_specs::vehicle::GearStatus::Message; using ApiGear = autoware_adapi_v1_msgs::msg::Gear; -using TurnIndicatorsReport = vehicle_interface::TurnIndicatorStatus::Message; +using TurnIndicatorsReport = + autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message; using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators; -using HazardLightsReport = vehicle_interface::HazardLightStatus::Message; +using HazardLightsReport = autoware::component_interface_specs::vehicle::HazardLightStatus::Message; using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights; -using MapProjectorInfo = map_interface::MapProjectorInfo::Message; +using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo::Message; std::unordered_map gear_type_ = { {GearReport::NONE, ApiGear::UNKNOWN}, {GearReport::NEUTRAL, ApiGear::NEUTRAL}, @@ -89,19 +90,22 @@ uint8_t VehicleNode::mapping( } void VehicleNode::kinematic_state( - const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr + msg_ptr) { kinematic_state_msgs_ = msg_ptr; } void VehicleNode::acceleration_status( - const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr + msg_ptr) { acceleration_msgs_ = msg_ptr; } void VehicleNode::steering_status( - const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr + msg_ptr) { steering_status_msgs_ = msg_ptr; } @@ -122,7 +126,7 @@ void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr m } void VehicleNode::energy_status( - const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr) + const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr msg_ptr) { energy_status_msgs_ = msg_ptr; } diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp index 5e3818340b819..ad03aac9116ea 100644 --- a/system/autoware_default_adapi/src/vehicle.hpp +++ b/system/autoware_default_adapi/src/vehicle.hpp @@ -15,10 +15,10 @@ #ifndef VEHICLE_HPP_ #define VEHICLE_HPP_ +#include +#include +#include #include -#include -#include -#include #include #include @@ -42,37 +42,57 @@ class VehicleNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr group_cli_; Pub pub_kinematics_; Pub pub_status_; - Sub sub_kinematic_state_; - Sub sub_acceleration_; - Sub sub_steering_; - Sub sub_gear_state_; - Sub sub_turn_indicator_; - Sub sub_hazard_light_; - Sub sub_energy_level_; - Sub sub_map_projector_info_; + Sub sub_kinematic_state_; + Sub sub_acceleration_; + Sub sub_steering_; + Sub sub_gear_state_; + Sub sub_turn_indicator_; + Sub sub_hazard_light_; + Sub sub_energy_level_; + Sub sub_map_projector_info_; rclcpp::TimerBase::SharedPtr timer_; - localization_interface::KinematicState::Message::ConstSharedPtr kinematic_state_msgs_; - localization_interface::Acceleration::Message::ConstSharedPtr acceleration_msgs_; - vehicle_interface::SteeringStatus::Message::ConstSharedPtr steering_status_msgs_; - vehicle_interface::GearStatus::Message::ConstSharedPtr gear_status_msgs_; - vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr turn_indicator_status_msgs_; - vehicle_interface::HazardLightStatus::Message::ConstSharedPtr hazard_light_status_msgs_; - vehicle_interface::EnergyStatus::Message::ConstSharedPtr energy_status_msgs_; - map_interface::MapProjectorInfo::Message::ConstSharedPtr map_projector_info_; + autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr + kinematic_state_msgs_; + autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr + acceleration_msgs_; + autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr + steering_status_msgs_; + autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr + gear_status_msgs_; + autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr + turn_indicator_status_msgs_; + autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr + hazard_light_status_msgs_; + autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr + energy_status_msgs_; + autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr + map_projector_info_; void kinematic_state( - const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr + msg_ptr); void acceleration_status( - const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr); - void steering_status(const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr); - void gear_status(const vehicle_interface::GearStatus::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr + msg_ptr); + void steering_status( + const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr + msg_ptr); + void gear_status( + const autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr + msg_ptr); void turn_indicator_status( - const vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr); - void map_projector_info(const map_interface::MapProjectorInfo::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr + msg_ptr); + void map_projector_info( + const autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr + msg_ptr); void hazard_light_status( - const vehicle_interface::HazardLightStatus::Message::ConstSharedPtr msg_ptr); - void energy_status(const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr); + const autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr + msg_ptr); + void energy_status( + const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr + msg_ptr); uint8_t mapping( std::unordered_map hash_map, uint8_t input, uint8_t default_value); void publish_kinematics(); diff --git a/system/autoware_default_adapi/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp index e897bc37eff42..259ef907097de 100644 --- a/system/autoware_default_adapi/src/vehicle_door.cpp +++ b/system/autoware_default_adapi/src/vehicle_door.cpp @@ -30,10 +30,12 @@ VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options) adaptor.init_sub(sub_status_, this, &VehicleDoorNode::on_status); } -void VehicleDoorNode::on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg) +void VehicleDoorNode::on_status( + autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg) { utils::notify( - pub_status_, status_, *msg, utils::ignore_stamp); + pub_status_, status_, *msg, + utils::ignore_stamp); } } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp index 8f6c2da83247d..9b04b08adb438 100644 --- a/system/autoware_default_adapi/src/vehicle_door.hpp +++ b/system/autoware_default_adapi/src/vehicle_door.hpp @@ -15,8 +15,8 @@ #ifndef VEHICLE_DOOR_HPP_ #define VEHICLE_DOOR_HPP_ +#include #include -#include #include #include @@ -33,15 +33,16 @@ class VehicleDoorNode : public rclcpp::Node explicit VehicleDoorNode(const rclcpp::NodeOptions & options); private: - void on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg); + void on_status( + autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg); rclcpp::CallbackGroup::SharedPtr group_cli_; Srv srv_command_; Srv srv_layout_; Pub pub_status_; - Cli cli_command_; - Cli cli_layout_; - Sub sub_status_; - std::optional status_; + Cli cli_command_; + Cli cli_layout_; + Sub sub_status_; + std::optional status_; }; } // namespace autoware::default_adapi diff --git a/vehicle/autoware_external_cmd_converter/CMakeLists.txt b/vehicle/autoware_external_cmd_converter/CMakeLists.txt index 27a256ea775c5..01e82c99a9c4d 100644 --- a/vehicle/autoware_external_cmd_converter/CMakeLists.txt +++ b/vehicle/autoware_external_cmd_converter/CMakeLists.txt @@ -13,6 +13,16 @@ rclcpp_components_register_node(autoware_external_cmd_converter EXECUTABLE external_cmd_converter_node ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + tests/test_external_cmd_converter.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + autoware_external_cmd_converter + ) +endif() + + ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/vehicle/autoware_external_cmd_converter/config/test_external_cmd_converter.param.yaml b/vehicle/autoware_external_cmd_converter/config/test_external_cmd_converter.param.yaml new file mode 100644 index 0000000000000..caba3777feeaf --- /dev/null +++ b/vehicle/autoware_external_cmd_converter/config/test_external_cmd_converter.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + csv_path_accel_map: $(var csv_path_accel_map) + csv_path_brake_map: $(var csv_path_brake_map) + ref_vel_gain: 0.2 + timer_rate: 0.5 + wait_for_first_topic: false + control_command_timeout: 2.0 + emergency_stop_timeout: 2.0 diff --git a/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp index c219c162d6b37..8d045279fc281 100644 --- a/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp +++ b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp @@ -32,6 +32,8 @@ #include #include +class TestExternalCmdConverter; + namespace autoware::external_cmd_converter { using GearCommand = autoware_vehicle_msgs::msg::GearCommand; @@ -103,6 +105,8 @@ class ExternalCmdConverterNode : public rclcpp::Node double calculate_acc(const ExternalControlCommand & cmd, const double vel); double get_shift_velocity_sign(const GearCommand & cmd); + + friend class ::TestExternalCmdConverter; }; } // namespace autoware::external_cmd_converter diff --git a/vehicle/autoware_external_cmd_converter/package.xml b/vehicle/autoware_external_cmd_converter/package.xml index f98c14f4fd2c3..59e2077d45cc5 100644 --- a/vehicle/autoware_external_cmd_converter/package.xml +++ b/vehicle/autoware_external_cmd_converter/package.xml @@ -15,6 +15,7 @@ autoware_control_msgs autoware_raw_vehicle_cmd_converter + autoware_test_utils autoware_vehicle_msgs diagnostic_updater geometry_msgs @@ -26,6 +27,7 @@ tier4_external_api_msgs tier4_system_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index 22fc1c319a4e3..0f7166c71fbff 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -15,6 +15,7 @@ #include "autoware_external_cmd_converter/node.hpp" #include +#include #include #include #include @@ -147,6 +148,14 @@ double ExternalCmdConverterNode::calculate_acc(const ExternalControlCommand & cm { const double desired_throttle = cmd.control.throttle; const double desired_brake = cmd.control.brake; + if ( + std::isnan(desired_throttle) || std::isnan(desired_brake) || std::isinf(desired_throttle) || + std::isinf(desired_brake)) { + std::cerr << "Input brake or throttle is out of range. returning 0.0 acceleration." + << std::endl; + return 0.0; + } + const double desired_pedal = desired_throttle - desired_brake; double ref_acceleration = 0.0; diff --git a/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp b/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp new file mode 100644 index 0000000000000..a508359af60e8 --- /dev/null +++ b/vehicle/autoware_external_cmd_converter/tests/test_external_cmd_converter.cpp @@ -0,0 +1,284 @@ +// Copyright 2024 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 "autoware_external_cmd_converter/node.hpp" + +#include +#include +#include +#include +#include + +#include + +#include +#include +using autoware::external_cmd_converter::ExternalCmdConverterNode; +using nav_msgs::msg::Odometry; +using tier4_control_msgs::msg::GateMode; +using GearCommand = autoware_vehicle_msgs::msg::GearCommand; +using autoware_control_msgs::msg::Control; +using ExternalControlCommand = tier4_external_api_msgs::msg::ControlCommandStamped; +using autoware::raw_vehicle_cmd_converter::AccelMap; +using autoware::raw_vehicle_cmd_converter::BrakeMap; + +class TestExternalCmdConverter : public ::testing::Test +{ +public: + void SetUp() override + { + rclcpp::init(0, nullptr); + set_up_node(); + } + + void set_up_node() + { + auto node_options = rclcpp::NodeOptions{}; + const auto external_cmd_converter_dir = + ament_index_cpp::get_package_share_directory("autoware_external_cmd_converter"); + node_options.arguments( + {"--ros-args", "--params-file", + external_cmd_converter_dir + "/config/test_external_cmd_converter.param.yaml"}); + external_cmd_converter_ = std::make_shared(node_options); + } + + void TearDown() override + { + external_cmd_converter_ = nullptr; + rclcpp::shutdown(); + } + + /** + * @brief Test the external command converter's check_remote_topic_rate method under + * different circumstances: + * @param received_data wether to simulate if the emergency heartbeat and gate mode messages have + * been received or not + * @param is_external set the gate mode to Auto or External + * @param time_has_passed wether to sleep for a certain time to make sure the timeout period of + * the function has expired or not. + */ + bool test_check_remote_topic_rate(bool received_data, bool is_auto, bool time_has_passed) + { + if (!received_data) { + return external_cmd_converter_->check_remote_topic_rate(); + } + GateMode gate; + gate.data = (is_auto) ? tier4_control_msgs::msg::GateMode::AUTO + : tier4_control_msgs::msg::GateMode::EXTERNAL; + external_cmd_converter_->current_gate_mode_ = std::make_shared(gate); + external_cmd_converter_->latest_cmd_received_time_ = + std::make_shared(external_cmd_converter_->now()); + + if (!time_has_passed) { + return external_cmd_converter_->check_remote_topic_rate(); + } + const int sleep_time = static_cast(external_cmd_converter_->control_command_timeout_) + 1; + std::this_thread::sleep_for(std::chrono::seconds(sleep_time)); + return external_cmd_converter_->check_remote_topic_rate(); + } + + /** + * @brief Test the external command converter's check_emergency_stop_topic_timeout method under + * different circumstances: + * @param received_data wether to simulate if the emergency heartbeat and gate mode messages have + * been received or not + * @param is_auto set the gate mode to Auto or External + * @param time_has_passed wether to sleep for a certain time to make sure the timeout period of + * the function has expired or not. + */ + bool test_check_emergency_stop_topic_timeout( + bool received_data, bool is_auto, bool time_has_passed) + { + if (!received_data) { + return external_cmd_converter_->check_emergency_stop_topic_timeout(); + } + tier4_external_api_msgs::msg::Heartbeat::ConstSharedPtr msg; + external_cmd_converter_->on_emergency_stop_heartbeat(msg); + GateMode gate; + gate.data = (is_auto) ? tier4_control_msgs::msg::GateMode::AUTO + : tier4_control_msgs::msg::GateMode::EXTERNAL; + external_cmd_converter_->current_gate_mode_ = std::make_shared(gate); + + const int sleep_time = static_cast(external_cmd_converter_->emergency_stop_timeout_) + 1; + if (time_has_passed) std::this_thread::sleep_for(std::chrono::seconds(sleep_time)); + return external_cmd_converter_->check_emergency_stop_topic_timeout(); + } + + /** + * @brief Test the external command converter's get_shift_velocity_sign. This function is a + * wrapper to call the converter's function during the test and does nothing but pass the command + * to the function. + * @param cmd the command to be passed to the get_shift_velocity_sign member function. + */ + double test_get_shift_velocity_sign(const GearCommand & cmd) + { + return external_cmd_converter_->get_shift_velocity_sign(cmd); + } + + /** + * @brief Helper function to initialize the accel and brake maps for testing. + */ + void initialize_maps(const std::string & accel_map, const std::string & brake_map) + { + external_cmd_converter_->accel_map_.readAccelMapFromCSV(accel_map); + external_cmd_converter_->brake_map_.readBrakeMapFromCSV(brake_map); + external_cmd_converter_->acc_map_initialized_ = true; + } + + /** + * @brief Test the external command converter's calculate_acc. This function is a + * wrapper to call the converter's function during the test and does nothing but pass the command + * to the function. + * @param cmd the command to be passed to the calculate_acc member function. + * @param vel the velocity to be passed to the calculate_acc member function. + */ + double test_calculate_acc( + + const ExternalControlCommand & cmd, const double vel) + { + return external_cmd_converter_->calculate_acc(cmd, vel); + } + + std::shared_ptr external_cmd_converter_; +}; + +/** + * @brief Test the external command converter's check_emergency_stop_topic_timeout method under + * different circumstances by setting different combinations of conditions for the function + * execution. the test_check_emergency_stop_topic_timeout() function's brief should be read for + * further details. + */ +TEST_F(TestExternalCmdConverter, testCheckEmergencyStopTimeout) +{ + EXPECT_TRUE(test_check_emergency_stop_topic_timeout(false, false, false)); + EXPECT_FALSE(test_check_emergency_stop_topic_timeout(true, true, false)); + EXPECT_TRUE(test_check_emergency_stop_topic_timeout(true, false, false)); + EXPECT_FALSE(test_check_emergency_stop_topic_timeout(true, false, true)); +} + +/** + * @brief Test the external command converter's check_remote_topic_rate method under + * different circumstances by setting different combinations of conditions for the function + * execution. the test_check_remote_topic_rate() function's brief should be read for further + * details. + */ +TEST_F(TestExternalCmdConverter, testRemoteTopicRate) +{ + EXPECT_TRUE(test_check_remote_topic_rate(false, false, false)); + EXPECT_TRUE(test_check_remote_topic_rate(true, true, false)); + EXPECT_TRUE(test_check_remote_topic_rate(true, true, true)); + EXPECT_FALSE(test_check_remote_topic_rate(true, false, true)); +} + +/** + * @brief Test the external command converter's get_shift_velocity_sign function. It tests different + * combinations of input commands for the functions. + */ +TEST_F(TestExternalCmdConverter, testGetShiftVelocitySign) +{ + GearCommand cmd; + cmd.command = GearCommand::DRIVE; + EXPECT_DOUBLE_EQ(1.0, test_get_shift_velocity_sign(cmd)); + cmd.command = GearCommand::LOW; + EXPECT_DOUBLE_EQ(1.0, test_get_shift_velocity_sign(cmd)); + cmd.command = GearCommand::REVERSE; + EXPECT_DOUBLE_EQ(-1.0, test_get_shift_velocity_sign(cmd)); + cmd.command = GearCommand::LOW_2; + EXPECT_DOUBLE_EQ(0.0, test_get_shift_velocity_sign(cmd)); +} + +/** + * @brief Test the external command converter's calculate_acc function. It tests different + * combinations of input commands and velocities for the functions. + */ +TEST_F(TestExternalCmdConverter, testCalculateAcc) +{ + const auto map_dir = + ament_index_cpp::get_package_share_directory("autoware_raw_vehicle_cmd_converter"); + const auto accel_map_path = map_dir + "/data/default/accel_map.csv"; + const auto brake_map_path = map_dir + "/data/default/brake_map.csv"; + initialize_maps(accel_map_path, brake_map_path); + + // test standard cases + { + ExternalControlCommand cmd; + cmd.control.throttle = 1.0; + cmd.control.brake = 0.0; + double vel = 0.0; + EXPECT_TRUE(test_calculate_acc(cmd, vel) > 0.0); + cmd.control.throttle = 0.0; + cmd.control.brake = 1.0; + EXPECT_TRUE(test_calculate_acc(cmd, vel) < 0.0); + + cmd.control.throttle = 1.0; + cmd.control.brake = 0.5; + vel = 1.0; + EXPECT_TRUE(test_calculate_acc(cmd, vel) > 0.0); + cmd.control.throttle = 0.5; + cmd.control.brake = 1.0; + EXPECT_TRUE(test_calculate_acc(cmd, vel) < 0.0); + } + // test border cases + { + // input brake or throttle are infinite. finite velocity. + ExternalControlCommand cmd; + cmd.control.throttle = std::numeric_limits::infinity(); + cmd.control.brake = 0.0; + double vel = 0.0; + double acc = test_calculate_acc(cmd, vel); + EXPECT_DOUBLE_EQ(acc, 0.0); + cmd.control.throttle = 0.0; + cmd.control.brake = std::numeric_limits::infinity(); + acc = test_calculate_acc(cmd, vel); + EXPECT_DOUBLE_EQ(acc, 0.0); + + // input brake or throttle are infinite. velocity is infinite. + // Check that acc is not NaN and not infinite + + vel = std::numeric_limits::infinity(); + cmd.control.throttle = std::numeric_limits::infinity(); + cmd.control.brake = 0.0; + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + cmd.control.throttle = 0.0; + cmd.control.brake = std::numeric_limits::infinity(); + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + + cmd.control.throttle = std::numeric_limits::infinity(); + cmd.control.brake = std::numeric_limits::infinity(); + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + + cmd.control.throttle = std::numeric_limits::quiet_NaN(); + cmd.control.brake = std::numeric_limits::quiet_NaN(); + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + + cmd.control.throttle = std::numeric_limits::signaling_NaN(); + cmd.control.brake = std::numeric_limits::signaling_NaN(); + acc = test_calculate_acc(cmd, vel); + EXPECT_FALSE(std::isnan(acc)); + EXPECT_FALSE(std::isinf(acc)); + EXPECT_DOUBLE_EQ(acc, 0.0); + } +}