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node.cpp
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// Copyright 2020 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 "obstacle_avoidance_planner/node.hpp"
#include "interpolation/spline_interpolation_points_2d.hpp"
#include "obstacle_avoidance_planner/cv_utils.hpp"
#include "obstacle_avoidance_planner/debug_visualization.hpp"
#include "obstacle_avoidance_planner/utils.hpp"
#include "rclcpp/time.hpp"
#include "tf2/utils.h"
#include "tier4_autoware_utils/ros/update_param.hpp"
#include "tier4_autoware_utils/trajectory/tmp_conversion.hpp"
#include "vehicle_info_util/vehicle_info_util.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "std_msgs/msg/bool.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
#include <algorithm>
#include <chrono>
#include <limits>
#include <memory>
#include <string>
#include <vector>
namespace
{
template <typename T1, typename T2>
size_t searchExtendedZeroVelocityIndex(
const std::vector<T1> & fine_points, const std::vector<T2> & vel_points)
{
const auto opt_zero_vel_idx = tier4_autoware_utils::searchZeroVelocityIndex(vel_points);
const size_t zero_vel_idx = opt_zero_vel_idx ? opt_zero_vel_idx.get() : vel_points.size() - 1;
return tier4_autoware_utils::findNearestIndex(
fine_points, vel_points.at(zero_vel_idx).pose.position);
}
bool isPathShapeChanged(
const geometry_msgs::msg::Pose & ego_pose,
const std::vector<autoware_auto_planning_msgs::msg::PathPoint> & path_points,
const std::unique_ptr<std::vector<autoware_auto_planning_msgs::msg::PathPoint>> &
prev_path_points,
const double max_mpt_length, const double max_path_shape_change_dist,
const double delta_yaw_threshold)
{
if (!prev_path_points) {
return false;
}
// truncate prev points from ego pose to fixed end points
const auto opt_prev_begin_idx = tier4_autoware_utils::findNearestIndex(
*prev_path_points, ego_pose, std::numeric_limits<double>::max(), delta_yaw_threshold);
const size_t prev_begin_idx = opt_prev_begin_idx ? *opt_prev_begin_idx : 0;
const auto truncated_prev_points =
points_utils::clipForwardPoints(*prev_path_points, prev_begin_idx, max_mpt_length);
// truncate points from ego pose to fixed end points
const auto opt_begin_idx = tier4_autoware_utils::findNearestIndex(
path_points, ego_pose, std::numeric_limits<double>::max(), delta_yaw_threshold);
const size_t begin_idx = opt_begin_idx ? *opt_begin_idx : 0;
const auto truncated_points =
points_utils::clipForwardPoints(path_points, begin_idx, max_mpt_length);
// guard for lateral offset
if (truncated_prev_points.size() < 2 || truncated_points.size() < 2) {
return false;
}
// calculate lateral deviations between truncated path_points and prev_path_points
for (const auto & prev_point : truncated_prev_points) {
const double dist =
std::abs(tier4_autoware_utils::calcLateralOffset(truncated_points, prev_point.pose.position));
if (dist > max_path_shape_change_dist) {
return true;
}
}
return false;
}
bool isPathGoalChanged(
const double current_vel,
const std::vector<autoware_auto_planning_msgs::msg::PathPoint> & path_points,
const std::unique_ptr<std::vector<autoware_auto_planning_msgs::msg::PathPoint>> &
prev_path_points)
{
if (!prev_path_points) {
return false;
}
constexpr double min_vel = 1e-3;
if (std::abs(current_vel) > min_vel) {
return false;
}
// NOTE: Path may be cropped and does not contain the goal.
// Therefore we set a large value to distance threshold.
constexpr double max_goal_moving_dist = 1.0;
const double goal_moving_dist =
tier4_autoware_utils::calcDistance2d(path_points.back(), prev_path_points->back());
if (goal_moving_dist < max_goal_moving_dist) {
return false;
}
return true;
}
bool hasValidNearestPointFromEgo(
const geometry_msgs::msg::Pose & ego_pose, const Trajectories & trajs,
const TrajectoryParam & traj_param)
{
const auto traj = trajs.model_predictive_trajectory;
const auto interpolated_points =
interpolation_utils::getInterpolatedPoints(traj, traj_param.delta_arc_length_for_trajectory);
const auto interpolated_poses_with_yaw =
points_utils::convertToPosesWithYawEstimation(interpolated_points);
const auto opt_nearest_idx = tier4_autoware_utils::findNearestIndex(
interpolated_poses_with_yaw, ego_pose, traj_param.delta_dist_threshold_for_closest_point,
traj_param.delta_yaw_threshold_for_closest_point);
if (!opt_nearest_idx) {
return false;
}
return true;
}
std::tuple<std::vector<double>, std::vector<double>> calcVehicleCirclesInfo(
const VehicleParam & vehicle_param, const size_t circle_num, const double rear_radius_ratio,
const double front_radius_ratio)
{
std::vector<double> longitudinal_offsets;
std::vector<double> radiuses;
{ // 1st circle (rear)
longitudinal_offsets.push_back(-vehicle_param.rear_overhang);
radiuses.push_back(vehicle_param.width / 2.0 * rear_radius_ratio);
}
{ // 2nd circle (front)
const double radius = std::hypot(
vehicle_param.length / static_cast<double>(circle_num) / 2.0, vehicle_param.width / 2.0);
const double unit_lon_length = vehicle_param.length / static_cast<double>(circle_num);
const double longitudinal_offset =
unit_lon_length / 2.0 + unit_lon_length * (circle_num - 1) - vehicle_param.rear_overhang;
longitudinal_offsets.push_back(longitudinal_offset);
radiuses.push_back(radius * front_radius_ratio);
}
return {radiuses, longitudinal_offsets};
}
std::tuple<std::vector<double>, std::vector<double>> calcVehicleCirclesInfo(
const VehicleParam & vehicle_param, const size_t circle_num, const double radius_ratio)
{
std::vector<double> longitudinal_offsets;
std::vector<double> radiuses;
const double radius =
std::hypot(
vehicle_param.length / static_cast<double>(circle_num) / 2.0, vehicle_param.width / 2.0) *
radius_ratio;
const double unit_lon_length = vehicle_param.length / static_cast<double>(circle_num);
for (size_t i = 0; i < circle_num; ++i) {
longitudinal_offsets.push_back(
unit_lon_length / 2.0 + unit_lon_length * i - vehicle_param.rear_overhang);
radiuses.push_back(radius);
}
return {radiuses, longitudinal_offsets};
}
[[maybe_unused]] void fillYawInTrajectoryPoint(
std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> & traj_points)
{
std::vector<geometry_msgs::msg::Point> points;
for (const auto & traj_point : traj_points) {
points.push_back(traj_point.pose.position);
}
const auto yaw_vec = interpolation::slerpYawFromPoints(points);
for (size_t i = 0; i < traj_points.size(); ++i) {
traj_points.at(i).pose.orientation =
tier4_autoware_utils::createQuaternionFromYaw(yaw_vec.at(i));
}
}
[[maybe_unused]] size_t findNearestIndexWithSoftYawConstraints(
const std::vector<geometry_msgs::msg::Point> & points, const geometry_msgs::msg::Pose & pose,
const double dist_threshold, const double yaw_threshold)
{
const auto points_with_yaw = points_utils::convertToPosesWithYawEstimation(points);
const auto nearest_idx_optional =
tier4_autoware_utils::findNearestIndex(points_with_yaw, pose, dist_threshold, yaw_threshold);
return nearest_idx_optional
? *nearest_idx_optional
: tier4_autoware_utils::findNearestIndex(points_with_yaw, pose.position);
}
} // namespace
ObstacleAvoidancePlanner::ObstacleAvoidancePlanner(const rclcpp::NodeOptions & node_options)
: Node("obstacle_avoidance_planner", node_options),
logger_ros_clock_(RCL_ROS_TIME),
eb_solved_count_(0)
{
rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
// qos
rclcpp::QoS durable_qos{1};
durable_qos.transient_local();
// publisher to other nodes
traj_pub_ = create_publisher<autoware_auto_planning_msgs::msg::Trajectory>("~/output/path", 1);
// debug publisher
debug_eb_traj_pub_ = create_publisher<autoware_auto_planning_msgs::msg::Trajectory>(
"~/debug/eb_trajectory", durable_qos);
debug_extended_fixed_traj_pub_ = create_publisher<autoware_auto_planning_msgs::msg::Trajectory>(
"~/debug/extended_fixed_traj", 1);
debug_extended_non_fixed_traj_pub_ =
create_publisher<autoware_auto_planning_msgs::msg::Trajectory>(
"~/debug/extended_non_fixed_traj", 1);
debug_mpt_fixed_traj_pub_ =
create_publisher<autoware_auto_planning_msgs::msg::Trajectory>("~/debug/mpt_fixed_traj", 1);
debug_mpt_ref_traj_pub_ =
create_publisher<autoware_auto_planning_msgs::msg::Trajectory>("~/debug/mpt_ref_traj", 1);
debug_mpt_traj_pub_ =
create_publisher<autoware_auto_planning_msgs::msg::Trajectory>("~/debug/mpt_traj", 1);
debug_markers_pub_ =
create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/marker", durable_qos);
debug_wall_markers_pub_ =
create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/wall_marker", durable_qos);
debug_clearance_map_pub_ =
create_publisher<nav_msgs::msg::OccupancyGrid>("~/debug/clearance_map", durable_qos);
debug_object_clearance_map_pub_ =
create_publisher<nav_msgs::msg::OccupancyGrid>("~/debug/object_clearance_map", durable_qos);
debug_area_with_objects_pub_ =
create_publisher<nav_msgs::msg::OccupancyGrid>("~/debug/area_with_objects", durable_qos);
debug_msg_pub_ =
create_publisher<tier4_debug_msgs::msg::StringStamped>("~/debug/calculation_time", 1);
// subscriber
path_sub_ = create_subscription<autoware_auto_planning_msgs::msg::Path>(
"~/input/path", rclcpp::QoS{1},
std::bind(&ObstacleAvoidancePlanner::pathCallback, this, std::placeholders::_1));
odom_sub_ = create_subscription<nav_msgs::msg::Odometry>(
"/localization/kinematic_state", rclcpp::QoS{1},
std::bind(&ObstacleAvoidancePlanner::odomCallback, this, std::placeholders::_1));
objects_sub_ = create_subscription<autoware_auto_perception_msgs::msg::PredictedObjects>(
"~/input/objects", rclcpp::QoS{10},
std::bind(&ObstacleAvoidancePlanner::objectsCallback, this, std::placeholders::_1));
is_avoidance_sub_ = create_subscription<tier4_planning_msgs::msg::EnableAvoidance>(
"/planning/scenario_planning/lane_driving/obstacle_avoidance_approval", rclcpp::QoS{10},
std::bind(&ObstacleAvoidancePlanner::enableAvoidanceCallback, this, std::placeholders::_1));
{ // vehicle param
vehicle_param_ = VehicleParam{};
const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();
vehicle_param_.width = vehicle_info.vehicle_width_m;
vehicle_param_.length = vehicle_info.vehicle_length_m;
vehicle_param_.wheelbase = vehicle_info.wheel_base_m;
vehicle_param_.rear_overhang = vehicle_info.rear_overhang_m;
vehicle_param_.front_overhang = vehicle_info.front_overhang_m;
}
{ // option parameter
is_publishing_debug_visualization_marker_ =
declare_parameter<bool>("option.is_publishing_debug_visualization_marker");
is_publishing_clearance_map_ = declare_parameter<bool>("option.is_publishing_clearance_map");
is_publishing_object_clearance_map_ =
declare_parameter<bool>("option.is_publishing_object_clearance_map");
is_publishing_area_with_objects_ =
declare_parameter<bool>("option.is_publishing_area_with_objects");
is_showing_debug_info_ = declare_parameter<bool>("option.is_showing_debug_info");
is_showing_calculation_time_ = declare_parameter<bool>("option.is_showing_calculation_time");
is_stopping_if_outside_drivable_area_ =
declare_parameter<bool>("option.is_stopping_if_outside_drivable_area");
enable_avoidance_ = declare_parameter<bool>("option.enable_avoidance");
enable_pre_smoothing_ = declare_parameter<bool>("option.enable_pre_smoothing");
skip_optimization_ = declare_parameter<bool>("option.skip_optimization");
reset_prev_optimization_ = declare_parameter<bool>("option.reset_prev_optimization");
}
{ // trajectory parameter
traj_param_ = TrajectoryParam{};
// common
traj_param_.num_sampling_points = declare_parameter<int>("common.num_sampling_points");
traj_param_.trajectory_length = declare_parameter<double>("common.trajectory_length");
traj_param_.forward_fixing_min_distance =
declare_parameter<double>("common.forward_fixing_min_distance");
traj_param_.forward_fixing_min_time =
declare_parameter<double>("common.forward_fixing_min_time");
traj_param_.backward_fixing_distance =
declare_parameter<double>("common.backward_fixing_distance");
traj_param_.delta_arc_length_for_trajectory =
declare_parameter<double>("common.delta_arc_length_for_trajectory");
traj_param_.delta_dist_threshold_for_closest_point =
declare_parameter<double>("common.delta_dist_threshold_for_closest_point");
traj_param_.delta_yaw_threshold_for_closest_point =
declare_parameter<double>("common.delta_yaw_threshold_for_closest_point");
traj_param_.delta_yaw_threshold_for_straight =
declare_parameter<double>("common.delta_yaw_threshold_for_straight");
traj_param_.num_fix_points_for_extending =
declare_parameter<int>("common.num_fix_points_for_extending");
traj_param_.max_dist_for_extending_end_point =
declare_parameter<double>("common.max_dist_for_extending_end_point");
// object
traj_param_.max_avoiding_ego_velocity_ms =
declare_parameter<double>("object.max_avoiding_ego_velocity_ms");
traj_param_.max_avoiding_objects_velocity_ms =
declare_parameter<double>("object.max_avoiding_objects_velocity_ms");
traj_param_.is_avoiding_unknown =
declare_parameter<bool>("object.avoiding_object_type.unknown", true);
traj_param_.is_avoiding_car = declare_parameter<bool>("object.avoiding_object_type.car", true);
traj_param_.is_avoiding_truck =
declare_parameter<bool>("object.avoiding_object_type.truck", true);
traj_param_.is_avoiding_bus = declare_parameter<bool>("object.avoiding_object_type.bus", true);
traj_param_.is_avoiding_bicycle =
declare_parameter<bool>("object.avoiding_object_type.bicycle", true);
traj_param_.is_avoiding_motorbike =
declare_parameter<bool>("object.avoiding_object_type.motorbike", true);
traj_param_.is_avoiding_pedestrian =
declare_parameter<bool>("object.avoiding_object_type.pedestrian", true);
traj_param_.is_avoiding_animal =
declare_parameter<bool>("object.avoiding_object_type.animal", true);
}
{ // elastic band parameter
eb_param_ = EBParam{};
// common
eb_param_.num_joint_buffer_points =
declare_parameter<int>("advanced.eb.common.num_joint_buffer_points");
eb_param_.num_offset_for_begin_idx =
declare_parameter<int>("advanced.eb.common.num_offset_for_begin_idx");
eb_param_.delta_arc_length_for_eb =
declare_parameter<double>("advanced.eb.common.delta_arc_length_for_eb");
eb_param_.num_sampling_points_for_eb =
declare_parameter<int>("advanced.eb.common.num_sampling_points_for_eb");
// clearance
eb_param_.clearance_for_straight_line =
declare_parameter<double>("advanced.eb.clearance.clearance_for_straight_line");
eb_param_.clearance_for_joint =
declare_parameter<double>("advanced.eb.clearance.clearance_for_joint");
eb_param_.clearance_for_only_smoothing =
declare_parameter<double>("advanced.eb.clearance.clearance_for_only_smoothing");
// qp
eb_param_.qp_param.max_iteration = declare_parameter<int>("advanced.eb.qp.max_iteration");
eb_param_.qp_param.eps_abs = declare_parameter<double>("advanced.eb.qp.eps_abs");
eb_param_.qp_param.eps_rel = declare_parameter<double>("advanced.eb.qp.eps_rel");
// other
eb_param_.clearance_for_fixing = 0.0;
}
{ // mpt param
mpt_param_ = MPTParam{};
// option
// TODO(murooka) implement plan_from_ego
mpt_param_.plan_from_ego = false;
// mpt_param_.plan_from_ego = declare_parameter<bool>("mpt.option.plan_from_ego");
mpt_param_.steer_limit_constraint =
declare_parameter<bool>("mpt.option.steer_limit_constraint");
mpt_param_.fix_points_around_ego = declare_parameter<bool>("mpt.option.fix_points_around_ego");
mpt_param_.enable_warm_start = declare_parameter<bool>("mpt.option.enable_warm_start");
mpt_param_.enable_manual_warm_start =
declare_parameter<bool>("mpt.option.enable_manual_warm_start");
mpt_visualize_sampling_num_ = declare_parameter<int>("mpt.option.visualize_sampling_num");
// common
mpt_param_.num_curvature_sampling_points =
declare_parameter<int>("mpt.common.num_curvature_sampling_points");
mpt_param_.delta_arc_length_for_mpt_points =
declare_parameter<double>("mpt.common.delta_arc_length_for_mpt_points");
// kinematics
mpt_param_.max_steer_rad =
declare_parameter<double>("mpt.kinematics.max_steer_deg") * M_PI / 180.0;
// By default, optimization_center_offset will be vehicle_info.wheel_base * 0.8
// The 0.8 scale is adopted as it performed the best.
constexpr double default_wheelbase_ratio = 0.8;
mpt_param_.optimization_center_offset = declare_parameter<double>(
"mpt.kinematics.optimization_center_offset",
vehicle_param_.wheelbase * default_wheelbase_ratio);
// bounds search
mpt_param_.bounds_search_widths =
declare_parameter<std::vector<double>>("advanced.mpt.bounds_search_widths");
// collision free constraints
mpt_param_.l_inf_norm =
declare_parameter<bool>("advanced.mpt.collision_free_constraints.option.l_inf_norm");
mpt_param_.soft_constraint =
declare_parameter<bool>("advanced.mpt.collision_free_constraints.option.soft_constraint");
mpt_param_.hard_constraint =
declare_parameter<bool>("advanced.mpt.collision_free_constraints.option.hard_constraint");
// TODO(murooka) implement two-step soft constraint
mpt_param_.two_step_soft_constraint = false;
// mpt_param_.two_step_soft_constraint =
// declare_parameter<bool>("advanced.mpt.collision_free_constraints.option.two_step_soft_constraint");
{ // vehicle_circles
// NOTE: Vehicle shape for collision free constraints is considered as a set of circles
vehicle_circle_method_ = declare_parameter<std::string>(
"advanced.mpt.collision_free_constraints.vehicle_circles.method");
if (vehicle_circle_method_ == "uniform_circle") {
vehicle_circle_num_for_calculation_ = declare_parameter<int>(
"advanced.mpt.collision_free_constraints.vehicle_circles.uniform_circle.num");
vehicle_circle_radius_ratios_.push_back(declare_parameter<double>(
"advanced.mpt.collision_free_constraints.vehicle_circles.uniform_circle.radius_ratio"));
std::tie(
mpt_param_.vehicle_circle_radiuses, mpt_param_.vehicle_circle_longitudinal_offsets) =
calcVehicleCirclesInfo(
vehicle_param_, vehicle_circle_num_for_calculation_,
vehicle_circle_radius_ratios_.front());
} else if (vehicle_circle_method_ == "rear_drive") {
vehicle_circle_num_for_calculation_ = declare_parameter<int>(
"advanced.mpt.collision_free_constraints.vehicle_circles.rear_drive.num_for_calculation");
vehicle_circle_radius_ratios_.push_back(declare_parameter<double>(
"advanced.mpt.collision_free_constraints.vehicle_circles.rear_drive.rear_radius_ratio"));
vehicle_circle_radius_ratios_.push_back(declare_parameter<double>(
"advanced.mpt.collision_free_constraints.vehicle_circles.rear_drive.front_radius_ratio"));
std::tie(
mpt_param_.vehicle_circle_radiuses, mpt_param_.vehicle_circle_longitudinal_offsets) =
calcVehicleCirclesInfo(
vehicle_param_, vehicle_circle_num_for_calculation_,
vehicle_circle_radius_ratios_.front(), vehicle_circle_radius_ratios_.back());
} else {
throw std::invalid_argument(
"advanced.mpt.collision_free_constraints.vehicle_circles.num parameter is invalid.");
}
}
// clearance
mpt_param_.hard_clearance_from_road =
declare_parameter<double>("advanced.mpt.clearance.hard_clearance_from_road");
mpt_param_.soft_clearance_from_road =
declare_parameter<double>("advanced.mpt.clearance.soft_clearance_from_road");
mpt_param_.soft_second_clearance_from_road =
declare_parameter<double>("advanced.mpt.clearance.soft_second_clearance_from_road");
mpt_param_.extra_desired_clearance_from_road =
declare_parameter<double>("advanced.mpt.clearance.extra_desired_clearance_from_road");
mpt_param_.clearance_from_object =
declare_parameter<double>("advanced.mpt.clearance.clearance_from_object");
// weight
mpt_param_.soft_avoidance_weight =
declare_parameter<double>("advanced.mpt.weight.soft_avoidance_weight");
mpt_param_.soft_second_avoidance_weight =
declare_parameter<double>("advanced.mpt.weight.soft_second_avoidance_weight");
mpt_param_.lat_error_weight = declare_parameter<double>("advanced.mpt.weight.lat_error_weight");
mpt_param_.yaw_error_weight = declare_parameter<double>("advanced.mpt.weight.yaw_error_weight");
mpt_param_.yaw_error_rate_weight =
declare_parameter<double>("advanced.mpt.weight.yaw_error_rate_weight");
mpt_param_.steer_input_weight =
declare_parameter<double>("advanced.mpt.weight.steer_input_weight");
mpt_param_.steer_rate_weight =
declare_parameter<double>("advanced.mpt.weight.steer_rate_weight");
mpt_param_.obstacle_avoid_lat_error_weight =
declare_parameter<double>("advanced.mpt.weight.obstacle_avoid_lat_error_weight");
mpt_param_.obstacle_avoid_yaw_error_weight =
declare_parameter<double>("advanced.mpt.weight.obstacle_avoid_yaw_error_weight");
mpt_param_.obstacle_avoid_steer_input_weight =
declare_parameter<double>("advanced.mpt.weight.obstacle_avoid_steer_input_weight");
mpt_param_.near_objects_length =
declare_parameter<double>("advanced.mpt.weight.near_objects_length");
mpt_param_.terminal_lat_error_weight =
declare_parameter<double>("advanced.mpt.weight.terminal_lat_error_weight");
mpt_param_.terminal_yaw_error_weight =
declare_parameter<double>("advanced.mpt.weight.terminal_yaw_error_weight");
mpt_param_.terminal_path_lat_error_weight =
declare_parameter<double>("advanced.mpt.weight.terminal_path_lat_error_weight");
mpt_param_.terminal_path_yaw_error_weight =
declare_parameter<double>("advanced.mpt.weight.terminal_path_yaw_error_weight");
}
{ // replan
max_path_shape_change_dist_for_replan_ =
declare_parameter<double>("replan.max_path_shape_change_dist");
max_ego_moving_dist_for_replan_ =
declare_parameter<double>("replan.max_ego_moving_dist_for_replan");
max_delta_time_sec_for_replan_ =
declare_parameter<double>("replan.max_delta_time_sec_for_replan");
}
// TODO(murooka) tune this param when avoiding with obstacle_avoidance_planner
traj_param_.center_line_width = vehicle_param_.width;
objects_ptr_ = std::make_unique<autoware_auto_perception_msgs::msg::PredictedObjects>();
// set parameter callback
set_param_res_ = this->add_on_set_parameters_callback(
std::bind(&ObstacleAvoidancePlanner::paramCallback, this, std::placeholders::_1));
resetPlanning();
self_pose_listener_.waitForFirstPose();
}
rcl_interfaces::msg::SetParametersResult ObstacleAvoidancePlanner::paramCallback(
const std::vector<rclcpp::Parameter> & parameters)
{
using tier4_autoware_utils::updateParam;
{ // option parameter
updateParam<bool>(
parameters, "option.is_publishing_debug_visualization_marker",
is_publishing_debug_visualization_marker_);
updateParam<bool>(
parameters, "option.is_publishing_clearance_map", is_publishing_clearance_map_);
updateParam<bool>(
parameters, "option.is_publishing_object_clearance_map", is_publishing_object_clearance_map_);
updateParam<bool>(
parameters, "option.is_publishing_area_with_objects", is_publishing_area_with_objects_);
updateParam<bool>(parameters, "option.is_showing_debug_info", is_showing_debug_info_);
updateParam<bool>(
parameters, "option.is_showing_calculation_time", is_showing_calculation_time_);
updateParam<bool>(
parameters, "option.is_stopping_if_outside_drivable_area",
is_stopping_if_outside_drivable_area_);
updateParam<bool>(parameters, "option.enable_avoidance", enable_avoidance_);
updateParam<bool>(parameters, "option.enable_pre_smoothing", enable_pre_smoothing_);
updateParam<bool>(parameters, "option.skip_optimization", skip_optimization_);
updateParam<bool>(parameters, "option.reset_prev_optimization", reset_prev_optimization_);
}
{ // trajectory parameter
// common
updateParam<int>(parameters, "common.num_sampling_points", traj_param_.num_sampling_points);
updateParam<double>(parameters, "common.trajectory_length", traj_param_.trajectory_length);
updateParam<double>(
parameters, "common.forward_fixing_min_distance", traj_param_.forward_fixing_min_distance);
updateParam<double>(
parameters, "common.forward_fixing_min_time", traj_param_.forward_fixing_min_time);
updateParam<double>(
parameters, "common.backward_fixing_distance", traj_param_.backward_fixing_distance);
updateParam<double>(
parameters, "common.delta_arc_length_for_trajectory",
traj_param_.delta_arc_length_for_trajectory);
updateParam<double>(
parameters, "common.delta_dist_threshold_for_closest_point",
traj_param_.delta_dist_threshold_for_closest_point);
updateParam<double>(
parameters, "common.delta_yaw_threshold_for_closest_point",
traj_param_.delta_yaw_threshold_for_closest_point);
updateParam<double>(
parameters, "common.delta_yaw_threshold_for_straight",
traj_param_.delta_yaw_threshold_for_straight);
updateParam<int>(
parameters, "common.num_fix_points_for_extending", traj_param_.num_fix_points_for_extending);
updateParam<double>(
parameters, "common.max_dist_for_extending_end_point",
traj_param_.max_dist_for_extending_end_point);
// object
updateParam<double>(
parameters, "object.max_avoiding_ego_velocity_ms", traj_param_.max_avoiding_ego_velocity_ms);
updateParam<double>(
parameters, "object.max_avoiding_objects_velocity_ms",
traj_param_.max_avoiding_objects_velocity_ms);
updateParam<bool>(
parameters, "object.avoiding_object_type.unknown", traj_param_.is_avoiding_unknown);
updateParam<bool>(parameters, "object.avoiding_object_type.car", traj_param_.is_avoiding_car);
updateParam<bool>(
parameters, "object.avoiding_object_type.truck", traj_param_.is_avoiding_truck);
updateParam<bool>(parameters, "object.avoiding_object_type.bus", traj_param_.is_avoiding_bus);
updateParam<bool>(
parameters, "object.avoiding_object_type.bicycle", traj_param_.is_avoiding_bicycle);
updateParam<bool>(
parameters, "object.avoiding_object_type.motorbike", traj_param_.is_avoiding_motorbike);
updateParam<bool>(
parameters, "object.avoiding_object_type.pedestrian", traj_param_.is_avoiding_pedestrian);
updateParam<bool>(
parameters, "object.avoiding_object_type.animal", traj_param_.is_avoiding_animal);
}
{ // elastic band parameter
// common
updateParam<int>(
parameters, "advanced.eb.common.num_joint_buffer_points", eb_param_.num_joint_buffer_points);
updateParam<int>(
parameters, "advanced.eb.common.num_offset_for_begin_idx",
eb_param_.num_offset_for_begin_idx);
updateParam<double>(
parameters, "advanced.eb.common.delta_arc_length_for_eb", eb_param_.delta_arc_length_for_eb);
updateParam<int>(
parameters, "advanced.eb.common.num_sampling_points_for_eb",
eb_param_.num_sampling_points_for_eb);
// clearance
updateParam<double>(
parameters, "advanced.eb.clearance.clearance_for_straight_line",
eb_param_.clearance_for_straight_line);
updateParam<double>(
parameters, "advanced.eb.clearance.clearance_for_joint", eb_param_.clearance_for_joint);
updateParam<double>(
parameters, "advanced.eb.clearance.clearance_for_only_smoothing",
eb_param_.clearance_for_only_smoothing);
// qp
updateParam<int>(parameters, "advanced.eb.qp.max_iteration", eb_param_.qp_param.max_iteration);
updateParam<double>(parameters, "advanced.eb.qp.eps_abs", eb_param_.qp_param.eps_abs);
updateParam<double>(parameters, "advanced.eb.qp.eps_rel", eb_param_.qp_param.eps_rel);
}
{ // mpt param
// option
// updateParam<bool>(parameters, "mpt.option.plan_from_ego", mpt_param_.plan_from_ego);
updateParam<bool>(
parameters, "mpt.option.steer_limit_constraint", mpt_param_.steer_limit_constraint);
updateParam<bool>(
parameters, "mpt.option.fix_points_around_ego", mpt_param_.fix_points_around_ego);
updateParam<bool>(parameters, "mpt.option.enable_warm_start", mpt_param_.enable_warm_start);
updateParam<bool>(
parameters, "mpt.option.enable_manual_warm_start", mpt_param_.enable_manual_warm_start);
updateParam<int>(parameters, "mpt.option.visualize_sampling_num", mpt_visualize_sampling_num_);
// common
updateParam<int>(
parameters, "mpt.common.num_curvature_sampling_points",
mpt_param_.num_curvature_sampling_points);
updateParam<double>(
parameters, "mpt.common.delta_arc_length_for_mpt_points",
mpt_param_.delta_arc_length_for_mpt_points);
// kinematics
double max_steer_deg = mpt_param_.max_steer_rad * 180.0 / M_PI;
updateParam<double>(parameters, "mpt.kinematics.max_steer_deg", max_steer_deg);
mpt_param_.max_steer_rad = max_steer_deg * M_PI / 180.0;
updateParam<double>(
parameters, "mpt.kinematics.optimization_center_offset",
mpt_param_.optimization_center_offset);
// collision_free_constraints
updateParam<bool>(
parameters, "advanced.mpt.collision_free_constraints.option.l_inf_norm",
mpt_param_.l_inf_norm);
// updateParam<bool>(
// parameters, "advanced.mpt.collision_free_constraints.option.two_step_soft_constraint",
// mpt_param_.two_step_soft_constraint);
updateParam<bool>(
parameters, "advanced.mpt.collision_free_constraints.option.soft_constraint",
mpt_param_.soft_constraint);
updateParam<bool>(
parameters, "advanced.mpt.collision_free_constraints.option.hard_constraint",
mpt_param_.hard_constraint);
{ // vehicle_circles
// NOTE: Changing method is not supported
// updateParam<std::string>(
// parameters, "advanced.mpt.collision_free_constraints.vehicle_circles.method",
// vehicle_circle_method_);
if (vehicle_circle_method_ == "uniform_circle") {
updateParam<int>(
parameters, "advanced.mpt.collision_free_constraints.vehicle_circles.uniform_circle.num",
vehicle_circle_num_for_calculation_);
updateParam<double>(
parameters,
"advanced.mpt.collision_free_constraints.vehicle_circles.uniform_circle.radius_ratio",
vehicle_circle_radius_ratios_.front());
std::tie(
mpt_param_.vehicle_circle_radiuses, mpt_param_.vehicle_circle_longitudinal_offsets) =
calcVehicleCirclesInfo(
vehicle_param_, vehicle_circle_num_for_calculation_,
vehicle_circle_radius_ratios_.front());
} else if (vehicle_circle_method_ == "rear_drive") {
updateParam<int>(
parameters,
"advanced.mpt.collision_free_constraints.vehicle_circles.rear_drive.num_for_calculation",
vehicle_circle_num_for_calculation_);
updateParam<double>(
parameters,
"advanced.mpt.collision_free_constraints.vehicle_circles.rear_drive.rear_radius_ratio",
vehicle_circle_radius_ratios_.front());
updateParam<double>(
parameters,
"advanced.mpt.collision_free_constraints.vehicle_circles.rear_drive.front_radius_ratio",
vehicle_circle_radius_ratios_.back());
std::tie(
mpt_param_.vehicle_circle_radiuses, mpt_param_.vehicle_circle_longitudinal_offsets) =
calcVehicleCirclesInfo(
vehicle_param_, vehicle_circle_num_for_calculation_,
vehicle_circle_radius_ratios_.front(), vehicle_circle_radius_ratios_.back());
} else {
throw std::invalid_argument(
"advanced.mpt.collision_free_constraints.vehicle_circles.num parameter is invalid.");
}
}
// clearance
updateParam<double>(
parameters, "advanced.mpt.clearance.hard_clearance_from_road",
mpt_param_.hard_clearance_from_road);
updateParam<double>(
parameters, "advanced.mpt.clearance.soft_clearance_from_road",
mpt_param_.soft_clearance_from_road);
updateParam<double>(
parameters, "advanced.mpt.clearance.soft_second_clearance_from_road",
mpt_param_.soft_second_clearance_from_road);
updateParam<double>(
parameters, "advanced.mpt.clearance.extra_desired_clearance_from_road",
mpt_param_.extra_desired_clearance_from_road);
updateParam<double>(
parameters, "advanced.mpt.clearance.clearance_from_object", mpt_param_.clearance_from_object);
// weight
updateParam<double>(
parameters, "advanced.mpt.weight.soft_avoidance_weight", mpt_param_.soft_avoidance_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.soft_second_avoidance_weight",
mpt_param_.soft_second_avoidance_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.lat_error_weight", mpt_param_.lat_error_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.yaw_error_weight", mpt_param_.yaw_error_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.yaw_error_rate_weight", mpt_param_.yaw_error_rate_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.steer_input_weight", mpt_param_.steer_input_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.steer_rate_weight", mpt_param_.steer_rate_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.obstacle_avoid_lat_error_weight",
mpt_param_.obstacle_avoid_lat_error_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.obstacle_avoid_yaw_error_weight",
mpt_param_.obstacle_avoid_yaw_error_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.obstacle_avoid_steer_input_weight",
mpt_param_.obstacle_avoid_steer_input_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.near_objects_length", mpt_param_.near_objects_length);
updateParam<double>(
parameters, "advanced.mpt.weight.terminal_lat_error_weight",
mpt_param_.terminal_lat_error_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.terminal_yaw_error_weight",
mpt_param_.terminal_yaw_error_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.terminal_path_lat_error_weight",
mpt_param_.terminal_path_lat_error_weight);
updateParam<double>(
parameters, "advanced.mpt.weight.terminal_path_yaw_error_weight",
mpt_param_.terminal_path_yaw_error_weight);
}
{ // replan
updateParam<double>(
parameters, "replan.max_path_shape_change_dist", max_path_shape_change_dist_for_replan_);
updateParam<double>(
parameters, "replan.max_ego_moving_dist_for_replan", max_ego_moving_dist_for_replan_);
updateParam<double>(
parameters, "replan.max_delta_time_sec_for_replan", max_delta_time_sec_for_replan_);
}
resetPlanning();
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
result.reason = "success";
return result;
}
void ObstacleAvoidancePlanner::odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg)
{
current_twist_ptr_ = std::make_unique<geometry_msgs::msg::TwistStamped>();
current_twist_ptr_->header = msg->header;
current_twist_ptr_->twist = msg->twist.twist;
}
void ObstacleAvoidancePlanner::objectsCallback(
const autoware_auto_perception_msgs::msg::PredictedObjects::SharedPtr msg)
{
objects_ptr_ = std::make_unique<autoware_auto_perception_msgs::msg::PredictedObjects>(*msg);
}
void ObstacleAvoidancePlanner::enableAvoidanceCallback(
const tier4_planning_msgs::msg::EnableAvoidance::SharedPtr msg)
{
enable_avoidance_ = msg->enable_avoidance;
}
void ObstacleAvoidancePlanner::resetPlanning()
{
RCLCPP_WARN(get_logger(), "[ObstacleAvoidancePlanner] Reset planning");
costmap_generator_ptr_ = std::make_unique<CostmapGenerator>();
eb_path_optimizer_ptr_ = std::make_unique<EBPathOptimizer>(
is_showing_debug_info_, traj_param_, eb_param_, vehicle_param_);
mpt_optimizer_ptr_ =
std::make_unique<MPTOptimizer>(is_showing_debug_info_, traj_param_, vehicle_param_, mpt_param_);
prev_path_points_ptr_ = nullptr;
resetPrevOptimization();
}
void ObstacleAvoidancePlanner::resetPrevOptimization()
{
prev_optimal_trajs_ptr_ = nullptr;
eb_solved_count_ = 0;
}
void ObstacleAvoidancePlanner::pathCallback(
const autoware_auto_planning_msgs::msg::Path::SharedPtr path_ptr)
{
stop_watch_.tic(__func__);
if (path_ptr->points.empty() || path_ptr->drivable_area.data.empty() || !current_twist_ptr_) {
return;
}
current_ego_pose_ = self_pose_listener_.getCurrentPose()->pose;
debug_data_ptr_ = std::make_shared<DebugData>();
debug_data_ptr_->init(
is_showing_calculation_time_, mpt_visualize_sampling_num_, current_ego_pose_,
mpt_param_.vehicle_circle_radiuses, mpt_param_.vehicle_circle_longitudinal_offsets);
// generate optimized trajectory
const auto optimized_traj_points = generateOptimizedTrajectory(*path_ptr);
// generate post processed trajectory
const auto post_processed_traj_points =
generatePostProcessedTrajectory(path_ptr->points, optimized_traj_points);
// convert to output msg type
auto output_traj_msg = tier4_autoware_utils::convertToTrajectory(post_processed_traj_points);
output_traj_msg.header = path_ptr->header;
// publish debug data
publishDebugDataInMain(*path_ptr);
{ // print and publish debug msg
debug_data_ptr_->msg_stream << __func__ << ":= " << stop_watch_.toc(__func__) << " [ms]\n"
<< "========================================";
tier4_debug_msgs::msg::StringStamped debug_msg_msg;
debug_msg_msg.stamp = get_clock()->now();
debug_msg_msg.data = debug_data_ptr_->msg_stream.getString();
debug_msg_pub_->publish(debug_msg_msg);
}
// make previous variables
prev_path_points_ptr_ =
std::make_unique<std::vector<autoware_auto_planning_msgs::msg::PathPoint>>(path_ptr->points);
prev_ego_pose_ptr_ = std::make_unique<geometry_msgs::msg::Pose>(current_ego_pose_);
traj_pub_->publish(output_traj_msg);
}
std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>
ObstacleAvoidancePlanner::generateOptimizedTrajectory(
const autoware_auto_planning_msgs::msg::Path & path)
{
stop_watch_.tic(__func__);
if (reset_prev_optimization_) {
resetPrevOptimization();
}
// return prev trajectory if replan is not required
if (!checkReplan(path.points)) {
if (prev_optimal_trajs_ptr_) {
return prev_optimal_trajs_ptr_->model_predictive_trajectory;
}
return points_utils::convertToTrajectoryPoints(path.points);
}
latest_replanned_time_ptr_ = std::make_unique<rclcpp::Time>(this->now());
// create clearance maps
const CVMaps cv_maps = costmap_generator_ptr_->getMaps(
enable_avoidance_, path, objects_ptr_->objects, traj_param_, debug_data_ptr_);
// calculate trajectory with EB and MPT
auto optimal_trajs = optimizeTrajectory(path, cv_maps);
// calculate velocity
// NOTE: Velocity is not considered in optimization.
calcVelocity(path.points, optimal_trajs.model_predictive_trajectory);
// insert 0 velocity when trajectory is over drivable area
if (is_stopping_if_outside_drivable_area_) {
insertZeroVelocityOutsideDrivableArea(optimal_trajs.model_predictive_trajectory, cv_maps);
}
publishDebugDataInOptimization(path, optimal_trajs.model_predictive_trajectory);
// make previous trajectories
prev_optimal_trajs_ptr_ =
std::make_unique<Trajectories>(makePrevTrajectories(path.points, optimal_trajs));
debug_data_ptr_->msg_stream << " " << __func__ << ":= " << stop_watch_.toc(__func__)
<< " [ms]\n";
return optimal_trajs.model_predictive_trajectory;
}
// check if optimization is required or not.
// NOTE: previous trajectories information will be reset as well in some cases.
bool ObstacleAvoidancePlanner::checkReplan(
const std::vector<autoware_auto_planning_msgs::msg::PathPoint> & path_points)
{
if (
!prev_ego_pose_ptr_ || !latest_replanned_time_ptr_ || !prev_path_points_ptr_ ||
!prev_optimal_trajs_ptr_) {
return true;
}
const double max_mpt_length =
traj_param_.num_sampling_points * mpt_param_.delta_arc_length_for_mpt_points;
if (isPathShapeChanged(
current_ego_pose_, path_points, prev_path_points_ptr_, max_mpt_length,
max_path_shape_change_dist_for_replan_,
traj_param_.delta_yaw_threshold_for_closest_point)) {
RCLCPP_INFO(get_logger(), "Replan with resetting optimization since path shape was changed.");
resetPrevOptimization();
return true;
}
if (isPathGoalChanged(current_twist_ptr_->twist.linear.x, path_points, prev_path_points_ptr_)) {
RCLCPP_INFO(get_logger(), "Replan with resetting optimization since path goal was changed.");
resetPrevOptimization();
return true;
}
// For when ego pose is lost or new ego pose is designated in simulation
const double delta_dist =
tier4_autoware_utils::calcDistance2d(current_ego_pose_.position, prev_ego_pose_ptr_->position);
if (delta_dist > max_ego_moving_dist_for_replan_) {
RCLCPP_INFO(
get_logger(),
"Replan with resetting optimization since current ego pose is far from previous ego pose.");
resetPrevOptimization();
return true;
}
// For when ego pose moves far from trajectory
if (!hasValidNearestPointFromEgo(current_ego_pose_, *prev_optimal_trajs_ptr_, traj_param_)) {
RCLCPP_INFO(
get_logger(),
"Replan with resetting optimization since valid nearest trajectory point from ego was not "
"found.");
resetPrevOptimization();
return true;
}
const double delta_time_sec = (this->now() - *latest_replanned_time_ptr_).seconds();
if (delta_time_sec > max_delta_time_sec_for_replan_) {
return true;
}
return false;
}