Merge branch 'beta/v0.3.19' into feat/lane_departure_checker/add_param_footprint_extra_margin

Author: yn-mrse

common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp

@@ -343,6 +343,27 @@ inline geometry_msgs::msg::Pose calcOffsetPose(
   tf2::toMsg(tf_pose * tf_offset, pose);
   return pose;
 }
+
+/**
+ * @brief Calculate offset pose. The offset values are defined in the local coordinate of the input
+ * pose.
+ */
+inline geometry_msgs::msg::Pose calcOffsetPose(
+  const geometry_msgs::msg::Pose & p, const double x, const double y, const double z,
+  const double yaw)
+{
+  geometry_msgs::msg::Pose pose;
+  geometry_msgs::msg::Transform transform;
+  transform.translation = createTranslation(x, y, z);
+  transform.rotation = createQuaternionFromYaw(yaw);
+  tf2::Transform tf_pose;
+  tf2::Transform tf_offset;
+  tf2::fromMsg(transform, tf_offset);
+  tf2::fromMsg(p, tf_pose);
+  tf2::toMsg(tf_pose * tf_offset, pose);
+  return pose;
+}
+
 }  // namespace tier4_autoware_utils
 
 #endif  // TIER4_AUTOWARE_UTILS__GEOMETRY__GEOMETRY_HPP_

common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp

@@ -0,0 +1,253 @@
+// 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 TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
+#define TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+namespace autoware::universe_utils
+{
+
+/**
+ * @brief Creates a SensorDataQoS profile with a single depth.
+ * @return rclcpp::SensorDataQoS The QoS profile with depth set to 1.
+ */
+inline rclcpp::SensorDataQoS SingleDepthSensorQoS()
+{
+  rclcpp::SensorDataQoS qos;
+  qos.get_rmw_qos_profile().depth = 1;
+  return qos;
+}
+
+namespace polling_policy
+{
+
+/**
+ * @brief Polling policy that keeps the latest received message.
+ *
+ * This policy retains the latest received message and provides it when requested. If a new message
+ * is received, it overwrites the previously stored message.
+ *
+ * @tparam MessageT The message type.
+ */
+template <typename MessageT>
+class Latest
+{
+private:
+  typename MessageT::ConstSharedPtr data_{nullptr};  ///< Data pointer to store the latest data
+
+protected:
+  /**
+   * @brief Check the QoS settings for the subscription.
+   *
+   * @param qos The QoS profile to check.
+   * @throws std::invalid_argument If the QoS depth is not 1.
+   */
+  void checkQoS(const rclcpp::QoS & qos)
+  {
+    if (qos.get_rmw_qos_profile().depth > 1) {
+      throw std::invalid_argument(
+        "InterProcessPollingSubscriber will be used with depth > 1, which may cause inefficient "
+        "serialization while updateLatestData()");
+    }
+  }
+
+public:
+  /**
+   * @brief Retrieve the latest data. If no new data has been received, the previously received data
+   *
+   * @return typename MessageT::ConstSharedPtr The latest data.
+   */
+  typename MessageT::ConstSharedPtr takeData();
+};
+
+/**
+ * @brief Polling policy that keeps the newest received message.
+ *
+ * @tparam MessageT The message type.
+ */
+template <typename MessageT>
+class Newest
+{
+protected:
+  /**
+   * @brief Check the QoS settings for the subscription.
+   *
+   * @param qos The QoS profile to check.
+   * @throws std::invalid_argument If the QoS depth is not 1.
+   */
+  void checkQoS(const rclcpp::QoS & qos)
+  {
+    if (qos.get_rmw_qos_profile().depth > 1) {
+      throw std::invalid_argument(
+        "InterProcessPollingSubscriber will be used with depth > 1, which may cause inefficient "
+        "serialization while updateLatestData()");
+    }
+  }
+
+public:
+  /**
+   * @brief Retrieve the newest data. If no new data has been received, nullptr is returned.
+   *
+   * @return typename MessageT::ConstSharedPtr The newest data.
+   */
+  typename MessageT::ConstSharedPtr takeData();
+};
+
+/**
+ * @brief Polling policy that keeps all received messages.
+ *
+ * @tparam MessageT The message type.
+ */
+template <typename MessageT>
+class All
+{
+protected:
+  /**
+   * @brief Check the QoS settings for the subscription.
+   *
+   * @param qos The QoS profile to check.
+   */
+  void checkQoS(const rclcpp::QoS &) {}
+
+public:
+  /**
+   * @brief Retrieve all data.
+   *
+   * @return std::vector<typename MessageT::ConstSharedPtr> The list of all received data.
+   */
+  std::vector<typename MessageT::ConstSharedPtr> takeData();
+};
+
+}  // namespace polling_policy
+
+/**
+ * @brief Subscriber class that uses a specified polling policy.
+ *
+ * @tparam MessageT The message type.
+ * @tparam PollingPolicy The polling policy to use.
+ */
+template <typename MessageT, template <typename> class PollingPolicy = polling_policy::Latest>
+class InterProcessPollingSubscriber : public PollingPolicy<MessageT>
+{
+  friend PollingPolicy<MessageT>;
+
+private:
+  typename rclcpp::Subscription<MessageT>::SharedPtr subscriber_;  ///< Subscription object
+
+public:
+  using SharedPtr = std::shared_ptr<InterProcessPollingSubscriber<MessageT, PollingPolicy>>;
+
+  /**
+   * @brief Construct a new InterProcessPollingSubscriber object.
+   *
+   * @param node The node to attach the subscriber to.
+   * @param topic_name The topic name to subscribe to.
+   * @param qos The QoS profile to use for the subscription.
+   */
+  explicit InterProcessPollingSubscriber(
+    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
+  {
+    this->checkQoS(qos);
+
+    auto noexec_callback_group =
+      node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
+
+    auto noexec_subscription_options = rclcpp::SubscriptionOptions();
+    noexec_subscription_options.callback_group = noexec_callback_group;
+
+    subscriber_ = node->create_subscription<MessageT>(
+      topic_name, qos,
+      [node]([[maybe_unused]] const typename MessageT::ConstSharedPtr msg) { assert(false); },
+      noexec_subscription_options);
+  }
+
+  /**
+   * @brief Create a subscription.
+   *
+   * @param node The node to attach the subscriber to.
+   * @param topic_name The topic name to subscribe to.
+   * @param qos The QoS profile to use for the subscription.
+   * @return SharedPtr The created subscription.
+   */
+  static SharedPtr create_subscription(
+    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
+  {
+    return std::make_shared<InterProcessPollingSubscriber<MessageT, PollingPolicy>>(
+      node, topic_name, qos);
+  }
+
+  typename rclcpp::Subscription<MessageT>::SharedPtr subscriber() { return subscriber_; }
+};
+
+namespace polling_policy
+{
+
+template <typename MessageT>
+typename MessageT::ConstSharedPtr Latest<MessageT>::takeData()
+{
+  auto & subscriber =
+    static_cast<InterProcessPollingSubscriber<MessageT, Latest> *>(this)->subscriber_;
+  auto new_data = std::make_shared<MessageT>();
+  rclcpp::MessageInfo message_info;
+  const bool success = subscriber->take(*new_data, message_info);
+  if (success) {
+    data_ = new_data;
+  }
+
+  return data_;
+}
+
+template <typename MessageT>
+typename MessageT::ConstSharedPtr Newest<MessageT>::takeData()
+{
+  auto & subscriber =
+    static_cast<InterProcessPollingSubscriber<MessageT, Newest> *>(this)->subscriber_;
+  auto new_data = std::make_shared<MessageT>();
+  rclcpp::MessageInfo message_info;
+  const bool success = subscriber->take(*new_data, message_info);
+  if (success) {
+    return new_data;
+  }
+  return nullptr;
+}
+
+template <typename MessageT>
+std::vector<typename MessageT::ConstSharedPtr> All<MessageT>::takeData()
+{
+  auto & subscriber =
+    static_cast<InterProcessPollingSubscriber<MessageT, All> *>(this)->subscriber_;
+  std::vector<typename MessageT::ConstSharedPtr> data;
+  rclcpp::MessageInfo message_info;
+  for (;;) {
+    auto datum = std::make_shared<MessageT>();
+    if (subscriber->take(*datum, message_info)) {
+      data.push_back(datum);
+    } else {
+      break;
+    }
+  }
+  return data;
+}
+
+}  // namespace polling_policy
+
+}  // namespace autoware::universe_utils
+
+#endif  // TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_

common/tier4_autoware_utils/include/tier4_autoware_utils/tier4_autoware_utils.hpp

@@ -27,6 +27,7 @@
 #include "tier4_autoware_utils/ros/debug_publisher.hpp"
 #include "tier4_autoware_utils/ros/debug_traits.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
+#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 #include "tier4_autoware_utils/ros/processing_time_publisher.hpp"
 #include "tier4_autoware_utils/ros/self_pose_listener.hpp"
 #include "tier4_autoware_utils/ros/transform_listener.hpp"