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feat(bpp-intersection): use planning factor #1728

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Dec 23, 2024
Merged

feat(bpp-intersection): use planning factor #1728

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3 changes: 3 additions & 0 deletions ...havior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "autoware/universe_utils/ros/logger_level_configure.hpp"
#include "planner_manager.hpp"

#include <autoware/motion_utils/factor/planning_factor_interface.hpp>
#include <autoware/motion_utils/factor/steering_factor_interface.hpp>
#include <autoware/universe_utils/ros/polling_subscriber.hpp>
#include <autoware/universe_utils/ros/published_time_publisher.hpp>
Expand Down Expand Up @@ -51,6 +52,7 @@

namespace autoware::behavior_path_planner
{
using autoware::motion_utils::PlanningFactorInterface;
using autoware::motion_utils::SteeringFactorInterface;
using autoware_adapi_v1_msgs::msg::OperationModeState;
using autoware_map_msgs::msg::LaneletMapBin;
Expand Down Expand Up @@ -137,6 +139,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
std::shared_ptr<PlannerManager> planner_manager_;

SteeringFactorInterface steering_factor_interface_;
std::unique_ptr<PlanningFactorInterface> planning_factor_interface_;

std::mutex mutex_pd_; // mutex for planner_data_
std::mutex mutex_manager_; // mutex for bt_manager_ or planner_manager_
Expand Down
17 changes: 16 additions & 1 deletion ...g/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -32,7 +32,9 @@ using autoware::vehicle_info_utils::VehicleInfoUtils;
using tier4_planning_msgs::msg::PathChangeModuleId;

BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & node_options)
: Node("behavior_path_planner", node_options)
: Node("behavior_path_planner", node_options),
planning_factor_interface_{
std::make_unique<PlanningFactorInterface>(this, "behavior_path_planner")}
{
using std::placeholders::_1;
using std::chrono_literals::operator""ms;
Expand Down Expand Up @@ -476,6 +478,17 @@ void BehaviorPathPlannerNode::publish_steering_factor(
steering_factor_interface_.set(
{intersection_pose, intersection_pose}, {intersection_distance, intersection_distance},
steering_factor_direction, SteeringFactor::TURNING, "");

const uint16_t planning_factor_direction = std::invoke([&turn_signal]() {
if (turn_signal.command == TurnIndicatorsCommand::ENABLE_LEFT) {
return PlanningFactor::TURN_LEFT;
}
return PlanningFactor::TURN_RIGHT;
});

planning_factor_interface_->add(
intersection_distance, intersection_distance, intersection_pose, intersection_pose,
planning_factor_direction, SafetyFactorArray{});
} else {
steering_factor_interface_.reset();
}
Expand All @@ -490,6 +503,8 @@ void BehaviorPathPlannerNode::publish_steering_factor(
}

pub_steering_factors_->publish(steering_factor_array);

planning_factor_interface_->publish();
}

void BehaviorPathPlannerNode::publish_reroute_availability() const
Expand Down
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