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feat(dynamic_obstacle_stop): output planning factor interface #1732

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merged 2 commits into from
Dec 23, 2024
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feat(dynamic_obstacle_stop): output planning factor interface #1732

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2e2a22d
feat(motion_velocity_planner): use planning factor interface
satoshi-ota Dec 18, 2024
15320b0
feat(dynamic_obstacle_stop): output planning factor interface
satoshi-ota Dec 18, 2024
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6 changes: 6 additions & 0 deletions ...utoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,9 @@ void DynamicObstacleStopModule::init(rclcpp::Node & node, const std::string & mo
clock_ = node.get_clock();
velocity_factor_interface_.init(autoware::motion_utils::PlanningBehavior::ROUTE_OBSTACLE);

planning_factor_interface_ = std::make_unique<autoware::motion_utils::PlanningFactorInterface>(
&node, "dynamic_obstacle_stop");

debug_publisher_ =
node.create_publisher<visualization_msgs::msg::MarkerArray>("~/" + ns_ + "/debug_markers", 1);
virtual_wall_publisher_ =
Expand Down Expand Up @@ -162,6 +165,9 @@ VelocityPlanningResult DynamicObstacleStopModule::plan(
const auto stop_pose_reached =
planner_data->current_odometry.twist.twist.linear.x < 1e-3 &&
autoware::universe_utils::calcDistance2d(ego_data.pose, *stop_pose) < 1e-3;
planning_factor_interface_->add(
ego_trajectory_points, ego_data.pose, *stop_pose, PlanningFactor::STOP,
SafetyFactorArray{});
velocity_factor_interface_.set(
ego_trajectory_points, ego_data.pose, *stop_pose,
stop_pose_reached ? autoware::motion_utils::VelocityFactor::STOPPED
Expand Down
1 change: 1 addition & 0 deletions ...utoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.hpp
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Expand Up @@ -33,6 +33,7 @@ class DynamicObstacleStopModule : public PluginModuleInterface
{
public:
void init(rclcpp::Node & node, const std::string & module_name) override;
void publish_planning_factor() override { planning_factor_interface_->publish(); };
void update_parameters(const std::vector<rclcpp::Parameter> & parameters) override;
VelocityPlanningResult plan(
const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & ego_trajectory_points,
Expand Down
8 changes: 8 additions & 0 deletions ...lanner_common/include/autoware/motion_velocity_planner_common/plugin_module_interface.hpp
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Expand Up @@ -18,6 +18,7 @@
#include "planner_data.hpp"
#include "velocity_planning_result.hpp"

#include <autoware/motion_utils/factor/planning_factor_interface.hpp>
#include <autoware/motion_utils/factor/velocity_factor_interface.hpp>
#include <autoware/universe_utils/ros/processing_time_publisher.hpp>
#include <rclcpp/rclcpp.hpp>
Expand All @@ -32,6 +33,9 @@
namespace autoware::motion_velocity_planner
{

using tier4_planning_msgs::msg::PlanningFactor;
using tier4_planning_msgs::msg::SafetyFactorArray;

class PluginModuleInterface
{
public:
Expand All @@ -42,13 +46,17 @@ class PluginModuleInterface
const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & ego_trajectory_points,
const std::shared_ptr<const PlannerData> planner_data) = 0;
virtual std::string get_module_name() const = 0;
virtual void publish_planning_factor() {}
autoware::motion_utils::VelocityFactorInterface velocity_factor_interface_;
rclcpp::Logger logger_ = rclcpp::get_logger("");
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr debug_publisher_;
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr virtual_wall_publisher_;
std::shared_ptr<autoware::universe_utils::ProcessingTimePublisher> processing_diag_publisher_;
rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_publisher_;
autoware::motion_utils::VirtualWallMarkerCreator virtual_wall_marker_creator{};

protected:
std::unique_ptr<autoware::motion_utils::PlanningFactorInterface> planning_factor_interface_;
};

} // namespace autoware::motion_velocity_planner
Expand Down
2 changes: 2 additions & 0 deletions ...ing/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp
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Expand Up @@ -102,6 +102,8 @@ std::vector<VelocityPlanningResult> MotionVelocityPlannerManager::plan_velocitie
VelocityPlanningResult res = plugin->plan(ego_trajectory_points, planner_data);
results.push_back(res);

plugin->publish_planning_factor();

if (res.stop_points.size() > 0) {
const auto stop_decision_metric = make_decision_metric(plugin->get_module_name(), "stop");
metrics_.push_back(stop_decision_metric);
Expand Down
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