refactor(smart_mpc_trajectory_folower): modify pacakge structure and …

…install without setup.py (#8268)

* refactor(smart_mpc_trajectory_follower): modify pacakge structure and install without setup.py

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* import proxima calc

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* use ament_get_python_install_dir

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* add <depend>python3-torch</depend>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* remove pip from readme

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* remove str conversion from open

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* sort in cmake

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

control/autoware_smart_mpc_trajectory_follower/CMakeLists.txt

@@ -2,12 +2,31 @@ cmake_minimum_required(VERSION 3.14)
 project(autoware_smart_mpc_trajectory_follower)
 
 find_package(autoware_cmake REQUIRED)
+find_package(python_cmake_module REQUIRED)
+find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+find_package(pybind11_vendor REQUIRED)
+find_package(pybind11 REQUIRED)
+find_package(Eigen3 REQUIRED)
 autoware_package()
 
+execute_process(COMMAND bash -c "pip3 install numba==0.58.1 --force-reinstall")
+execute_process(COMMAND bash -c "pip3 install GPy")
+
+pybind11_add_module(proxima_calc SHARED
+  ${PROJECT_NAME}/src/proxima_calc.cpp
+)
+ament_target_dependencies(proxima_calc Eigen3)
+ament_get_python_install_dir(PYTHON_INSTALL_DIR)
+install(TARGETS proxima_calc
+  LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME}
+)
+
+ament_python_install_package(${PROJECT_NAME})
 install(PROGRAMS
-  autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
+  scripts/pympc_trajectory_follower.py
   DESTINATION lib/${PROJECT_NAME}
 )
 ament_auto_package(
   INSTALL_TO_SHARE
+  autoware_smart_mpc_trajectory_follower/param
 )

control/autoware_smart_mpc_trajectory_follower/README.md

@@ -17,20 +17,6 @@ This technology makes it relatively easy to operate model predictive control, wh
   </a>
 </p>
 
-## Setup
-
-After building autoware, move to `control/autoware_smart_mpc_trajectory_follower` and run the following command:
-
-```bash
-pip3 install .
-```
-
-If you have already installed and want to update the package, run the following command instead:
-
-```bash
-pip3 install -U .
-```
-
 ## Provided features
 
 This package provides smart MPC logic for path-following control as well as mechanisms for learning and evaluation. These features are described below.

control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_NN.py

@@ -13,8 +13,8 @@
 # limitations under the License.
 
 
+from autoware_smart_mpc_trajectory_follower import proxima_calc
 from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
-from autoware_smart_mpc_trajectory_follower.scripts import proxima_calc
 import numpy as np
 import torch
 from torch import nn

control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_functions.py

@@ -17,23 +17,21 @@
 
 """Define primary parameters and functions to be used elsewhere."""
 from functools import partial
-import json
 import os
 from pathlib import Path
 import sys
 from typing import Callable
 
+from ament_index_python.packages import get_package_share_directory
 from numba import njit
 import numpy as np
 import yaml
 
-package_path_json = str(Path(__file__).parent.parent) + "/package_path.json"
-with open(package_path_json, "r") as file:
-    package_path = json.load(file)
+PACKAGE_NAME = "autoware_smart_mpc_trajectory_follower"
 
-mpc_param_path = (
-    package_path["path"] + "/autoware_smart_mpc_trajectory_follower/param/mpc_param.yaml"
-)
+param_path = Path(get_package_share_directory(PACKAGE_NAME)) / "param"
+
+mpc_param_path = param_path / "mpc_param.yaml"
 with open(mpc_param_path, "r") as yml:
     mpc_param = yaml.safe_load(yml)
 
@@ -102,9 +100,7 @@
 
 cap_pred_error = np.array(mpc_param["mpc_parameter"]["preprocessing"]["cap_pred_error"])
 
-nominal_param_path = (
-    package_path["path"] + "/autoware_smart_mpc_trajectory_follower/param/nominal_param.yaml"
-)
+nominal_param_path = param_path / "nominal_param.yaml"
 with open(nominal_param_path, "r") as yml:
     nominal_param = yaml.safe_load(yml)
 # Vehicle body information given by default.
@@ -173,10 +169,7 @@
 )
 max_error_steer = float(mpc_param["mpc_parameter"]["compensation"]["max_error_steer"])
 
-
-trained_model_param_path = (
-    package_path["path"] + "/autoware_smart_mpc_trajectory_follower/param/trained_model_param.yaml"
-)
+trained_model_param_path = param_path / "trained_model_param.yaml"
 with open(trained_model_param_path, "r") as yml:
     trained_model_param = yaml.safe_load(yml)
 use_trained_model_diff = bool(
@@ -370,31 +363,12 @@
 )
 # upper limit of input
 
-
-package_path_split = str(package_path["path"]).split("/")
-control_dir_path = ""
-for i in range(len(package_path_split)):
-    control_dir_path += package_path_split[i]
-    if package_path_split[i] == "control":
-        break
-    control_dir_path += "/"
-
 read_limit_file = bool(mpc_param["mpc_parameter"]["limit"]["read_limit_file"])
 if read_limit_file:
-    limit_yaml_path = None
-    for curDir, dirs, files in os.walk(control_dir_path):
-        for name in files:
-            if name == "vehicle_cmd_gate.param.yaml":
-                if curDir.split("/")[-2] == "autoware_vehicle_cmd_gate":
-                    limit_yaml_path = curDir + "/" + name
-                    break
-
-    limit_params = None
-    if limit_yaml_path is not None:
-        with open(limit_yaml_path, "r") as yml:
-            limit_params = yaml.safe_load(yml)
-    else:
-        print("Error: limit_yaml_path is None")
+    limitter_package_path = Path(get_package_share_directory("autoware_vehicle_cmd_gate"))
+    limit_yaml_path = limitter_package_path / "config" / "vehicle_cmd_gate.param.yaml"
+    with open(limit_yaml_path, "r") as yml:
+        limit_params = yaml.safe_load(yml)
 
     if limit_params is not None:
         reference_speed_points = np.array(

control/autoware_smart_mpc_trajectory_follower/package.xml

@@ -25,9 +25,11 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_system_msgs</depend>
   <depend>autoware_universe_utils</depend>
+  <depend>autoware_vehicle_cmd_gate</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>pybind11_vendor</depend>
   <depend>python3-scipy</depend>
+  <depend>python3-torch</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>