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revert changes for static_centerline_generator
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
1 parent c9e6cdc commit 8ff92b7

18 files changed

+142
-136
lines changed

‎planning/static_centerline_generator/CMakeLists.txt

+8-12
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.14)
2-
project(autoware_static_centerline_generator)
2+
project(static_centerline_generator)
33

44
find_package(autoware_cmake REQUIRED)
55

@@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
99
find_package(std_msgs REQUIRED)
1010

1111
rosidl_generate_interfaces(
12-
${PROJECT_NAME}
12+
static_centerline_generator
1313
"srv/LoadMap.srv"
1414
"srv/PlanRoute.srv"
1515
"srv/PlanPath.srv"
@@ -19,25 +19,21 @@ rosidl_generate_interfaces(
1919

2020
autoware_package()
2121

22-
ament_auto_add_library(${PROJECT_NAME}_node SHARED
22+
ament_auto_add_executable(main
23+
src/main.cpp
2324
src/static_centerline_generator_node.cpp
2425
src/centerline_source/optimization_trajectory_based_centerline.cpp
2526
src/centerline_source/bag_ego_trajectory_based_centerline.cpp
2627
src/utils.cpp
2728
)
2829

29-
rclcpp_components_register_node(${PROJECT_NAME}_node
30-
PLUGIN "autoware::static_centerline_generator::StaticCenterlineGeneratorNode"
31-
EXECUTABLE ${PROJECT_NAME}_exe
32-
)
33-
3430
if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
35-
rosidl_target_interfaces(${PROJECT_NAME}_node
36-
${PROJECT_NAME} "rosidl_typesupport_cpp")
31+
rosidl_target_interfaces(main
32+
static_centerline_generator "rosidl_typesupport_cpp")
3733
else()
3834
rosidl_get_typesupport_target(
39-
cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
40-
target_link_libraries(${PROJECT_NAME}_node "${cpp_typesupport_target}")
35+
cpp_typesupport_target static_centerline_generator "rosidl_typesupport_cpp")
36+
target_link_libraries(main "${cpp_typesupport_target}")
4137
endif()
4238

4339
ament_auto_package(

‎planning/static_centerline_generator/README.md

+2-2
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,7 @@ We can run
3434
with the following command by designating `<vehicle_model>`
3535

3636
```sh
37-
ros2 launch autoware_static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
37+
ros2 launch static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
3838
```
3939

4040
FYI, port ID of the http server is 4010 by default.
@@ -50,7 +50,7 @@ The optimized centerline can be generated from the command line interface by des
5050
- `<vehicle-model>`
5151

5252
```sh
53-
ros2 launch autoware_static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
53+
ros2 launch static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
5454
```
5555

5656
The default output map path containing the optimized centerline locates `/tmp/lanelet2_map.osm`.

‎planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp

+2-5
Original file line numberDiff line numberDiff line change
@@ -18,13 +18,10 @@
1818
#include "rclcpp/rclcpp.hpp"
1919
#include "static_centerline_generator/type_alias.hpp"
2020

21-
#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"
22-
2321
#include <vector>
2422

25-
namespace autoware::static_centerline_generator
23+
namespace static_centerline_generator
2624
{
27-
using ::autoware_auto_planning_msgs::msg::TrajectoryPoint;
2825
std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node);
29-
} // namespace autoware::static_centerline_generator
26+
} // namespace static_centerline_generator
3027
#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_

‎planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp

+17-28
Original file line numberDiff line numberDiff line change
@@ -12,43 +12,32 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_
16-
STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
17-
#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_
18-
STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
15+
#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
16+
#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
1917

2018
#include "rclcpp/rclcpp.hpp"
21-
#include "route_handler/route_handler.hpp"
2219
#include "static_centerline_generator/type_alias.hpp"
2320

24-
#include "autoware_auto_planning_msgs/msg/path.hpp"
25-
#include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
26-
#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"
27-
2821
#include <vector>
2922

30-
namespace autoware::static_centerline_generator
23+
namespace static_centerline_generator
24+
{
25+
class OptimizationTrajectoryBasedCenterline
3126
{
32-
using ::autoware_auto_planning_msgs::msg::Path;
33-
using ::autoware_auto_planning_msgs::msg::PathWithLaneId;
34-
using ::autoware_auto_planning_msgs::msg::TrajectoryPoint;
35-
using ::route_handler::RouteHandler;
36-
class OptimizationTrajectoryBasedCenterline
37-
{
38-
public:
39-
OptimizationTrajectoryBasedCenterline() = default;
40-
explicit OptimizationTrajectoryBasedCenterline(rclcpp::Node & node);
41-
std::vector<TrajectoryPoint> generate_centerline_with_optimization(
42-
rclcpp::Node & node, const RouteHandler & route_handler,
43-
const std::vector<lanelet::Id> & route_lane_ids);
27+
public:
28+
OptimizationTrajectoryBasedCenterline() = default;
29+
explicit OptimizationTrajectoryBasedCenterline(rclcpp::Node & node);
30+
std::vector<TrajectoryPoint> generate_centerline_with_optimization(
31+
rclcpp::Node & node, const RouteHandler & route_handler,
32+
const std::vector<lanelet::Id> & route_lane_ids);
4433

45-
private:
46-
[[nodiscard]] static std::vector<TrajectoryPoint> optimize_trajectory(const Path & raw_path);
34+
private:
35+
std::vector<TrajectoryPoint> optimize_trajectory(const Path & raw_path) const;
4736

48-
rclcpp::Publisher<PathWithLaneId>::SharedPtr pub_raw_path_with_lane_id_{nullptr};
49-
rclcpp::Publisher<Path>::SharedPtr pub_raw_path_{nullptr};
50-
};
51-
} // namespace autoware::static_centerline_generator
37+
rclcpp::Publisher<PathWithLaneId>::SharedPtr pub_raw_path_with_lane_id_{nullptr};
38+
rclcpp::Publisher<Path>::SharedPtr pub_raw_path_{nullptr};
39+
};
40+
} // namespace static_centerline_generator
5241
// clang-format off
5342
#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT
5443
// clang-format on

‎planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp

+9-13
Original file line numberDiff line numberDiff line change
@@ -15,11 +15,11 @@
1515
#ifndef STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
1616
#define STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
1717

18-
#include "autoware_static_centerline_generator/srv/load_map.hpp"
19-
#include "autoware_static_centerline_generator/srv/plan_path.hpp"
20-
#include "autoware_static_centerline_generator/srv/plan_route.hpp"
2118
#include "rclcpp/rclcpp.hpp"
2219
#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
20+
#include "static_centerline_generator/srv/load_map.hpp"
21+
#include "static_centerline_generator/srv/plan_path.hpp"
22+
#include "static_centerline_generator/srv/plan_route.hpp"
2323
#include "static_centerline_generator/type_alias.hpp"
2424
#include "vehicle_info_util/vehicle_info_util.hpp"
2525

@@ -34,12 +34,11 @@
3434
#include <utility>
3535
#include <vector>
3636

37-
namespace autoware::static_centerline_generator
37+
namespace static_centerline_generator
3838
{
39-
using autoware_static_centerline_generator::srv::LoadMap;
40-
using autoware_static_centerline_generator::srv::PlanPath;
41-
using autoware_static_centerline_generator::srv::PlanRoute;
42-
using ::route_handler::RouteHandler;
39+
using static_centerline_generator::srv::LoadMap;
40+
using static_centerline_generator::srv::PlanPath;
41+
using static_centerline_generator::srv::PlanRoute;
4342

4443
struct CenterlineWithRoute
4544
{
@@ -67,9 +66,6 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node
6766

6867
// plan centerline
6968
CenterlineWithRoute generate_centerline_with_route();
70-
// plan path
71-
std::vector<TrajectoryPoint> plan_path(const std::vector<lanelet::Id> & route_lane_ids);
72-
static std::vector<TrajectoryPoint> optimize_trajectory(const Path & raw_path);
7369
void on_plan_path(
7470
const PlanPath::Request::SharedPtr request, const PlanPath::Response::SharedPtr response);
7571

@@ -117,7 +113,7 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node
117113
rclcpp::CallbackGroup::SharedPtr callback_group_;
118114

119115
// vehicle info
120-
vehicle_info_util::VehicleInfo vehicle_info_{};
116+
vehicle_info_util::VehicleInfo vehicle_info_;
121117
};
122-
} // namespace autoware::static_centerline_generator
118+
} // namespace static_centerline_generator
123119
#endif // STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_

‎planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp

+4-2
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@
2626
#include "autoware_planning_msgs/msg/lanelet_route.hpp"
2727
#include "visualization_msgs/msg/marker_array.hpp"
2828

29-
namespace autoware::static_centerline_generator
29+
namespace static_centerline_generator
3030
{
3131
using autoware_auto_mapping_msgs::msg::HADMapBin;
3232
using autoware_auto_perception_msgs::msg::PredictedObjects;
@@ -36,9 +36,11 @@ using autoware_auto_planning_msgs::msg::PathWithLaneId;
3636
using autoware_auto_planning_msgs::msg::Trajectory;
3737
using autoware_auto_planning_msgs::msg::TrajectoryPoint;
3838
using autoware_planning_msgs::msg::LaneletRoute;
39+
using route_handler::RouteHandler;
3940
using tier4_autoware_utils::LinearRing2d;
4041
using tier4_autoware_utils::LineString2d;
42+
using tier4_autoware_utils::Point2d;
4143
using visualization_msgs::msg::MarkerArray;
42-
} // namespace autoware::static_centerline_generator
44+
} // namespace static_centerline_generator
4345

4446
#endif // STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_

‎planning/static_centerline_generator/include/static_centerline_generator/utils.hpp

+8-7
Original file line numberDiff line numberDiff line change
@@ -24,10 +24,10 @@
2424
#include <string>
2525
#include <vector>
2626

27-
namespace autoware::static_centerline_generator::utils
27+
namespace static_centerline_generator
28+
{
29+
namespace utils
2830
{
29-
using ::route_handler::RouteHandler;
30-
3131
rclcpp::QoS create_transient_local_qos();
3232

3333
lanelet::ConstLanelets get_lanelets_from_ids(
@@ -37,9 +37,9 @@ geometry_msgs::msg::Pose get_center_pose(
3737
const RouteHandler & route_handler, const size_t lanelet_id);
3838

3939
PathWithLaneId get_path_with_lane_id(
40-
const RouteHandler & route_handler, const lanelet::ConstLanelets & lanelets,
41-
const geometry_msgs::msg::Pose & start_pose, const double ego_nearest_dist_threshold,
42-
const double ego_nearest_yaw_threshold);
40+
const RouteHandler & route_handler, const lanelet::ConstLanelets lanelets,
41+
const geometry_msgs::msg::Pose & start_pose, const double nearest_ego_dist_threshold,
42+
const double nearest_ego_yaw_threshold);
4343

4444
void update_centerline(
4545
RouteHandler & route_handler, const lanelet::ConstLanelets & lanelets,
@@ -52,6 +52,7 @@ MarkerArray create_footprint_marker(
5252
MarkerArray create_distance_text_marker(
5353
const geometry_msgs::msg::Pose & pose, const double dist,
5454
const std::array<double, 3> & marker_color, const rclcpp::Time & now, const size_t idx);
55-
} // namespace autoware::static_centerline_generator::utils
55+
} // namespace utils
56+
} // namespace static_centerline_generator
5657

5758
#endif // STATIC_CENTERLINE_GENERATOR__UTILS_HPP_

‎planning/static_centerline_generator/launch/run_planning_server.launch.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -2,11 +2,11 @@
22
<!-- mandatory arguments for planning-->
33
<arg name="vehicle_model"/>
44

5-
<include file="$(find-pkg-share autoware_static_centerline_generator)/launch/static_centerline_generator.launch.xml">
5+
<include file="$(find-pkg-share static_centerline_generator)/launch/static_centerline_generator.launch.xml">
66
<arg name="vehicle_model" value="$(var vehicle_model)"/>
77
<arg name="run_background" value="true"/>
88
</include>
99

1010
<!-- local server to connect path optimizer and cloud software -->
11-
<node pkg="autoware_static_centerline_generator" exec="app.py" name="autoware_static_centerline_generator_http_server" output="screen"/>
11+
<node pkg="static_centerline_generator" exec="app.py" name="static_centerline_generator_http_server" output="screen"/>
1212
</launch>

‎planning/static_centerline_generator/launch/static_centerline_generator.launch.xml

+3-3
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@@ -55,7 +55,7 @@
5555
</node>
5656

5757
<!-- optimize path -->
58-
<node pkg="autoware_static_centerline_generator" exec="autoware_static_centerline_generator_exe" name="autoware_static_centerline_generator">
58+
<node pkg="static_centerline_generator" exec="main" name="static_centerline_generator">
5959
<remap from="lanelet2_map_topic" to="$(var lanelet2_map_topic)"/>
6060
<remap from="input_centerline" to="~/input_centerline"/>
6161
<remap from="output_whole_centerline" to="~/output_whole_centerline"/>
@@ -79,11 +79,11 @@
7979
<param from="$(var obstacle_avoidance_planner_param)"/>
8080
<param from="$(var mission_planner_param)"/>
8181
<!-- node param -->
82-
<param from="$(find-pkg-share autoware_static_centerline_generator)/config/static_centerline_generator.param.yaml"/>
82+
<param from="$(find-pkg-share static_centerline_generator)/config/static_centerline_generator.param.yaml"/>
8383
<param name="centerline_source" value="$(var centerline_source)"/>
8484
<param name="bag_filename" value="$(var bag_filename)"/>
8585
</node>
8686

8787
<!-- rviz -->
88-
<node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share autoware_static_centerline_generator)/rviz/static_centerline_generator.rviz" if="$(var rviz)"/>
88+
<node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_generator)/rviz/static_centerline_generator.rviz" if="$(var rviz)"/>
8989
</launch>

‎planning/static_centerline_generator/package.xml

+2-2
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@@ -1,9 +1,9 @@
11
<?xml version="1.0"?>
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
4-
<name>autoware_static_centerline_generator</name>
4+
<name>static_centerline_generator</name>
55
<version>0.1.0</version>
6-
<description>The autoware_static_centerline_generator package</description>
6+
<description>The static_centerline_generator package</description>
77
<maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
88
<maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
99
<license>Apache License 2.0</license>

‎planning/static_centerline_generator/scripts/app.py

+3-3
Original file line numberDiff line numberDiff line change
@@ -17,15 +17,15 @@
1717
import json
1818
import uuid
1919

20-
from autoware_static_centerline_generator.srv import LoadMap
21-
from autoware_static_centerline_generator.srv import PlanPath
22-
from autoware_static_centerline_generator.srv import PlanRoute
2320
from flask import Flask
2421
from flask import jsonify
2522
from flask import request
2623
from flask_cors import CORS
2724
import rclpy
2825
from rclpy.node import Node
26+
from static_centerline_generator.srv import LoadMap
27+
from static_centerline_generator.srv import PlanPath
28+
from static_centerline_generator.srv import PlanRoute
2929

3030
rclpy.init()
3131
node = Node("static_centerline_generator_http_server")

‎planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@
2020

2121
#include <nav_msgs/msg/odometry.hpp>
2222

23-
namespace autoware::static_centerline_generator
23+
namespace static_centerline_generator
2424
{
2525
std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
2626
{
@@ -79,4 +79,4 @@ std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
7979

8080
return centerline_traj_points;
8181
}
82-
} // namespace autoware::static_centerline_generator
82+
} // namespace static_centerline_generator

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