From a3b50d46b4fa9cc1071f74e92b27eab17952984e Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 7 Feb 2024 14:36:26 +0900 Subject: [PATCH] chore(object_type_panel): update rosparam name config Signed-off-by: Takamasa Horibe --- .../src/target_object_type_panel.cpp | 106 ++++++++++++++---- 1 file changed, 87 insertions(+), 19 deletions(-) diff --git a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp b/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp index cf5960cac281f..e014307942bab 100644 --- a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp +++ b/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp @@ -60,7 +60,12 @@ void TargetObjectTypePanel::setParameters() modules_ = { "avoidance", "avoidance_by_lane_change", + "dynamic_avoidance", "lane_change", + "start_planner", + "goal_planner", + "crosswalk", + "surround_obstacle_checker", "obstacle_cruise (inside)", "obstacle_cruise (outside)", "obstacle_stop", @@ -89,15 +94,8 @@ void TargetObjectTypePanel::setParameters() ParamNameEnableObject param_name; param_name.node = "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "avoidance.target_object"; - param_name.name.emplace("car", "car.is_target"); - param_name.name.emplace("truck", "truck.is_target"); - param_name.name.emplace("bus", "bus.is_target"); - param_name.name.emplace("trailer", "trailer.is_target"); - param_name.name.emplace("unknown", "unknown.is_target"); - param_name.name.emplace("bicycle", "bicycle.is_target"); - param_name.name.emplace("motorcycle", "motorcycle.is_target"); - param_name.name.emplace("pedestrian", "pedestrian.is_target"); + param_name.ns = "avoidance.target_filtering.target_type"; + param_name.name = default_param_name.name; param_names_.emplace(module, param_name); } @@ -107,15 +105,8 @@ void TargetObjectTypePanel::setParameters() ParamNameEnableObject param_name; param_name.node = "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "avoidance_by_lane_change.target_object"; - param_name.name.emplace("car", "car.is_target"); - param_name.name.emplace("truck", "truck.is_target"); - param_name.name.emplace("bus", "bus.is_target"); - param_name.name.emplace("trailer", "trailer.is_target"); - param_name.name.emplace("unknown", "unknown.is_target"); - param_name.name.emplace("bicycle", "bicycle.is_target"); - param_name.name.emplace("motorcycle", "motorcycle.is_target"); - param_name.name.emplace("pedestrian", "pedestrian.is_target"); + param_name.ns = "avoidance_by_lane_change.target_filtering.target_type"; + param_name.name = default_param_name.name; param_names_.emplace(module, param_name); } @@ -130,6 +121,64 @@ void TargetObjectTypePanel::setParameters() param_names_.emplace(module, param_name); } + // start_planner + { + const auto module = "start_planner"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; + param_name.ns = "start_planner.path_safety_check.target_filtering.object_types_to_check"; + param_name.name.emplace("car", "check_car"); + param_name.name.emplace("truck", "check_truck"); + param_name.name.emplace("bus", "check_bus"); + param_name.name.emplace("trailer", "check_trailer"); + param_name.name.emplace("unknown", "check_unknown"); + param_name.name.emplace("bicycle", "check_bicycle"); + param_name.name.emplace("motorcycle", "check_motorcycle"); + param_name.name.emplace("pedestrian", "check_pedestrian"); + param_names_.emplace(module, param_name); + } + + // goal_planner + { + const auto module = "goal_planner"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; + param_name.ns = "goal_planner.path_safety_check.target_filtering.object_types_to_check"; + param_name.name.emplace("car", "check_car"); + param_name.name.emplace("truck", "check_truck"); + param_name.name.emplace("bus", "check_bus"); + param_name.name.emplace("trailer", "check_trailer"); + param_name.name.emplace("unknown", "check_unknown"); + param_name.name.emplace("bicycle", "check_bicycle"); + param_name.name.emplace("motorcycle", "check_motorcycle"); + param_name.name.emplace("pedestrian", "check_pedestrian"); + param_names_.emplace(module, param_name); + } + + // dynamic_avoidance + { + const auto module = "dynamic_avoidance"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; + param_name.ns = "dynamic_avoidance.target_object"; + param_name.name = default_param_name.name; + param_names_.emplace(module, param_name); + } + + // crosswalk + { + const auto module = "crosswalk"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"; + param_name.ns = "crosswalk.object_filtering.target_object"; + param_name.name = default_param_name.name; + param_names_.emplace(module, param_name); + } + // obstacle cruise (inside) { const auto module = "obstacle_cruise (inside)"; @@ -152,6 +201,24 @@ void TargetObjectTypePanel::setParameters() param_names_.emplace(module, param_name); } + // surround_obstacle_check + { + const auto module = "surround_obstacle_checker"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker"; + param_name.ns = ""; + param_name.name.emplace("car", "car.enable_check"); + param_name.name.emplace("truck", "truck.enable_check"); + param_name.name.emplace("bus", "bus.enable_check"); + param_name.name.emplace("trailer", "trailer.enable_check"); + param_name.name.emplace("unknown", "unknown.enable_check"); + param_name.name.emplace("bicycle", "bicycle.enable_check"); + param_name.name.emplace("motorcycle", "motorcycle.enable_check"); + param_name.name.emplace("pedestrian", "pedestrian.enable_check"); + param_names_.emplace(module, param_name); + } + // obstacle stop { const auto module = "obstacle_stop"; @@ -225,7 +292,8 @@ void TargetObjectTypePanel::updateMatrix() continue; } - std::string param_name = module_params.ns + "." + module_params.name.at(target); + std::string param_name = + (module_params.ns.empty() ? "" : module_params.ns + ".") + module_params.name.at(target); auto parameter_result = parameters_client->get_parameters({param_name}); if (!parameter_result.empty()) {