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feat(mission_planner)!: introduce route_selector node #6363
feat(mission_planner)!: introduce route_selector node #6363
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Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
planning/mission_planner/src/mission_planner/route_selector.cpp
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planning/mission_planner/src/mission_planner/route_selector.cpp
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planning/mission_planner/src/mission_planner/mission_planner.cpp
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Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
planning/mission_planner/src/mission_planner/route_selector.cpp
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Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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thanks!!! looks very nice!
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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// During MRM, only change the state. | ||
if (mrm_operating_) { | ||
main_.change_state(now(), RouteState::SET); |
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The snippet main_.change_state(now(), RouteState::SET);
is going to be updated to INERRUPTED in this PR or in the future, right ?
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Yes, updated fa07c4c
// During MRM, only change the state. | ||
if (mrm_operating_) { | ||
main_.change_state(now(), RouteState::SET); | ||
res->status.success = true; |
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I'd appreciate if you could add some NOTE for how to notify the API that the main route is canceled during MRM.
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6363 +/- ##
==========================================
+ Coverage 15.24% 15.26% +0.01%
==========================================
Files 1816 1819 +3
Lines 125147 125245 +98
Branches 38188 38263 +75
==========================================
+ Hits 19075 19114 +39
- Misses 84684 84706 +22
- Partials 21388 21425 +37
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
…tion#6363) * feat(mission_planner): introduce route_selector node Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * remove unused file Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix use goal pose only when resuming Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: change mrm mode if route set is successful Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add interrupted state Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix mrm set route uuid Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * remove unused reference Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add resume route function Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * try to resume planned route Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * remove debug code Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * use full license text instead of spdx Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* feat(mission_planner): introduce route_selector node Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * remove unused file Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix use goal pose only when resuming Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: change mrm mode if route set is successful Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add interrupted state Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix mrm set route uuid Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * remove unused reference Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add resume route function Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * try to resume planned route Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * remove debug code Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * use full license text instead of spdx Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
…tion#6363) * feat(mission_planner): introduce route_selector node Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * remove unused file Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix use goal pose only when resuming Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: change mrm mode if route set is successful Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add interrupted state Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix mrm set route uuid Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * remove unused reference Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add resume route function Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * try to resume planned route Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * remove debug code Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * use full license text instead of spdx Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Description
Introduce the route_selector node to the mission_planner package. The route_selector node manages main/mrm routes and makes requests to the mission_planner node. Therefore, now the mission_planner node only needs to plan the current route.
Related links
Tests performed
/rviz/route_selector/main/goal
/rviz/route_selector/mrm/goal
https://evaluation.tier4.jp/evaluation/reports/7d8458ad-5132-5f28-b0b2-1c117bc1b7e6?project_id=prd_jt
Notes for reviewers
simplescreenrecorder-2024-02-08_22.21.30.mp4
Interface changes
Add:
Type change:
Effects on system behavior
The MRM route will no longer be reflected in AD API.
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