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feat(mission_planner)!: introduce route_selector node #6363

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merged 12 commits into from
Feb 21, 2024
Merged

feat(mission_planner)!: introduce route_selector node #6363

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3f2ddf8
feat(mission_planner): introduce route_selector node
isamu-takagi Feb 8, 2024
857d7fb
remove unused file
isamu-takagi Feb 8, 2024
09a7533
fix use goal pose only when resuming
isamu-takagi Feb 13, 2024
1720aa1
fix: change mrm mode if route set is successful
isamu-takagi Feb 13, 2024
fa07c4c
add interrupted state
isamu-takagi Feb 14, 2024
874e943
fix mrm set route uuid
isamu-takagi Feb 14, 2024
4b5cf34
remove unused reference
isamu-takagi Feb 14, 2024
4951e1b
add resume route function
isamu-takagi Feb 16, 2024
9fe0af2
try to resume planned route
isamu-takagi Feb 16, 2024
051dde0
remove debug code
isamu-takagi Feb 16, 2024
8d28188
Merge branch 'main' into feat/mission-planner-route-selector
isamu-takagi Feb 19, 2024
4d67f93
use full license text instead of spdx
isamu-takagi Feb 21, 2024
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19 changes: 5 additions & 14 deletions launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,19 +1,10 @@
<launch>
<arg name="modified_goal_topic_name" default="/planning/scenario_planning/modified_goal"/>
<arg name="map_topic_name" default="/map/vector_map"/>
<arg name="visualization_topic_name" default="/planning/mission_planning/route_marker"/>
<arg name="mission_planner_param_path" default="$(find-pkg-share mission_planner)/config/mission_planner.param.yaml"/>

<node_container pkg="rclcpp_components" exec="component_container" name="mission_planner_container" namespace="">
<composable_node pkg="mission_planner" plugin="mission_planner::MissionPlanner" name="mission_planner" namespace="">
<param from="$(var mission_planner_param_path)"/>
<remap from="input/modified_goal" to="$(var modified_goal_topic_name)"/>
<remap from="input/vector_map" to="$(var map_topic_name)"/>
<remap from="debug/route_marker" to="$(var visualization_topic_name)"/>
</composable_node>
<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
</node_container>

<group>
<include file="$(find-pkg-share mission_planner)/launch/mission_planner.launch.xml">
<arg name="mission_planner_param_path" value="$(var mission_planner_param_path)"/>
</include>
</group>
<group>
<include file="$(find-pkg-share mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
</group>
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17 changes: 12 additions & 5 deletions planning/mission_planner/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,13 +14,20 @@ rclcpp_components_register_node(goal_pose_visualizer_component
)

ament_auto_add_library(${PROJECT_NAME}_component SHARED
src/mission_planner/mission_planner.cpp
src/mission_planner/arrival_checker.cpp
src/mission_planner/service_utils.cpp
src/mission_planner/mission_planner.cpp
src/mission_planner/route_selector.cpp
)

rclcpp_components_register_node(${PROJECT_NAME}_component
PLUGIN "mission_planner::MissionPlanner"
EXECUTABLE ${PROJECT_NAME}
EXECUTABLE mission_planner
)

rclcpp_components_register_node(${PROJECT_NAME}_component
PLUGIN "mission_planner::RouteSelector"
EXECUTABLE route_selector
)

ament_auto_add_library(${PROJECT_NAME}_lanelet2_plugins SHARED
Expand All @@ -30,7 +37,7 @@ ament_auto_add_library(${PROJECT_NAME}_lanelet2_plugins SHARED
pluginlib_export_plugin_description_file(mission_planner plugins/plugin_description.xml)

ament_auto_package(
INSTALL_TO_SHARE
config
launch
INSTALL_TO_SHARE
config
launch
)
50 changes: 0 additions & 50 deletions planning/mission_planner/include/mission_planner/mission_planner_interface.hpp
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This file was deleted.

26 changes: 20 additions & 6 deletions planning/mission_planner/launch/mission_planner.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,24 @@
<arg name="visualization_topic_name" default="/planning/mission_planning/route_marker"/>
<arg name="mission_planner_param_path" default="$(find-pkg-share mission_planner)/config/mission_planner.param.yaml"/>

<node pkg="mission_planner" exec="mission_planner" name="mission_planner" output="screen">
<param from="$(var mission_planner_param_path)"/>
<remap from="input/modified_goal" to="$(var modified_goal_topic_name)"/>
<remap from="input/vector_map" to="$(var map_topic_name)"/>
<remap from="debug/route_marker" to="$(var visualization_topic_name)"/>
</node>
<node_container pkg="rclcpp_components" exec="component_container_mt" name="mission_planner_container" namespace="">
<composable_node pkg="mission_planner" plugin="mission_planner::MissionPlanner" name="mission_planner" namespace="">
<param from="$(var mission_planner_param_path)"/>
<remap from="~/input/modified_goal" to="$(var modified_goal_topic_name)"/>
<remap from="~/input/vector_map" to="$(var map_topic_name)"/>
<remap from="~/input/odometry" to="/localization/kinematic_state"/>
<remap from="~/input/reroute_availability" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/is_reroute_available"/>
<remap from="~/route" to="route"/>
<remap from="~/state" to="state"/>
<remap from="~/debug/route_marker" to="$(var visualization_topic_name)"/>
</composable_node>
<composable_node pkg="mission_planner" plugin="mission_planner::RouteSelector" name="route_selector" namespace="">
<remap from="~/planner/clear_route" to="mission_planner/clear_route"/>
<remap from="~/planner/set_lanelet_route" to="mission_planner/set_lanelet_route"/>
<remap from="~/planner/set_waypoint_route" to="mission_planner/set_waypoint_route"/>
<remap from="~/planner/route" to="route"/>
<remap from="~/planner/state" to="state"/>
</composable_node>
<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
</node_container>
</launch>
5 changes: 1 addition & 4 deletions planning/mission_planner/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,18 +17,15 @@
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
<depend>autoware_auto_mapping_msgs</depend>
<depend>autoware_planning_msgs</depend>
<depend>component_interface_specs</depend>
<depend>component_interface_utils</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>motion_utils</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>route_handler</depend>
<depend>std_srvs</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_autoware_utils</depend>
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4 changes: 2 additions & 2 deletions planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -150,7 +150,7 @@ void DefaultPlanner::initialize_common(rclcpp::Node * node)

const auto durable_qos = rclcpp::QoS(1).transient_local();
pub_goal_footprint_marker_ =
node_->create_publisher<MarkerArray>("debug/goal_footprint", durable_qos);
node_->create_publisher<MarkerArray>("~/debug/goal_footprint", durable_qos);

vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*node_).getVehicleInfo();
param_.goal_angle_threshold_deg = node_->declare_parameter<double>("goal_angle_threshold_deg");
Expand All @@ -164,7 +164,7 @@ void DefaultPlanner::initialize(rclcpp::Node * node)
{
initialize_common(node);
map_subscriber_ = node_->create_subscription<HADMapBin>(
"input/vector_map", rclcpp::QoS{10}.transient_local(),
"~/input/vector_map", rclcpp::QoS{10}.transient_local(),
std::bind(&DefaultPlanner::map_callback, this, std::placeholders::_1));
}

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