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feat(behavior_path_start_planner_module): add support for rqt reconfig #6492

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merged 2 commits into from
Feb 27, 2024
Merged

feat(behavior_path_start_planner_module): add support for rqt reconfig #6492

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c831aa8
add support for rqt reconfig
danielsanchezaran Feb 26, 2024
2a37942
add missing params to update
danielsanchezaran Feb 27, 2024
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342 changes: 334 additions & 8 deletions planning/behavior_path_start_planner_module/src/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -334,15 +334,341 @@

auto & p = parameters_;

[[maybe_unused]] const std::string ns = name_ + ".";

std::for_each(observers_.begin(), observers_.end(), [&](const auto & observer) {
if (!observer.expired()) {
const auto start_planner_ptr = std::dynamic_pointer_cast<StartPlannerModule>(observer.lock());
if (start_planner_ptr) {
start_planner_ptr->updateModuleParams(p);
}
const std::string ns = "start_planner.";

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{
updateParam<double>(parameters, ns + "th_arrived_distance", p->th_arrived_distance);
updateParam<double>(parameters, ns + "th_stopped_velocity", p->th_stopped_velocity);
updateParam<double>(parameters, ns + "th_stopped_time", p->th_stopped_time);
updateParam<double>(parameters, ns + "prepare_time_before_start", p->prepare_time_before_start);
updateParam<double>(
parameters, ns + "th_turn_signal_on_lateral_offset", p->th_turn_signal_on_lateral_offset);
updateParam<double>(
parameters, ns + "th_distance_to_middle_of_the_road", p->th_distance_to_middle_of_the_road);
updateParam<double>(
parameters, ns + "intersection_search_length", p->intersection_search_length);
updateParam<double>(
parameters, ns + "length_ratio_for_turn_signal_deactivation_near_intersection",
p->length_ratio_for_turn_signal_deactivation_near_intersection);
updateParam<std::vector<double>>(
parameters, ns + "collision_check_margins", p->collision_check_margins);
updateParam<double>(
parameters, ns + "collision_check_margin_from_front_object",
p->collision_check_margin_from_front_object);
updateParam<double>(parameters, ns + "th_moving_object_velocity", p->th_moving_object_velocity);
updateParam<double>(parameters, ns + "center_line_path_interval", p->center_line_path_interval);
updateParam<bool>(parameters, ns + "enable_shift_pull_out", p->enable_shift_pull_out);
updateParam<double>(
parameters, ns + "shift_collision_check_distance_from_end",
p->shift_collision_check_distance_from_end);
updateParam<double>(
parameters, ns + "minimum_shift_pull_out_distance", p->minimum_shift_pull_out_distance);
updateParam<int>(
parameters, ns + "lateral_acceleration_sampling_num", p->lateral_acceleration_sampling_num);
updateParam<double>(parameters, ns + "lateral_jerk", p->lateral_jerk);
updateParam<double>(parameters, ns + "maximum_lateral_acc", p->maximum_lateral_acc);
updateParam<double>(parameters, ns + "minimum_lateral_acc", p->minimum_lateral_acc);
updateParam<double>(parameters, ns + "maximum_curvature", p->maximum_curvature);
updateParam<double>(parameters, ns + "deceleration_interval", p->deceleration_interval);
updateParam<bool>(parameters, ns + "enable_geometric_pull_out", p->enable_geometric_pull_out);
updateParam<bool>(parameters, ns + "divide_pull_out_path", p->divide_pull_out_path);
updateParam<double>(
parameters, ns + "arc_path_interval", p->parallel_parking_parameters.pull_out_path_interval);
updateParam<double>(
parameters, ns + "lane_departure_margin",
p->parallel_parking_parameters.pull_out_lane_departure_margin);
updateParam<double>(
parameters, ns + "pull_out_max_steer_angle",
p->parallel_parking_parameters.pull_out_max_steer_angle);
updateParam<bool>(parameters, ns + "enable_back", p->enable_back);
updateParam<double>(parameters, ns + "backward_velocity", p->backward_velocity);
updateParam<double>(
parameters, ns + "geometric_pull_out_velocity",
p->parallel_parking_parameters.pull_out_velocity);
updateParam<double>(
parameters, ns + "geometric_collision_check_distance_from_end",
p->geometric_collision_check_distance_from_end);
updateParam<bool>(
parameters, ns + "check_shift_path_lane_departure", p->check_shift_path_lane_departure);
updateParam<std::string>(parameters, ns + "search_priority", p->search_priority);
updateParam<double>(parameters, ns + "max_back_distance", p->max_back_distance);
updateParam<double>(
parameters, ns + "backward_search_resolution", p->backward_search_resolution);
updateParam<double>(
parameters, ns + "backward_path_update_duration", p->backward_path_update_duration);
updateParam<double>(
parameters, ns + "ignore_distance_from_lane_end", p->ignore_distance_from_lane_end);

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}
{
const std::string ns = "start_planner.freespace_planner.";

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updateParam<bool>(parameters, ns + "enable_freespace_planner", p->enable_freespace_planner);
updateParam<std::string>(
parameters, ns + "freespace_planner_algorithm", p->freespace_planner_algorithm);
updateParam<double>(
parameters, ns + "end_pose_search_start_distance", p->end_pose_search_start_distance);
updateParam<double>(
parameters, ns + "end_pose_search_end_distance", p->end_pose_search_end_distance);
updateParam<double>(parameters, ns + "end_pose_search_interval", p->end_pose_search_interval);
updateParam<double>(parameters, ns + "velocity", p->freespace_planner_velocity);
updateParam<double>(parameters, ns + "vehicle_shape_margin", p->vehicle_shape_margin);
updateParam<double>(
parameters, ns + "time_limit", p->freespace_planner_common_parameters.time_limit);
updateParam<double>(
parameters, ns + "minimum_turning_radius",
p->freespace_planner_common_parameters.minimum_turning_radius);
updateParam<double>(
parameters, ns + "maximum_turning_radius",
p->freespace_planner_common_parameters.maximum_turning_radius);
updateParam<int>(
parameters, ns + "turning_radius_size",
p->freespace_planner_common_parameters.turning_radius_size);
p->freespace_planner_common_parameters.maximum_turning_radius = std::max(
p->freespace_planner_common_parameters.maximum_turning_radius,
p->freespace_planner_common_parameters.minimum_turning_radius);
p->freespace_planner_common_parameters.turning_radius_size =
std::max(p->freespace_planner_common_parameters.turning_radius_size, 1);

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}
{
const std::string ns = "start_planner.freespace_planner.search_configs.";

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updateParam<int>(
parameters, ns + "theta_size", p->freespace_planner_common_parameters.theta_size);
updateParam<double>(
parameters, ns + "angle_goal_range", p->freespace_planner_common_parameters.angle_goal_range);
updateParam<double>(
parameters, ns + "curve_weight", p->freespace_planner_common_parameters.curve_weight);
updateParam<double>(
parameters, ns + "reverse_weight", p->freespace_planner_common_parameters.reverse_weight);
updateParam<double>(
parameters, ns + "lateral_goal_range",
p->freespace_planner_common_parameters.lateral_goal_range);
updateParam<double>(
parameters, ns + "longitudinal_goal_range",
p->freespace_planner_common_parameters.longitudinal_goal_range);

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}

{
const std::string ns = "start_planner.freespace_planner.costmap_configs.";

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updateParam<int>(
parameters, ns + "obstacle_threshold",
p->freespace_planner_common_parameters.obstacle_threshold);

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}

{
const std::string ns = "start_planner.freespace_planner.astar.";

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updateParam<bool>(parameters, ns + "use_back", p->astar_parameters.use_back);
updateParam<bool>(
parameters, ns + "only_behind_solutions", p->astar_parameters.only_behind_solutions);
updateParam<double>(
parameters, ns + "distance_heuristic_weight", p->astar_parameters.distance_heuristic_weight);

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}
{
const std::string ns = "start_planner.freespace_planner.rrtstar.";

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updateParam<bool>(parameters, ns + "enable_update", p->rrt_star_parameters.enable_update);
updateParam<bool>(
parameters, ns + "use_informed_sampling", p->rrt_star_parameters.use_informed_sampling);
updateParam<double>(
parameters, ns + "max_planning_time", p->rrt_star_parameters.max_planning_time);
updateParam<double>(parameters, ns + "neighbor_radius", p->rrt_star_parameters.neighbor_radius);
updateParam<double>(parameters, ns + "margin", p->rrt_star_parameters.margin);

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}

{
updateParam<double>(
parameters, ns + "stop_condition.maximum_deceleration_for_stop",
p->maximum_deceleration_for_stop);
updateParam<double>(
parameters, ns + "stop_condition.maximum_jerk_for_stop", p->maximum_jerk_for_stop);

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}

const std::string base_ns = "start_planner.path_safety_check.";
const std::string ego_path_ns = base_ns + "ego_predicted_path.";

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{
updateParam<double>(
parameters, ego_path_ns + "min_velocity", p->ego_predicted_path_params.min_velocity);
updateParam<double>(
parameters, ego_path_ns + "min_acceleration", p->ego_predicted_path_params.acceleration);
updateParam<double>(
parameters, ego_path_ns + "time_horizon_for_front_object",
p->ego_predicted_path_params.time_horizon_for_front_object);
updateParam<double>(
parameters, ego_path_ns + "time_horizon_for_rear_object",
p->ego_predicted_path_params.time_horizon_for_rear_object);
updateParam<double>(
parameters, ego_path_ns + "time_resolution", p->ego_predicted_path_params.time_resolution);
updateParam<double>(
parameters, ego_path_ns + "delay_until_departure",
p->ego_predicted_path_params.delay_until_departure);

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}

const std::string obj_filter_ns = base_ns + "target_filtering.";

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{
updateParam<double>(
parameters, obj_filter_ns + "safety_check_time_horizon",
p->objects_filtering_params.safety_check_time_horizon);
updateParam<double>(
parameters, obj_filter_ns + "safety_check_time_resolution",
p->objects_filtering_params.safety_check_time_resolution);
updateParam<double>(
parameters, obj_filter_ns + "object_check_forward_distance",
p->objects_filtering_params.object_check_forward_distance);
updateParam<double>(
parameters, obj_filter_ns + "object_check_backward_distance",
p->objects_filtering_params.object_check_backward_distance);
updateParam<double>(
parameters, obj_filter_ns + "ignore_object_velocity_threshold",
p->objects_filtering_params.ignore_object_velocity_threshold);
updateParam<bool>(
parameters, obj_filter_ns + "include_opposite_lane",
p->objects_filtering_params.include_opposite_lane);
updateParam<bool>(
parameters, obj_filter_ns + "invert_opposite_lane",
p->objects_filtering_params.invert_opposite_lane);
updateParam<bool>(
parameters, obj_filter_ns + "check_all_predicted_path",
p->objects_filtering_params.check_all_predicted_path);
updateParam<bool>(
parameters, obj_filter_ns + "use_all_predicted_path",
p->objects_filtering_params.use_all_predicted_path);
updateParam<bool>(
parameters, obj_filter_ns + "use_predicted_path_outside_lanelet",
p->objects_filtering_params.use_predicted_path_outside_lanelet);

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}

const std::string obj_types_ns = obj_filter_ns + "object_types_to_check.";

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{
updateParam<bool>(
parameters, obj_types_ns + "check_car",
p->objects_filtering_params.object_types_to_check.check_car);
updateParam<bool>(
parameters, obj_types_ns + "check_truck",
p->objects_filtering_params.object_types_to_check.check_truck);
updateParam<bool>(
parameters, obj_types_ns + "check_bus",
p->objects_filtering_params.object_types_to_check.check_bus);
updateParam<bool>(
parameters, obj_types_ns + "check_trailer",
p->objects_filtering_params.object_types_to_check.check_trailer);
updateParam<bool>(
parameters, obj_types_ns + "check_unknown",
p->objects_filtering_params.object_types_to_check.check_unknown);
updateParam<bool>(
parameters, obj_types_ns + "check_bicycle",
p->objects_filtering_params.object_types_to_check.check_bicycle);
updateParam<bool>(
parameters, obj_types_ns + "check_motorcycle",
p->objects_filtering_params.object_types_to_check.check_motorcycle);
updateParam<bool>(
parameters, obj_types_ns + "check_pedestrian",
p->objects_filtering_params.object_types_to_check.check_pedestrian);

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}
const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration.";

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{
updateParam<bool>(
parameters, obj_lane_ns + "check_current_lane",
p->objects_filtering_params.object_lane_configuration.check_current_lane);
updateParam<bool>(
parameters, obj_lane_ns + "check_right_side_lane",
p->objects_filtering_params.object_lane_configuration.check_right_lane);
updateParam<bool>(
parameters, obj_lane_ns + "check_left_side_lane",
p->objects_filtering_params.object_lane_configuration.check_left_lane);
updateParam<bool>(
parameters, obj_lane_ns + "check_shoulder_lane",
p->objects_filtering_params.object_lane_configuration.check_shoulder_lane);
updateParam<bool>(
parameters, obj_lane_ns + "check_other_lane",
p->objects_filtering_params.object_lane_configuration.check_other_lane);

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}
const std::string safety_check_ns = base_ns + "safety_check_params.";

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{
updateParam<bool>(
parameters, safety_check_ns + "enable_safety_check",
p->safety_check_params.enable_safety_check);
updateParam<double>(
parameters, safety_check_ns + "hysteresis_factor_expand_rate",
p->safety_check_params.hysteresis_factor_expand_rate);
updateParam<double>(
parameters, safety_check_ns + "backward_path_length",
p->safety_check_params.backward_path_length);
updateParam<double>(
parameters, safety_check_ns + "forward_path_length",
p->safety_check_params.forward_path_length);
updateParam<bool>(
parameters, safety_check_ns + "publish_debug_marker",
p->safety_check_params.publish_debug_marker);

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}
const std::string rss_ns = safety_check_ns + "rss_params.";

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{
updateParam<double>(
parameters, rss_ns + "rear_vehicle_reaction_time",
p->safety_check_params.rss_params.rear_vehicle_reaction_time);
updateParam<double>(
parameters, rss_ns + "rear_vehicle_safety_time_margin",
p->safety_check_params.rss_params.rear_vehicle_safety_time_margin);
updateParam<double>(
parameters, rss_ns + "lateral_distance_max_threshold",
p->safety_check_params.rss_params.lateral_distance_max_threshold);
updateParam<double>(
parameters, rss_ns + "longitudinal_distance_min_threshold",
p->safety_check_params.rss_params.longitudinal_distance_min_threshold);
updateParam<double>(
parameters, rss_ns + "longitudinal_velocity_delta_time",
p->safety_check_params.rss_params.longitudinal_velocity_delta_time);

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}
std::string surround_moving_obstacle_check_ns = ns + "surround_moving_obstacle_check.";

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{
updateParam<double>(
parameters, surround_moving_obstacle_check_ns + "search_radius", p->search_radius);
updateParam<double>(
parameters, surround_moving_obstacle_check_ns + "th_moving_obstacle_velocity",
p->th_moving_obstacle_velocity);

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// ObjectTypesToCheck
std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check.";

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{
updateParam<bool>(
parameters, obj_types_ns + "check_car",
p->surround_moving_obstacles_type_to_check.check_car);
updateParam<bool>(
parameters, obj_types_ns + "check_truck",
p->surround_moving_obstacles_type_to_check.check_truck);
updateParam<bool>(
parameters, obj_types_ns + "check_bus",
p->surround_moving_obstacles_type_to_check.check_bus);
updateParam<bool>(
parameters, obj_types_ns + "check_trailer",
p->surround_moving_obstacles_type_to_check.check_trailer);
updateParam<bool>(
parameters, obj_types_ns + "check_unknown",
p->surround_moving_obstacles_type_to_check.check_unknown);
updateParam<bool>(
parameters, obj_types_ns + "check_bicycle",
p->surround_moving_obstacles_type_to_check.check_bicycle);
updateParam<bool>(
parameters, obj_types_ns + "check_motorcycle",
p->surround_moving_obstacles_type_to_check.check_motorcycle);
updateParam<bool>(
parameters, obj_types_ns + "check_pedestrian",
p->surround_moving_obstacles_type_to_check.check_pedestrian);

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}
}

std::string debug_ns = ns + "debug.";

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{
updateParam<bool>(parameters, debug_ns + "print_debug_info", p->print_debug_info);

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}

std::for_each(observers_.begin(), observers_.end(), [&p](const auto & observer) {
if (!observer.expired()) observer.lock()->updateModuleParams(p);

Check warning on line 671 in planning/behavior_path_start_planner_module/src/manager.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Large Method 

StartPlannerModuleManager::updateModuleParams has 322 lines, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

Check warning on line 671 in planning/behavior_path_start_planner_module/src/manager.cpp

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Codecov / codecov/patch

planning/behavior_path_start_planner_module/src/manager.cpp#L670-L671 

Added lines #L670 - L671 were not covered by tests
});
}

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