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feat(surround_obstacle_checker): use polling subscriber #7215

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Jun 6, 2024
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feat(surround_obstacle_checker): use polling subscriber #7215

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10 changes: 7 additions & 3 deletions planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

#include "surround_obstacle_checker/debug_marker.hpp"
#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
#include "tier4_autoware_utils/ros/polling_subscriber.hpp"

#include <motion_utils/vehicle/vehicle_state_checker.hpp>
#include <rclcpp/rclcpp.hpp>
Expand Down Expand Up @@ -110,9 +111,12 @@ class SurroundObstacleCheckerNode : public rclcpp::Node
rclcpp::TimerBase::SharedPtr timer_;

// publisher and subscriber
rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_pointcloud_;
rclcpp::Subscription<PredictedObjects>::SharedPtr sub_dynamic_objects_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odometry_;
tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odometry_{
this, "~/input/odometry"};
tier4_autoware_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
sub_pointcloud_{this, "~/input/pointcloud"};
tier4_autoware_utils::InterProcessPollingSubscriber<PredictedObjects> sub_dynamic_objects_{
this, "~/input/objects"};
rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr pub_stop_reason_;
rclcpp::Publisher<VelocityLimitClearCommand>::SharedPtr pub_clear_velocity_limit_;
rclcpp::Publisher<VelocityLimit>::SharedPtr pub_velocity_limit_;
Expand Down
31 changes: 4 additions & 27 deletions planning/surround_obstacle_checker/src/node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020 Tier IV, Inc.

Check warning on line 1 in planning/surround_obstacle_checker/src/node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Overall Code Complexity 

This module has a mean cyclomatic complexity of 4.33 across 15 functions. The mean complexity threshold is 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -205,18 +205,7 @@
"~/output/velocity_limit_clear_command", rclcpp::QoS{1}.transient_local());
pub_velocity_limit_ = this->create_publisher<VelocityLimit>(
"~/output/max_velocity", rclcpp::QoS{1}.transient_local());

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Large Method 

SurroundObstacleCheckerNode::SurroundObstacleCheckerNode is no longer above the threshold for lines of code
// Subscribers
sub_pointcloud_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
"~/input/pointcloud", rclcpp::SensorDataQoS(),
std::bind(&SurroundObstacleCheckerNode::onPointCloud, this, std::placeholders::_1));
sub_dynamic_objects_ = this->create_subscription<PredictedObjects>(
"~/input/objects", 1,
std::bind(&SurroundObstacleCheckerNode::onDynamicObjects, this, std::placeholders::_1));
sub_odometry_ = this->create_subscription<nav_msgs::msg::Odometry>(
"~/input/odometry", 1,
std::bind(&SurroundObstacleCheckerNode::onOdometry, this, std::placeholders::_1));

// Parameter callback
set_param_res_ = this->add_on_set_parameters_callback(
std::bind(&SurroundObstacleCheckerNode::onParam, this, std::placeholders::_1));
Expand Down Expand Up @@ -282,6 +271,10 @@

void SurroundObstacleCheckerNode::onTimer()
{
odometry_ptr_ = sub_odometry_.takeData();
pointcloud_ptr_ = sub_pointcloud_.takeData();
object_ptr_ = sub_dynamic_objects_.takeData();

Check warning on line 276 in planning/surround_obstacle_checker/src/node.cpp

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Codecov / codecov/patch

planning/surround_obstacle_checker/src/node.cpp#L274-L276 

Added lines #L274 - L276 were not covered by tests

Check notice on line 277 in planning/surround_obstacle_checker/src/node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Complex Method 

SurroundObstacleCheckerNode::onTimer already has high cyclomatic complexity, and now it increases in Lines of Code from 73 to 76. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
if (!odometry_ptr_) {
RCLCPP_INFO_THROTTLE(
this->get_logger(), *this->get_clock(), 5000 /* ms */, "waiting for current velocity...");
Expand Down Expand Up @@ -377,22 +370,6 @@
debug_ptr_->publish();
}

void SurroundObstacleCheckerNode::onPointCloud(
const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
{
pointcloud_ptr_ = msg;
}

void SurroundObstacleCheckerNode::onDynamicObjects(const PredictedObjects::ConstSharedPtr msg)
{
object_ptr_ = msg;
}

void SurroundObstacleCheckerNode::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg)
{
odometry_ptr_ = msg;
}

std::optional<Obstacle> SurroundObstacleCheckerNode::getNearestObstacle() const
{
const auto nearest_pointcloud = getNearestObstacleByPointCloud();
Expand Down
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