feat(mapless_architecture): add mapless_architecture

planning/.pages

@@ -40,6 +40,7 @@ nav:
       - 'Algorithm': planning/autoware_freespace_planning_algorithms
       - 'RRT*': planning/autoware_freespace_planning_algorithms/rrtstar
   - 'Mission Planner': planning/autoware_mission_planner
+  - 'Local Mission Planner': planning/mapless_architecture
   - 'Motion Planning':
     - 'Path Optimizer':
       - 'About Path Optimizer': planning/autoware_path_optimizer

planning/mapless_architecture/README.md

@@ -0,0 +1,35 @@
+# Mission Planner
+
+The Mission Planner module generates a reference trajectory/path in a local road model based on mission inputs. These inputs are received from the Human Machine Interface (HMI) or another agent. The resulting trajectory or path is then forwarded to the Behavior Planner for further processing.
+
+A detailed overview can be seen here:
+
+![mapless_architecture](images/mapless_architecture.svg)
+
+## Components
+
+The Mission Planner consists of several components (ROS2 packages) working together:
+
+- **Local Mission Planner**: Generates target lanes based on the mission input.
+- **HMI (Human Machine Interface)**: Provides a user interface for defining missions via terminal input.
+- **Converter**: Converts lanes generated by the Mission Planner into Autoware Trajectories/Paths.
+- **Local Road Provider**: Converts the LaneletsStamped message into a RoadSegments message.
+- **Local Map Provider**: Converts the RoadSegments message into a LocalMap message.
+
+## Launching the Software
+
+To launch all nodes of the software:
+
+```bash
+ros2 launch autoware_local_mission_planner mission_planner_compose.launch.py
+```
+
+To launch a specific node, such as the mission planner:
+
+```bash
+ros2 launch autoware_local_mission_planner mission_planner.launch.py
+```
+
+## Additional Notes
+
+During the beta phase, the mission planner will immediately output a straight trajectory with low velocity to move the vehicle into the local road model. Once the vehicle can be located in the local road model, a trajectory following the ego lane will be computed.

planning/mapless_architecture/autoware_hmi/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(autoware_hmi)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# --- FIND DEPENDENCIES ---
+find_package(autoware_cmake REQUIRED)  # automatically find dependencies
+ament_auto_find_build_dependencies()
+autoware_package()
+
+# build executables
+ament_auto_add_executable(${PROJECT_NAME}
+  src/hmi_main.cpp
+  src/hmi_node.cpp)
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+# install executable(s)
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME})
+
+# install launchfile(s) [all within the "launch" folder]
+install(DIRECTORY
+launch
+DESTINATION share/${PROJECT_NAME})
+
+# --- SPECIFY TESTS ---
+# configure clang format
+set(ament_cmake_clang_format_CONFIG_FILE ../../.clang-format)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+
+  ament_auto_add_gtest(${PROJECT_NAME}_tests test/gtest_main.cpp)
+
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

planning/mapless_architecture/autoware_hmi/Readme.md

@@ -0,0 +1,17 @@
+# HMI Node
+
+Creates a mission based on the terminal input (ROS parameter change).
+
+Available missions:
+
+- LANE_KEEP
+- LANE_CHANGE_LEFT
+- LANE_CHANGE_RIGHT
+- TAKE_NEXT_EXIT_LEFT
+- TAKE_NEXT_EXIT_RIGHT
+
+Interact with this node by changing the ROS parameters. For a lane change to the right use this command in the terminal:
+
+```bash
+ros2 param set /mission_planner/hmi mission LANE_CHANGE_RIGHT
+```

planning/mapless_architecture/autoware_hmi/include/autoware/hmi/hmi_node.hpp

@@ -0,0 +1,53 @@
+// Copyright 2024 driveblocks GmbH
+// driveblocks proprietary license
+#ifndef AUTOWARE__HMI__HMI_NODE_HPP_
+#define AUTOWARE__HMI__HMI_NODE_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "autoware_planning_msgs/msg/mission.hpp"
+
+#include <string>
+#include <vector>
+
+namespace autoware::mapless_architecture
+{
+
+/**
+ * Node for HMI.
+ */
+class HMINode : public rclcpp::Node
+{
+public:
+  /**
+   * @brief Constructor for the HMINode class.
+   * Initializes the publisher and subscriber with appropriate topics and QoS
+   * settings.
+   */
+  HMINode();
+
+private:
+  /**
+   * @brief Callback function for parameter changes.
+   * This callback function is triggered whenever a ROS 2 parameter is changed.
+   * @param parameters The received parameter changes.
+   */
+  rcl_interfaces::msg::SetParametersResult ParamCallback_(
+    const std::vector<rclcpp::Parameter> & parameters);
+
+  /**
+   * @brief Function which publishes the mission.
+   *
+   * @param mission The mission that should be published.
+   */
+  void PublishMission_(std::string mission);
+
+  // Declare ROS2 publisher and subscriber
+
+  rclcpp::Publisher<autoware_planning_msgs::msg::Mission>::SharedPtr mission_publisher_;
+
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
+};
+}  // namespace autoware::mapless_architecture
+
+#endif  // AUTOWARE__HMI__HMI_NODE_HPP_

planning/mapless_architecture/autoware_hmi/launch/hmi.launch.py

@@ -0,0 +1,23 @@
+# Copyright 2024 driveblocks GmbH
+# driveblocks proprietary license
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            # hmi executable
+            Node(
+                package="autoware_hmi",
+                executable="autoware_hmi",
+                name="autoware_hmi",
+                namespace="mapless_architecture",
+                remappings=[
+                    ("hmi_node/output/mission", "hmi_node/output/mission"),
+                ],
+                parameters=[],
+                output="screen",
+            ),
+        ]
+    )

planning/mapless_architecture/autoware_hmi/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_hmi</name>
+  <version>0.0.1</version>
+  <description>HMI</description>
+  <maintainer email="simon.eisenmann@driveblocks.ai">driveblocks</maintainer>
+  <license>driveblocks proprietary license</license>
+
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <exec_depend>ros2launch</exec_depend>
+
+  <depend>autoware_planning_msgs</depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

planning/mapless_architecture/autoware_hmi/src/hmi_main.cpp

@@ -0,0 +1,18 @@
+// Copyright 2024 driveblocks GmbH
+// driveblocks proprietary license
+
+#include "autoware/hmi/hmi_node.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <memory>
+
+int main(int argc, char * argv[])
+{
+  RCLCPP_INFO(rclcpp::get_logger("hmi"), "Launching HMI node...");
+
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<autoware::mapless_architecture::HMINode>());
+  rclcpp::shutdown();
+  return 0;
+}

planning/mapless_architecture/autoware_hmi/src/hmi_node.cpp

@@ -0,0 +1,80 @@
+// Copyright 2024 driveblocks GmbH
+// driveblocks proprietary license
+
+#include "autoware/hmi/hmi_node.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "autoware_planning_msgs/msg/mission.hpp"
+
+namespace autoware::mapless_architecture
+{
+using std::placeholders::_1;
+
+HMINode::HMINode() : Node("hmi_node")
+{
+  // Set quality of service to best effort (if transmission fails, do not try to
+  // resend but rather use new sensor data)
+  // the history_depth is set to 1 (message queue size)
+  auto qos = rclcpp::QoS(1);
+  qos.best_effort();
+
+  // Declare parameter
+  this->declare_parameter("mission", "LANE_KEEP");
+
+  // Initialize publisher
+  mission_publisher_ =
+    this->create_publisher<autoware_planning_msgs::msg::Mission>("hmi_node/output/mission", 1);
+
+  // Initialize parameters callback handle
+  param_callback_handle_ = this->add_on_set_parameters_callback(
+    std::bind(&HMINode::ParamCallback_, this, std::placeholders::_1));
+}
+
+rcl_interfaces::msg::SetParametersResult HMINode::ParamCallback_(
+  const std::vector<rclcpp::Parameter> & parameters)
+{
+  // Initialize output
+  rcl_interfaces::msg::SetParametersResult result;
+
+  result.successful = false;
+  result.reason = "";
+  std::string mission;
+  for (const auto & param : parameters) {
+    if (param.get_name() == "mission") {
+      if (param.get_type() == rclcpp::ParameterType::PARAMETER_STRING) {
+        mission = param.as_string();
+
+        // Publish mission
+        PublishMission_(mission);
+
+        result.successful = true;
+      } else {
+        result.reason = "Incorrect Type";
+      }
+    }
+  }
+  return result;
+}
+
+void HMINode::PublishMission_(std::string mission)
+{
+  autoware_planning_msgs::msg::Mission missionMessage;
+  if (mission == "LANE_KEEP") {
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::LANE_KEEP;
+  } else if (mission == "LANE_CHANGE_LEFT") {
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::LANE_CHANGE_LEFT;
+  } else if (mission == "LANE_CHANGE_RIGHT") {
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::LANE_CHANGE_RIGHT;
+  } else if (mission == "TAKE_NEXT_EXIT_LEFT") {
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::TAKE_NEXT_EXIT_LEFT;
+  } else if (mission == "TAKE_NEXT_EXIT_RIGHT") {
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::TAKE_NEXT_EXIT_RIGHT;
+  }
+
+  // TODO(simon.eisenmann@driveblocks.ai): Change deadline parameter
+  missionMessage.deadline = 1000;
+
+  mission_publisher_->publish(missionMessage);
+}
+}  // namespace autoware::mapless_architecture

planning/mapless_architecture/autoware_hmi/test/gtest_main.cpp

@@ -0,0 +1,9 @@
+// Copyright 2024 driveblocks GmbH
+// driveblocks proprietary license
+#include "gtest/gtest.h"
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

planning/mapless_architecture/autoware_local_map_provider/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.8)
+project(autoware_local_map_provider)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# --- FIND DEPENDENCIES ---
+find_package(autoware_cmake REQUIRED)  # automatically find dependencies
+ament_auto_find_build_dependencies()
+autoware_package()
+
+# build executables
+ament_auto_add_executable(${PROJECT_NAME}
+  src/local_map_provider_main.cpp
+  src/local_map_provider_node.cpp)
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+# install executable(s)
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME})
+
+# install launchfile(s) [all within the "launch" folder]
+install(DIRECTORY
+launch
+DESTINATION share/${PROJECT_NAME})
+
+# --- SPECIFY TESTS ---
+# configure clang format
+set(ament_cmake_clang_format_CONFIG_FILE ../../.clang-format)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+
+  ament_auto_add_gtest(${PROJECT_NAME}_tests test/gtest_main.cpp)
+
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

planning/mapless_architecture/autoware_local_map_provider/Readme.md

@@ -0,0 +1,3 @@
+# Local Map Provider Node
+
+This node converts the mission_planner_messages::msg::RoadSegments message into a mission_planner_messages::msg::LocalMap message right now. More functionality can be added later.