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feat(mission_planner): introduce route_selector node
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
1 parent eef501e commit 3f2ddf8

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11 files changed

+703
-657
lines changed

11 files changed

+703
-657
lines changed

‎launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml

+5-14
Original file line numberDiff line numberDiff line change
@@ -1,19 +1,10 @@
11
<launch>
2-
<arg name="modified_goal_topic_name" default="/planning/scenario_planning/modified_goal"/>
3-
<arg name="map_topic_name" default="/map/vector_map"/>
4-
<arg name="visualization_topic_name" default="/planning/mission_planning/route_marker"/>
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<arg name="mission_planner_param_path" default="$(find-pkg-share mission_planner)/config/mission_planner.param.yaml"/>
6-
7-
<node_container pkg="rclcpp_components" exec="component_container" name="mission_planner_container" namespace="">
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<composable_node pkg="mission_planner" plugin="mission_planner::MissionPlanner" name="mission_planner" namespace="">
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<param from="$(var mission_planner_param_path)"/>
10-
<remap from="input/modified_goal" to="$(var modified_goal_topic_name)"/>
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<remap from="input/vector_map" to="$(var map_topic_name)"/>
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<remap from="debug/route_marker" to="$(var visualization_topic_name)"/>
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</composable_node>
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<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
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</node_container>
16-
3+
<group>
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<include file="$(find-pkg-share mission_planner)/launch/mission_planner.launch.xml">
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<arg name="mission_planner_param_path" value="$(var mission_planner_param_path)"/>
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</include>
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</group>
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<group>
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<include file="$(find-pkg-share mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
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</group>

‎planning/mission_planner/CMakeLists.txt

+12-5
Original file line numberDiff line numberDiff line change
@@ -14,13 +14,20 @@ rclcpp_components_register_node(goal_pose_visualizer_component
1414
)
1515

1616
ament_auto_add_library(${PROJECT_NAME}_component SHARED
17-
src/mission_planner/mission_planner.cpp
1817
src/mission_planner/arrival_checker.cpp
18+
src/mission_planner/service_utils.cpp
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src/mission_planner/mission_planner.cpp
20+
src/mission_planner/route_selector.cpp
1921
)
2022

2123
rclcpp_components_register_node(${PROJECT_NAME}_component
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PLUGIN "mission_planner::MissionPlanner"
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EXECUTABLE ${PROJECT_NAME}
25+
EXECUTABLE mission_planner
26+
)
27+
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rclcpp_components_register_node(${PROJECT_NAME}_component
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PLUGIN "mission_planner::RouteSelector"
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EXECUTABLE route_selector
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)
2532

2633
ament_auto_add_library(${PROJECT_NAME}_lanelet2_plugins SHARED
@@ -30,7 +37,7 @@ ament_auto_add_library(${PROJECT_NAME}_lanelet2_plugins SHARED
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pluginlib_export_plugin_description_file(mission_planner plugins/plugin_description.xml)
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3239
ament_auto_package(
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INSTALL_TO_SHARE
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config
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launch
40+
INSTALL_TO_SHARE
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config
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launch
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)

‎planning/mission_planner/launch/mission_planner.launch.xml

+20-6
Original file line numberDiff line numberDiff line change
@@ -4,10 +4,24 @@
44
<arg name="visualization_topic_name" default="/planning/mission_planning/route_marker"/>
55
<arg name="mission_planner_param_path" default="$(find-pkg-share mission_planner)/config/mission_planner.param.yaml"/>
66

7-
<node pkg="mission_planner" exec="mission_planner" name="mission_planner" output="screen">
8-
<param from="$(var mission_planner_param_path)"/>
9-
<remap from="input/modified_goal" to="$(var modified_goal_topic_name)"/>
10-
<remap from="input/vector_map" to="$(var map_topic_name)"/>
11-
<remap from="debug/route_marker" to="$(var visualization_topic_name)"/>
12-
</node>
7+
<node_container pkg="rclcpp_components" exec="component_container_mt" name="mission_planner_container" namespace="">
8+
<composable_node pkg="mission_planner" plugin="mission_planner::MissionPlanner" name="mission_planner" namespace="">
9+
<param from="$(var mission_planner_param_path)"/>
10+
<remap from="~/input/modified_goal" to="$(var modified_goal_topic_name)"/>
11+
<remap from="~/input/vector_map" to="$(var map_topic_name)"/>
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<remap from="~/input/odometry" to="/localization/kinematic_state"/>
13+
<remap from="~/input/reroute_availability" to="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/is_reroute_available"/>
14+
<remap from="~/route" to="route"/>
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<remap from="~/state" to="state"/>
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<remap from="~/debug/route_marker" to="$(var visualization_topic_name)"/>
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</composable_node>
18+
<composable_node pkg="mission_planner" plugin="mission_planner::RouteSelector" name="route_selector" namespace="">
19+
<remap from="~/planner/clear_route" to="mission_planner/clear_route"/>
20+
<remap from="~/planner/set_lanelet_route" to="mission_planner/set_lanelet_route"/>
21+
<remap from="~/planner/set_waypoint_route" to="mission_planner/set_waypoint_route"/>
22+
<remap from="~/planner/route" to="route"/>
23+
<remap from="~/planner/state" to="state"/>
24+
</composable_node>
25+
<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
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</node_container>
1327
</launch>

‎planning/mission_planner/package.xml

+1-4
Original file line numberDiff line numberDiff line change
@@ -17,18 +17,15 @@
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<buildtool_depend>autoware_cmake</buildtool_depend>
1818

1919
<depend>autoware_adapi_v1_msgs</depend>
20-
<depend>autoware_auto_planning_msgs</depend>
20+
<depend>autoware_auto_mapping_msgs</depend>
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<depend>autoware_planning_msgs</depend>
22-
<depend>component_interface_specs</depend>
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<depend>component_interface_utils</depend>
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<depend>geometry_msgs</depend>
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<depend>lanelet2_extension</depend>
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<depend>motion_utils</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>route_handler</depend>
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<depend>std_srvs</depend>
3229
<depend>tf2_geometry_msgs</depend>
3330
<depend>tf2_ros</depend>
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<depend>tier4_autoware_utils</depend>

‎planning/mission_planner/src/lanelet2_plugins/default_planner.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -150,7 +150,7 @@ void DefaultPlanner::initialize_common(rclcpp::Node * node)
150150

151151
const auto durable_qos = rclcpp::QoS(1).transient_local();
152152
pub_goal_footprint_marker_ =
153-
node_->create_publisher<MarkerArray>("debug/goal_footprint", durable_qos);
153+
node_->create_publisher<MarkerArray>("~/debug/goal_footprint", durable_qos);
154154

155155
vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*node_).getVehicleInfo();
156156
param_.goal_angle_threshold_deg = node_->declare_parameter<double>("goal_angle_threshold_deg");
@@ -164,7 +164,7 @@ void DefaultPlanner::initialize(rclcpp::Node * node)
164164
{
165165
initialize_common(node);
166166
map_subscriber_ = node_->create_subscription<HADMapBin>(
167-
"input/vector_map", rclcpp::QoS{10}.transient_local(),
167+
"~/input/vector_map", rclcpp::QoS{10}.transient_local(),
168168
std::bind(&DefaultPlanner::map_callback, this, std::placeholders::_1));
169169
}
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