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fix(goal_planner): fix deviated path update #6221

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merged 1 commit into from
Jan 30, 2024
Merged

fix(goal_planner): fix deviated path update #6221

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1 change: 1 addition & 0 deletions ...ath_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -493,6 +493,7 @@ class GoalPlannerModule : public SceneModuleInterface
std::optional<BehaviorModuleOutput> last_previous_module_output_{};
bool hasPreviousModulePathShapeChanged() const;
bool hasDeviatedFromLastPreviousModulePath() const;
bool hasDeviatedFromCurrentPreviousModulePath() const;

// timer for generating pull over path candidates in a separate thread
void onTimer();
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11 changes: 11 additions & 0 deletions planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -161,6 +161,13 @@ bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath() const
planner_data_->self_odometry->pose.pose.position)) > 0.3;
}

bool GoalPlannerModule::hasDeviatedFromCurrentPreviousModulePath() const
{
return std::abs(motion_utils::calcLateralOffset(
getPreviousModuleOutput().path.points,
planner_data_->self_odometry->pose.pose.position)) > 0.3;
}

// generate pull over candidate paths
void GoalPlannerModule::onTimer()
{
Expand All @@ -179,6 +186,10 @@ void GoalPlannerModule::onTimer()

// check if new pull over path candidates are needed to be generated
const bool need_update = std::invoke([&]() {
if (hasDeviatedFromCurrentPreviousModulePath()) {
RCLCPP_ERROR(getLogger(), "has deviated from current previous module path");
return false;
}
if (thread_safe_data_.get_pull_over_path_candidates().empty()) {
return true;
}
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