feat(freespace_planning_algorithms): add Astar search by python #6398

TakumIto · 2024-02-14T02:31:33Z

Description

Make the following feature into the freespace_planning_algorithms package.

Astar search class with python
- add setMap() function that sets "costmap" into the Astar class
- add makePlan() function in the Astar class

Tests performed

Test with the data: settings, costmap, initial pose, and goalpose.
These data were successful in finding the goal in planning simulation with autoware.

evaluator_description: feat/freespace_astar_python
2024/03/13 https://evaluation.tier4.jp/evaluation/reports/3b522d1a-59f5-56a3-aaeb-de18be2c5042/?project_id=prd_jt

-- success to find goal by python, too.

https://evaluation.tier4.jp/evaluation/reports/d4a8a1ce-15b6-5301-95c6-23092a8dbe18?project_id=prd_jt

Effects on system behavior

There is no affection in autoware by this feature.

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The PR follows the pull request guidelines.

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The PR follows the pull request guidelines.
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planning/freespace_planning_algorithms/scripts/example/example.py

kosuke55 · 2024-02-14T05:58:01Z

planning/freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp

+// #include <pybind11/stl.h>
+// #include <pybind11/stl_bind.h>
+// #include <pybind11/eigen.h>
+// #include <pybind11/chrono.h>
+// #include <pybind11/complex.h>
+// #include <pybind11/functional.h>


these are neeeded?

kosuke55 · 2024-02-14T06:00:29Z

planning/freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp

@@ -0,0 +1,103 @@
+#include "freespace_planning_algorithms/astar_search.hpp"


please write copyright

kosuke55 · 2024-02-14T06:02:37Z

@TakumIto
thanks for your great work!!!!

please check pre-commit.ci

you also can run in local

pre-commit run -a

TakumIto · 2024-02-19T00:42:15Z

@kosuke55
I modified some codes and ran pre-commit. please check it up.

TakumIto · 2024-02-21T03:09:49Z

@kosuke55
I would be able to make this PR more useful. So I will push more commit and then contact here.

TakumIto · 2024-02-21T04:41:34Z

@kosuke55 I have done updates just now.

kosuke55 · 2024-02-21T06:33:53Z

thanks!!!!!!!!!!!!!!!!!!!!!!!!!!!

planning/freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp

kosuke55 · 2024-03-13T05:05:19Z

planning/freespace_planning_algorithms/freespace_planning_algorithms/astar_search.py

+        return self.astar_search.makePlan(start_pose_byte, goal_pose_byte)
+
+    def getWaypoints(self):
+        waypoints_vetor = self.astar_search.getWaypoints()


Suggested change

waypoints_vetor = self.astar_search.getWaypoints()

waypoints_vector = self.astar_search.getWaypoints()

TakumIto · 2024-04-04T01:26:01Z

@kosuke55 I modified some typos and inserted the document. Could you check them?

kosuke55 · 2024-04-12T05:05:26Z

@TakumIto

could you please fix spellcheck?

TakumIto · 2024-04-16T01:30:28Z

@kosuke55 I fixed it.

planning/freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp

kosuke55 · 2024-04-17T01:14:05Z

planning/freespace_planning_algorithms/freespace_planning_algorithms/astar_search.py

@@ -0,0 +1,50 @@
+import freespace_planning_algorithms.freespace_planning_algorithms_pybind as _fp


please add copyright

kosuke55 · 2024-04-17T01:14:16Z

planning/freespace_planning_algorithms/scripts/example/example.py

@@ -0,0 +1,79 @@
+import freespace_planning_algorithms.astar_search as fp


please add copyright

kosuke55 · 2024-04-17T10:20:01Z

hmm, please check this

3: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/__w/autoware.universe/autoware.universe/build/freespace_planning_algorithms/test_results/freespace_planning_algorithms/copyright.xunit.xml" "--package-name" "freespace_planning_algorithms" "--output-file" "/__w/autoware.universe/autoware.universe/build/freespace_planning_algorithms/ament_copyright/copyright.txt" "--command" "/opt/ros/humble/bin/ament_copyright" "--xunit-file" "/__w/autoware.universe/autoware.universe/build/freespace_planning_algorithms/test_results/freespace_planning_algorithms/copyright.xunit.xml"
3: Test timeout computed to be: 200
3: -- run_test.py: invoking following command in '/__w/autoware.universe/autoware.universe/planning/freespace_planning_algorithms':
3:  - /opt/ros/humble/bin/ament_copyright --xunit-file /__w/autoware.universe/autoware.universe/build/freespace_planning_algorithms/test_results/freespace_planning_algorithms/copyright.xunit.xml
3: freespace_planning_algorithms/astar_search.py: copyright=TIER IV, Inc. All rights reserved. (2024), license=<unknown>
3: scripts/bind/astar_search_pybind.cpp: copyright=TIER IV, Inc. All rights reserved. (2024), license=<unknown>
3: scripts/example/example.py: copyright=TIER IV, Inc. All rights reserved. (2024), license=<unknown>
3: 3 errors, checked 18 files
3: -- run_test.py: return code 1
3: -- run_test.py: verify result file '/__w/autoware.universe/autoware.universe/build/freespace_planning_algorithms/test_results/freespace_planning_algorithms/copyright.xunit.xml'
3/6 Test #3: copyright ............................***Failed    0.69 sec
test 4
    Start 4: cppcheck

TakumIto · 2024-04-24T00:26:47Z

@kosuke55 fixed it. Could you please check?

kosuke55 · 2024-04-24T02:33:18Z

@TakumIto
thanks! and please check pre-coomit
you can check pre-commit run -a also in local

trim trailing whitespace.................................................Failed
- hook id: trailing-whitespace
- exit code: 1
- files were modified by this hook

planning/freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

- No need to convert to serial when user passes ros2 message to methods. Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

…ch_pybind.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> fix copyright Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> add copyright Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

…ch_pybind.cpp

TakumIto · 2024-04-25T08:29:40Z

@kosuke55 Thanks!!!

…warefoundation#6398) * feat(freespace_planning_algorithms): add Astar search by python Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * add copywrite and remove unneeded comment Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * - Add method getWaypoints() into the astar class. - No need to convert to serial when user passes ros2 message to methods. Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * insert astar python documents into the README Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * trivial modification Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * modify typo Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * Update planning/freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * ad copyright Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> fix copyright Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> add copyright Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * Update planning/freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp --------- Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> Co-authored-by: Takumi Ito <takumi.ito@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

TakumIto requested review from kosuke55, TakaHoribe and takayuki5168 as code owners February 14, 2024 02:31

github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) type:ci Continuous Integration (CI) processes and testing. (auto-assigned) and removed type:ci Continuous Integration (CI) processes and testing. (auto-assigned) labels Feb 14, 2024

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Takumi Ito and others added 9 commits April 25, 2024 10:29

feat(freespace_planning_algorithms): add Astar search by python

4072f02

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

add copywrite and remove unneeded comment

c1667d7

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

- Add method getWaypoints() into the astar class.

0f94576

- No need to convert to serial when user passes ros2 message to methods. Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

insert astar python documents into the README

541b10d

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

trivial modification

539537a

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

modify typo

5dab1ef

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

Update planning/freespace_planning_algorithms/scripts/bind/astar_sear…

74e4ae7

…ch_pybind.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

ad copyright

d8af308

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> fix copyright Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> add copyright Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

Update planning/freespace_planning_algorithms/scripts/bind/astar_sear…

54fff6d

…ch_pybind.cpp

kosuke55 force-pushed the feat/freespace_astar_python branch from 4086808 to 54fff6d Compare April 25, 2024 01:29

kosuke55 merged commit d5cef0d into autowarefoundation:main Apr 25, 2024
20 of 22 checks passed

kosuke55 deleted the feat/freespace_astar_python branch April 25, 2024 04:26

TakumIto mentioned this pull request Jul 4, 2024

feat(freespace_planning_algorithms): add is_back flag into the return of A* python wrapper #7831

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feat(freespace_planning_algorithms): add Astar search by python #6398

feat(freespace_planning_algorithms): add Astar search by python #6398

TakumIto commented Feb 14, 2024 •

edited by TakaHoribe

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TakumIto commented Apr 25, 2024

		@@ -0,0 +1,103 @@
		#include "freespace_planning_algorithms/astar_search.hpp"

	waypoints_vetor = self.astar_search.getWaypoints()
	waypoints_vector = self.astar_search.getWaypoints()

		@@ -0,0 +1,50 @@
		import freespace_planning_algorithms.freespace_planning_algorithms_pybind as _fp

		@@ -0,0 +1,79 @@
		import freespace_planning_algorithms.astar_search as fp

feat(freespace_planning_algorithms): add Astar search by python #6398

feat(freespace_planning_algorithms): add Astar search by python #6398

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TakumIto commented Feb 14, 2024 • edited by TakaHoribe Loading

Description

Tests performed

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

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