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feat(pure_pursuit): add polling subscriber #7330

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merged 1 commit into from
Jun 11, 2024
Merged

feat(pure_pursuit): add polling subscriber #7330

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8 changes: 5 additions & 3 deletions control/pure_pursuit/include/pure_pursuit/pure_pursuit_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
#include "pure_pursuit/pure_pursuit_viz.hpp"

#include <rclcpp/rclcpp.hpp>
#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
#include <tier4_autoware_utils/ros/self_pose_listener.hpp>

#include <autoware_control_msgs/msg/lateral.hpp>
Expand All @@ -48,7 +49,6 @@
#include <tf2_ros/transform_listener.h>

#include <memory>
#include <vector>

namespace pure_pursuit
{
Expand Down Expand Up @@ -79,8 +79,10 @@ class PurePursuitNode : public rclcpp::Node
private:
// Subscriber
tier4_autoware_utils::SelfPoseListener self_pose_listener_{this};
rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr sub_trajectory_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_current_odometry_;
tier4_autoware_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::Trajectory>
sub_trajectory_{this, "input/reference_trajectory"};
tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
sub_current_odometry_{this, "input/current_odometry"};

autoware_planning_msgs::msg::Trajectory::ConstSharedPtr trajectory_;
nav_msgs::msg::Odometry::ConstSharedPtr current_odometry_;
Expand Down
20 changes: 2 additions & 18 deletions control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,13 +71,6 @@ PurePursuitNode::PurePursuitNode(const rclcpp::NodeOptions & node_options)
param_.reverse_min_lookahead_distance =
this->declare_parameter<double>("reverse_min_lookahead_distance");

// Subscribers
using std::placeholders::_1;
sub_trajectory_ = this->create_subscription<autoware_planning_msgs::msg::Trajectory>(
"input/reference_trajectory", 1, std::bind(&PurePursuitNode::onTrajectory, this, _1));
sub_current_odometry_ = this->create_subscription<nav_msgs::msg::Odometry>(
"input/current_odometry", 1, std::bind(&PurePursuitNode::onCurrentOdometry, this, _1));

// Publishers
pub_ctrl_cmd_ =
this->create_publisher<autoware_control_msgs::msg::Lateral>("output/control_raw", 1);
Expand Down Expand Up @@ -118,21 +111,12 @@ bool PurePursuitNode::isDataReady()
return true;
}

void PurePursuitNode::onCurrentOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg)
{
current_odometry_ = msg;
}

void PurePursuitNode::onTrajectory(
const autoware_planning_msgs::msg::Trajectory::ConstSharedPtr msg)
{
trajectory_ = msg;
}

void PurePursuitNode::onTimer()
{
current_pose_ = self_pose_listener_.getCurrentPose();

current_odometry_ = sub_current_odometry_.takeData();
trajectory_ = sub_trajectory_.takeData();
if (!isDataReady()) {
return;
}
Expand Down
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