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feat(pid_longitudinal_controller): add virtual wall for dry steering and emergency #9685

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merged 2 commits into from
Dec 19, 2024
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feat(pid_longitudinal_controller): add virtual wall for dry steering and emergency #9685

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feat(pid_longitudinal_controller): add virtual wall for dry steering …
takayuki5168 Dec 17, 2024
b82f277
fix
takayuki5168 Dec 17, 2024
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7 changes: 2 additions & 5 deletions ...l_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,11 +50,8 @@

namespace autoware::motion::control::pid_longitudinal_controller
{
using autoware::universe_utils::createDefaultMarker;
using autoware::universe_utils::createMarkerColor;
using autoware::universe_utils::createMarkerScale;
using autoware_adapi_v1_msgs::msg::OperationModeState;
using visualization_msgs::msg::Marker;
using visualization_msgs::msg::MarkerArray;

namespace trajectory_follower = ::autoware::motion::control::trajectory_follower;

Expand Down Expand Up @@ -104,7 +101,7 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
// ros variables
rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_slope;
rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_debug;
rclcpp::Publisher<Marker>::SharedPtr m_pub_stop_reason_marker;
rclcpp::Publisher<MarkerArray>::SharedPtr m_pub_virtual_wall_marker;

rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr m_set_param_res;
rcl_interfaces::msg::SetParametersResult paramCallback(
Expand Down
26 changes: 15 additions & 11 deletions control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc. All rights reserved.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.63 to 4.67, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand All @@ -14,6 +14,7 @@

#include "autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp"

#include "autoware/motion_utils/marker/marker_helper.hpp"
#include "autoware/motion_utils/trajectory/trajectory.hpp"
#include "autoware/universe_utils/geometry/geometry.hpp"
#include "autoware/universe_utils/math/normalization.hpp"
Expand Down Expand Up @@ -219,7 +220,7 @@
"~/output/slope_angle", rclcpp::QoS{1});
m_pub_debug = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
"~/output/longitudinal_diagnostic", rclcpp::QoS{1});
m_pub_stop_reason_marker = node.create_publisher<Marker>("~/output/stop_reason", rclcpp::QoS{1});
m_pub_virtual_wall_marker = node.create_publisher<MarkerArray>("~/virtual_wall", 1);

// set parameter callback
m_set_param_res = node.add_on_set_parameters_callback(
Expand Down Expand Up @@ -562,8 +563,8 @@

// distance to stopline
control_data.stop_dist = longitudinal_utils::calcStopDistance(
control_data.interpolated_traj.points.at(control_data.nearest_idx).pose,
control_data.interpolated_traj, m_ego_nearest_dist_threshold, m_ego_nearest_yaw_threshold);
current_pose, control_data.interpolated_traj, m_ego_nearest_dist_threshold,
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This change using current_pose is necessary to calculate the negative distance when the ego exceeds the stop point so that the pid_longitudinal_controller will be in an emergency.

Is this okay for you considering the following PR where you replaced current_pose with control_data.interpolated_traj.points.at(control_data.nearest_idx).pose?
#4712

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@brkay54

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@brkay54
I will merge now, but let me know anytime if the change does not look good to you.

m_ego_nearest_yaw_threshold);

// pitch
// NOTE: getPitchByTraj() calculates the pitch angle as defined in
Expand Down Expand Up @@ -617,6 +618,11 @@
longitudinal_utils::applyDiffLimitFilter(raw_ctrl_cmd.acc, m_prev_raw_ctrl_cmd.acc, dt, p.jerk);
m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_JERK_LIMITED, raw_ctrl_cmd.acc);

const auto virtual_wall_marker = autoware::motion_utils::createStopVirtualWallMarker(
m_current_kinematic_state.pose.pose, "velocity control\n (emergency)", clock_->now(), 0,
m_wheel_base + m_front_overhang);
m_pub_virtual_wall_marker->publish(virtual_wall_marker);

return raw_ctrl_cmd;
}

Expand Down Expand Up @@ -781,14 +787,12 @@
}

// publish debug marker
auto marker = createDefaultMarker(
"map", clock_->now(), "stop_reason", 0, Marker::TEXT_VIEW_FACING,
createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999));
marker.pose = autoware::universe_utils::calcOffsetPose(
m_current_kinematic_state.pose.pose, m_wheel_base + m_front_overhang,
m_vehicle_width / 2 + 2.0, 1.5);
marker.text = "steering not\nconverged";
m_pub_stop_reason_marker->publish(marker);
if (is_under_control) {
const auto virtual_wall_marker = autoware::motion_utils::createStopVirtualWallMarker(
m_current_kinematic_state.pose.pose, "velocity control\n(steering not converged)",

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clock_->now(), 0, m_wheel_base + m_front_overhang);
m_pub_virtual_wall_marker->publish(virtual_wall_marker);
}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

PidLongitudinalController::updateControlState increases in cyclomatic complexity from 41 to 42, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

// keep STOPPED
return;
Expand Down
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