add extra_object_footprint_width for predicted_footprint

Signed-off-by: beyza <bnk@leodrive.ai>

Author: beyza

planning/behavior_velocity_dynamic_obstacle_stop_module/config/dynamic_obstacle_stop.param.yaml

@@ -2,6 +2,7 @@
   ros__parameters:
     dynamic_obstacle_stop: # module to stop or before entering the immediate path of a moving object
       extra_object_width: 1.0  # [m] extra width around detected objects
+      extra_object_footprint_width: 0.0 # [m] extra width around detected objects for footprint
       minimum_object_velocity: 0.5  # [m/s] objects with a velocity bellow this value are ignored
       stop_distance_buffer: 0.5  # [m] extra distance to add between the stop point and the collision point
       time_horizon: 5.0  # [s] time horizon used for collision checks

planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.cpp

@@ -86,10 +86,10 @@ tier4_autoware_utils::MultiPolygon2d create_object_footprints(
   tier4_autoware_utils::MultiPolygon2d footprints;
 
   for (const auto & object : objects) {
-    const auto front = object.shape.dimensions.x / 2 + params.extra_object_width;
-    const auto rear = -object.shape.dimensions.x / 2 - params.extra_object_width;
-    const auto left = object.shape.dimensions.y / 2 + params.extra_object_width;
-    const auto right = -object.shape.dimensions.y / 2 - params.extra_object_width;
+    const auto front = object.shape.dimensions.x / 2 + params.extra_object_footprint_width;
+    const auto rear = -object.shape.dimensions.x / 2 - params.extra_object_footprint_width;
+    const auto left = object.shape.dimensions.y / 2 + params.extra_object_footprint_width;
+    const auto right = -object.shape.dimensions.y / 2 - params.extra_object_footprint_width;
     tier4_autoware_utils::Polygon2d base_footprint;
     base_footprint.outer() = {
       Point2d{front, left}, Point2d{front, right}, Point2d{rear, right}, Point2d{rear, left},

planning/behavior_velocity_dynamic_obstacle_stop_module/src/manager.cpp

@@ -31,6 +31,7 @@ DynamicObstacleStopModuleManager::DynamicObstacleStopModuleManager(rclcpp::Node
   auto & pp = planner_param_;
 
   pp.extra_object_width = getOrDeclareParameter<double>(node, ns + ".extra_object_width");
+  pp.extra_object_footprint_width = getOrDeclareParameter<double>(node, ns + ".extra_object_footprint_width");
   pp.minimum_object_velocity = getOrDeclareParameter<double>(node, ns + ".minimum_object_velocity");
   pp.stop_distance_buffer = getOrDeclareParameter<double>(node, ns + ".stop_distance_buffer");
   pp.time_horizon = getOrDeclareParameter<double>(node, ns + ".time_horizon");

planning/behavior_velocity_dynamic_obstacle_stop_module/src/types.hpp

@@ -38,6 +38,7 @@ using Rtree = boost::geometry::index::rtree<BoxIndexPair, boost::geometry::index
 struct PlannerParam
 {
   double extra_object_width;
+  double extra_object_footprint_width;
   double minimum_object_velocity;
   double stop_distance_buffer;
   double time_horizon;