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satoshi-otaboyali
satoshi-ota
authored and
boyali
committedOct 3, 2022
feat(tier4_autoware_utils): add vehicle state checker (tier4#896)
* feat(tier4_autoware_utils): add vehicle state checker Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): use absolute value Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(tier4_autoware_utils): divide into two classies Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * test(tier4_autoware_utils): add unit test for vehicle_state checker Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): impl class inheritance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(tier4_autoware_utils): add vehicle_state_checker document Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): into same loop Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): fix variables name Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_autoware_utils): remove redundant codes Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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‎common/tier4_autoware_utils/CMakeLists.txt

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@@ -9,6 +9,7 @@ find_package(Boost REQUIRED)
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ament_auto_add_library(tier4_autoware_utils SHARED
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src/tier4_autoware_utils.cpp
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src/planning/planning_marker_helper.cpp
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src/vehicle/vehicle_state_checker.cpp
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)
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if(BUILD_TESTING)

‎common/tier4_autoware_utils/docs/vehicle/vehicle.md

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# vehicle utils
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Vehicle utils provides a convenient library used to check vehicle status.
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## Feature
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The library contains following classes.
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### vehicle_stop_checker
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This class check whether the vehicle is stopped or not based on localization result.
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#### Subscribed Topics
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| Name | Type | Description |
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| ------------------------------- | ------------------------- | ---------------- |
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| `/localization/kinematic_state` | `nav_msgs::msg::Odometry` | vehicle odometry |
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#### Parameters
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| Name | Type | Default Value | Explanation |
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| -------------------------- | ------ | ------------- | --------------------------- |
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| `velocity_buffer_time_sec` | double | 10.0 | odometry buffering time [s] |
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#### Member functions
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```c++
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bool isVehicleStopped(const double stop_duration)
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```
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- Check simply whether the vehicle is stopped based on the localization result.
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- Returns `true` if the vehicle is stopped, even if system outputs a non-zero target velocity.
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#### Example Usage
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Necessary includes:
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```c++
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#include <tier4_autoware_utils/vehicle/vehicle_state_checker.hpp>
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```
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1.Create a checker instance.
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```c++
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class SampleNode : public rclcpp::Node
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{
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public:
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SampleNode() : Node("sample_node")
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{
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vehicle_stop_checker_ = std::make_unique<VehicleStopChecker>(this);
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}
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std::unique_ptr<VehicleStopChecker> vehicle_stop_checker_;
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bool sampleFunc();
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...
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}
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```
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2.Check the vehicle state.
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```c++
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bool SampleNode::sampleFunc()
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{
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...
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const auto result_1 = vehicle_stop_checker_->isVehicleStopped();
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...
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const auto result_2 = vehicle_stop_checker_->isVehicleStopped(3.0);
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...
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}
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```
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### vehicle_arrival_checker
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This class check whether the vehicle arrive at stop point based on localization and planning result.
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#### Subscribed Topics
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| Name | Type | Description |
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| ---------------------------------------- | ---------------------------------------------- | ---------------- |
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| `/localization/kinematic_state` | `nav_msgs::msg::Odometry` | vehicle odometry |
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| `/planning/scenario_planning/trajectory` | `autoware_auto_planning_msgs::msg::Trajectory` | trajectory |
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#### Parameters
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| Name | Type | Default Value | Explanation |
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| -------------------------- | ------ | ------------- | ---------------------------------------------------------------------- |
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| `velocity_buffer_time_sec` | double | 10.0 | odometry buffering time [s] |
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| `th_arrived_distance_m` | double | 1.0 | threshold distance to check if vehicle has arrived at target point [m] |
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#### Member functions
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```c++
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bool isVehicleStopped(const double stop_duration)
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```
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- Check simply whether the vehicle is stopped based on the localization result.
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- Returns `true` if the vehicle is stopped, even if system outputs a non-zero target velocity.
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```c++
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bool isVehicleStoppedAtStopPoint(const double stop_duration)
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```
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- Check whether the vehicle is stopped at stop point based on the localization and planning result.
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- Returns `true` if the vehicle is not only stopped but also arrived at stop point.
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#### Example Usage
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Necessary includes:
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```c++
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#include <tier4_autoware_utils/vehicle/vehicle_state_checker.hpp>
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```
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1.Create a checker instance.
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```c++
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class SampleNode : public rclcpp::Node
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{
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public:
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SampleNode() : Node("sample_node")
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{
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vehicle_arrival_checker_ = std::make_unique<VehicleArrivalChecker>(this);
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}
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std::unique_ptr<VehicleArrivalChecker> vehicle_arrival_checker_;
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bool sampleFunc();
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...
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}
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```
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2.Check the vehicle state.
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```c++
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bool SampleNode::sampleFunc1()
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{
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...
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const auto result_1 = vehicle_arrival_checker_->isVehicleStopped();
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...
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const auto result_2 = vehicle_arrival_checker_->isVehicleStopped(3.0);
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...
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const auto result_3 = vehicle_arrival_checker_->isVehicleStoppedAtStopPoint();
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...
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const auto result_4 = vehicle_arrival_checker_->isVehicleStoppedAtStopPoint(3.0);
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...
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}
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```
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## Assumptions / Known limits
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`vehicle_stop_checker` and `vehicle_arrival_checker` cannot check whether the vehicle is stopped more than `velocity_buffer_time_sec` second.

‎common/tier4_autoware_utils/include/tier4_autoware_utils/vehicle/vehicle_state_checker.hpp

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// Copyright 2022 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef TIER4_AUTOWARE_UTILS__VEHICLE__VEHICLE_STATE_CHECKER_HPP_
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#define TIER4_AUTOWARE_UTILS__VEHICLE__VEHICLE_STATE_CHECKER_HPP_
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#include <rclcpp/rclcpp.hpp>
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#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
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#include <geometry_msgs/msg/twist_stamped.hpp>
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#include <nav_msgs/msg/odometry.hpp>
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#include <deque>
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#include <memory>
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namespace tier4_autoware_utils
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{
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using autoware_auto_planning_msgs::msg::Trajectory;
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using geometry_msgs::msg::TwistStamped;
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using nav_msgs::msg::Odometry;
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class VehicleStopChecker
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{
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public:
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explicit VehicleStopChecker(rclcpp::Node * node);
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bool isVehicleStopped(const double stop_duration) const;
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rclcpp::Logger getLogger() { return logger_; }
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protected:
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rclcpp::Subscription<Odometry>::SharedPtr sub_odom_;
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rclcpp::Clock::SharedPtr clock_;
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rclcpp::Logger logger_;
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Odometry::SharedPtr odometry_ptr_;
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std::deque<TwistStamped> twist_buffer_;
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private:
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static constexpr double velocity_buffer_time_sec = 10.0;
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void onOdom(const Odometry::SharedPtr msg);
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};
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class VehicleArrivalChecker : public VehicleStopChecker
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{
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public:
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explicit VehicleArrivalChecker(rclcpp::Node * node);
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bool isVehicleStoppedAtStopPoint(const double stop_duration) const;
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private:
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static constexpr double th_arrived_distance_m = 1.0;
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rclcpp::Subscription<Trajectory>::SharedPtr sub_trajectory_;
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Trajectory::SharedPtr trajectory_ptr_;
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void onTrajectory(const Trajectory::SharedPtr msg);
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};
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} // namespace tier4_autoware_utils
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#endif // TIER4_AUTOWARE_UTILS__VEHICLE__VEHICLE_STATE_CHECKER_HPP_

‎common/tier4_autoware_utils/package.xml

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<build_depend>autoware_cmake</build_depend>
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<depend>autoware_auto_planning_msgs</depend>
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<depend>autoware_auto_vehicle_msgs</depend>
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<depend>builtin_interfaces</depend>
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<depend>diagnostic_msgs</depend>
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<depend>geometry_msgs</depend>

‎common/tier4_autoware_utils/src/vehicle/vehicle_state_checker.cpp

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// Copyright 2022 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "tier4_autoware_utils/vehicle/vehicle_state_checker.hpp"
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#include "tier4_autoware_utils/trajectory/trajectory.hpp"
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#include <string>
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namespace tier4_autoware_utils
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{
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VehicleStopChecker::VehicleStopChecker(rclcpp::Node * node)
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: clock_(node->get_clock()), logger_(node->get_logger())
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{
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using std::placeholders::_1;
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sub_odom_ = node->create_subscription<Odometry>(
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"/localization/kinematic_state", rclcpp::QoS(1),
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std::bind(&VehicleStopChecker::onOdom, this, _1));
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}
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bool VehicleStopChecker::isVehicleStopped(const double stop_duration = 0.0) const
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{
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if (twist_buffer_.empty()) {
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return false;
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}
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constexpr double stop_velocity = 1e-3;
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const auto now = clock_->now();
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const auto time_buffer_back = now - twist_buffer_.back().header.stamp;
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if (time_buffer_back.seconds() < stop_duration) {
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return false;
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}
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// Get velocities within stop_duration
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for (const auto & velocity : twist_buffer_) {
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if (stop_velocity <= velocity.twist.linear.x) {
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return false;
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}
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const auto time_diff = now - velocity.header.stamp;
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if (time_diff.seconds() >= stop_duration) {
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break;
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}
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}
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return true;
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}
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void VehicleStopChecker::onOdom(const Odometry::SharedPtr msg)
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{
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odometry_ptr_ = msg;
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auto current_velocity = std::make_shared<TwistStamped>();
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current_velocity->header = msg->header;
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current_velocity->twist = msg->twist.twist;
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twist_buffer_.push_front(*current_velocity);
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const auto now = clock_->now();
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while (true) {
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// Check oldest data time
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const auto time_diff = now - twist_buffer_.back().header.stamp;
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// Finish when oldest data is newer than threshold
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if (time_diff.seconds() <= velocity_buffer_time_sec) {
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break;
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}
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// Remove old data
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twist_buffer_.pop_back();
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}
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}
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VehicleArrivalChecker::VehicleArrivalChecker(rclcpp::Node * node) : VehicleStopChecker(node)
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{
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using std::placeholders::_1;
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sub_trajectory_ = node->create_subscription<Trajectory>(
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"/planning/scenario_planning/trajectory", rclcpp::QoS(1),
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std::bind(&VehicleArrivalChecker::onTrajectory, this, _1));
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}
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bool VehicleArrivalChecker::isVehicleStoppedAtStopPoint(const double stop_duration = 0.0) const
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{
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if (!odometry_ptr_ || !trajectory_ptr_) {
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return false;
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}
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if (!isVehicleStopped(stop_duration)) {
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return false;
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}
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const auto & p = odometry_ptr_->pose.pose.position;
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const auto idx = searchZeroVelocityIndex(trajectory_ptr_->points);
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if (!idx) {
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return false;
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}
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return std::abs(calcSignedArcLength(trajectory_ptr_->points, p, idx.get())) <
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th_arrived_distance_m;
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}
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void VehicleArrivalChecker::onTrajectory(const Trajectory::SharedPtr msg) { trajectory_ptr_ = msg; }
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} // namespace tier4_autoware_utils

‎common/tier4_autoware_utils/test/src/test_autoware_utils.cpp

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int main(int argc, char * argv[])
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{
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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rclcpp::init(argc, argv);
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bool result = RUN_ALL_TESTS();
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rclcpp::shutdown();
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return result;
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}

‎common/tier4_autoware_utils/test/src/vehicle/test_vehicle_state_checker.cpp

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‎common/tier4_autoware_utils/test/src/vehicle/test_vehicle_state_checker_helper.hpp

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// Copyright 2022 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
13+
// limitations under the License.
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#ifndef VEHICLE__TEST_VEHICLE_STATE_CHECKER_HELPER_HPP_
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#define VEHICLE__TEST_VEHICLE_STATE_CHECKER_HELPER_HPP_
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#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
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#include <autoware_auto_planning_msgs/msg/trajectory_point.hpp>
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using autoware_auto_planning_msgs::msg::Trajectory;
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using autoware_auto_planning_msgs::msg::TrajectoryPoint;
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inline Trajectory generateTrajectoryWithStopPoint(const geometry_msgs::msg::Pose & goal_pose)
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{
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constexpr double interval_distance = 1.0;
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Trajectory traj;
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for (double s = 0.0; s <= 10.0 * interval_distance; s += interval_distance) {
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TrajectoryPoint p;
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p.pose = goal_pose;
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p.pose.position.x += s;
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p.longitudinal_velocity_mps = 1.0;
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traj.points.push_back(p);
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}
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traj.points.front().longitudinal_velocity_mps = 0.0;
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std::reverse(traj.points.begin(), traj.points.end());
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return traj;
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}
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inline Trajectory generateTrajectoryWithoutStopPoint(const geometry_msgs::msg::Pose & goal_pose)
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{
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constexpr double interval_distance = 1.0;
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Trajectory traj;
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for (double s = 0.0; s <= 10.0 * interval_distance; s += interval_distance) {
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TrajectoryPoint p;
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p.pose = goal_pose;
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p.pose.position.x += s;
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p.longitudinal_velocity_mps = 1.0;
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traj.points.push_back(p);
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}
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std::reverse(traj.points.begin(), traj.points.end());
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return traj;
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}
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#endif // VEHICLE__TEST_VEHICLE_STATE_CHECKER_HELPER_HPP_

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