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refactor(trajectory_follower_node): trajectory follower node add autoware prefix (autowarefoundation#7344)
* rename trajectory follower node package Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update dependencies, launch files, and README files Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix formats Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * remove autoware_ prefix from launch arg option Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
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‎.github/CODEOWNERS

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@@ -59,7 +59,7 @@ control/pure_pursuit/** takamasa.horibe@tier4.jp
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control/shift_decider/** takamasa.horibe@tier4.jp
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control/autoware_smart_mpc_trajectory_follower/** masayuki.aino@proxima-ai-tech.com
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control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/autoware_trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
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control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
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evaluator/control_evaluator/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp
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evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp

‎control/autoware_mpc_lateral_controller/README.md

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# MPC Lateral Controller
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This is the design document for the lateral controller node
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in the `trajectory_follower_node` package.
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in the `autoware_trajectory_follower_node` package.
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## Purpose / Use cases
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### Inputs
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Set the following from the [controller_node](../trajectory_follower_node/README.md)
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Set the following from the [controller_node](../autoware_trajectory_follower_node/README.md)
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- `autoware_planning_msgs/Trajectory` : reference trajectory to follow.
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- `nav_msgs/Odometry`: current odometry

‎control/autoware_pid_longitudinal_controller/README.md

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@@ -141,7 +141,7 @@ There are two sources of the slope information, which can be switched by a param
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### Input
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Set the following from the [controller_node](../trajectory_follower_node/README.md)
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Set the following from the [controller_node](../autoware_trajectory_follower_node/README.md)
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- `autoware_planning_msgs/Trajectory` : reference trajectory to follow.
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- `nav_msgs/Odometry`: current odometry

‎control/autoware_trajectory_follower_base/README.md

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@@ -8,7 +8,7 @@ This is the design document for the `trajectory_follower` package.
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<!-- Things to consider:
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- Why did we implement this feature? -->
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This package provides the interface of longitudinal and lateral controllers used by the node of the `trajectory_follower_node` package.
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This package provides the interface of longitudinal and lateral controllers used by the node of the `autoware_trajectory_follower_node` package.
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We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.
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## Design
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The interface class has the following base functions.
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- `isReady()`: Check if the control is ready to compute.
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- `run()`: Compute control commands and return to [Trajectory Follower Nodes](../trajectory_follower_node/README.md). This must be implemented by inherited algorithms.
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- `run()`: Compute control commands and return to [Trajectory Follower Nodes](../autoware_trajectory_follower_node/README.md). This must be implemented by inherited algorithms.
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- `sync()`: Input the result of running the other controller.
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- steer angle convergence
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- allow keeping stopped until steer is converged.
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- velocity convergence(currently not used)
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See [the Design of Trajectory Follower Nodes](../trajectory_follower_node/README.md#Design) for how these functions work in the node.
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See [the Design of Trajectory Follower Nodes](../autoware_trajectory_follower_node/README.md#Design) for how these functions work in the node.
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## Separated lateral (steering) and longitudinal (velocity) controls
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‎control/trajectory_follower_node/CMakeLists.txt ‎control/autoware_trajectory_follower_node/CMakeLists.txt

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cmake_minimum_required(VERSION 3.14)
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project(trajectory_follower_node)
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project(autoware_trajectory_follower_node)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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set(CONTROLLER_NODE controller_node)
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ament_auto_add_library(${CONTROLLER_NODE} SHARED
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include/trajectory_follower_node/controller_node.hpp
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include/autoware_trajectory_follower_node/controller_node.hpp
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src/controller_node.cpp
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)
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# simple trajectory follower
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set(SIMPLE_TRAJECTORY_FOLLOWER_NODE simple_trajectory_follower)
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ament_auto_add_library(${SIMPLE_TRAJECTORY_FOLLOWER_NODE} SHARED
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include/trajectory_follower_node/simple_trajectory_follower.hpp
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include/autoware_trajectory_follower_node/simple_trajectory_follower.hpp
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src/simple_trajectory_follower.cpp
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)
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‎control/trajectory_follower_node/README.md ‎control/autoware_trajectory_follower_node/README.md

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}
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}
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package trajectory_follower_node {
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package autoware_trajectory_follower_node {
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class Controller {
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longitudinal_controller_
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lateral_controller_

‎control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml ‎control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml

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‎control/trajectory_follower_node/config/simple_trajectory_follower.param.yaml ‎control/autoware_trajectory_follower_node/config/simple_trajectory_follower.param.yaml

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‎control/trajectory_follower_node/design/media/Controller.drawio.svg ‎control/autoware_trajectory_follower_node/design/media/Controller.drawio.svg

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‎control/trajectory_follower_node/design/simple_trajectory_follower-design.md ‎control/autoware_trajectory_follower_node/design/simple_trajectory_follower-design.md

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‎control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp ‎control/autoware_trajectory_follower_node/include/autoware_trajectory_follower_node/controller_node.hpp

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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 TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
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#define TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
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#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
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#define AUTOWARE_TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
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#include "autoware_trajectory_follower_base/lateral_controller_base.hpp"
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#include "autoware_trajectory_follower_base/longitudinal_controller_base.hpp"
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#include "autoware_trajectory_follower_node/visibility_control.hpp"
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#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "tf2/utils.h"
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#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
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#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
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#include "tier4_autoware_utils/system/stop_watch.hpp"
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#include "trajectory_follower_node/visibility_control.hpp"
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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} // namespace trajectory_follower_node
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} // namespace autoware::motion::control
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#endif // TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_
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#endif // AUTOWARE_TRAJECTORY_FOLLOWER_NODE__CONTROLLER_NODE_HPP_

‎control/trajectory_follower_node/include/trajectory_follower_node/simple_trajectory_follower.hpp ‎control/autoware_trajectory_follower_node/include/autoware_trajectory_follower_node/simple_trajectory_follower.hpp

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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 TRAJECTORY_FOLLOWER_NODE__SIMPLE_TRAJECTORY_FOLLOWER_HPP_
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#define TRAJECTORY_FOLLOWER_NODE__SIMPLE_TRAJECTORY_FOLLOWER_HPP_
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#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_NODE__SIMPLE_TRAJECTORY_FOLLOWER_HPP_
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#define AUTOWARE_TRAJECTORY_FOLLOWER_NODE__SIMPLE_TRAJECTORY_FOLLOWER_HPP_
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#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
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} // namespace simple_trajectory_follower
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#endif // TRAJECTORY_FOLLOWER_NODE__SIMPLE_TRAJECTORY_FOLLOWER_HPP_
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#endif // AUTOWARE_TRAJECTORY_FOLLOWER_NODE__SIMPLE_TRAJECTORY_FOLLOWER_HPP_

‎control/trajectory_follower_node/include/trajectory_follower_node/visibility_control.hpp ‎control/autoware_trajectory_follower_node/include/autoware_trajectory_follower_node/visibility_control.hpp

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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 TRAJECTORY_FOLLOWER_NODE__VISIBILITY_CONTROL_HPP_
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#define TRAJECTORY_FOLLOWER_NODE__VISIBILITY_CONTROL_HPP_
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#ifndef AUTOWARE_TRAJECTORY_FOLLOWER_NODE__VISIBILITY_CONTROL_HPP_
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#define AUTOWARE_TRAJECTORY_FOLLOWER_NODE__VISIBILITY_CONTROL_HPP_
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////////////////////////////////////////////////////////////////////////////////
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#if defined(__WIN32)
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#error "Unsupported Build Configuration"
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#endif
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#endif // TRAJECTORY_FOLLOWER_NODE__VISIBILITY_CONTROL_HPP_
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#endif // AUTOWARE_TRAJECTORY_FOLLOWER_NODE__VISIBILITY_CONTROL_HPP_

‎control/trajectory_follower_node/launch/simple_trajectory_follower.launch.xml ‎control/autoware_trajectory_follower_node/launch/simple_trajectory_follower.launch.xml

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<arg name="lateral_deviation" default="0.0"/>
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<!-- engage_transition_manager -->
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<node pkg="trajectory_follower_node" exec="simple_trajectory_follower_exe" name="simple_trajectory_follower" output="screen">
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<param from="$(find-pkg-share trajectory_follower_node)/config/simple_trajectory_follower.param.yaml" allow_substs="true"/>
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<node pkg="autoware_trajectory_follower_node" exec="simple_trajectory_follower_exe" name="simple_trajectory_follower" output="screen">
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<param from="$(find-pkg-share autoware_trajectory_follower_node)/config/simple_trajectory_follower.param.yaml" allow_substs="true"/>
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<remap from="input/kinematics" to="/localization/kinematic_state"/>
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<remap from="input/trajectory" to="/planning/scenario_planning/trajectory"/>

‎control/trajectory_follower_node/package.xml ‎control/autoware_trajectory_follower_node/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>trajectory_follower_node</name>
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<name>autoware_trajectory_follower_node</name>
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<version>1.0.0</version>
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<description>Nodes to follow a trajectory by generating control commands separated into lateral and longitudinal commands</description>
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‎control/trajectory_follower_node/param/lateral/mpc.param.yaml ‎control/autoware_trajectory_follower_node/param/lateral/mpc.param.yaml

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‎control/trajectory_follower_node/param/lateral/pure_pursuit.param.yaml ‎control/autoware_trajectory_follower_node/param/lateral/pure_pursuit.param.yaml

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‎control/trajectory_follower_node/param/longitudinal/pid.param.yaml ‎control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml

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‎control/trajectory_follower_node/param/trajectory_follower_node.param.yaml ‎control/autoware_trajectory_follower_node/param/trajectory_follower_node.param.yaml

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‎control/trajectory_follower_node/src/controller_node.cpp ‎control/autoware_trajectory_follower_node/src/controller_node.cpp

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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 "trajectory_follower_node/controller_node.hpp"
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#include "autoware_trajectory_follower_node/controller_node.hpp"
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#include "autoware_mpc_lateral_controller/mpc_lateral_controller.hpp"
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#include "autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp"

‎control/trajectory_follower_node/src/simple_trajectory_follower.cpp ‎control/autoware_trajectory_follower_node/src/simple_trajectory_follower.cpp

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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 "trajectory_follower_node/simple_trajectory_follower.hpp"
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#include "autoware_trajectory_follower_node/simple_trajectory_follower.hpp"
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#include <motion_utils/trajectory/trajectory.hpp>
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#include <tier4_autoware_utils/geometry/pose_deviation.hpp>

‎control/trajectory_follower_node/test/test_controller_mpc.param.yaml ‎control/autoware_trajectory_follower_node/test/test_controller_mpc.param.yaml

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‎control/trajectory_follower_node/test/test_controller_node.cpp ‎control/autoware_trajectory_follower_node/test/test_controller_node.cpp

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// limitations under the License.
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#include "ament_index_cpp/get_package_share_directory.hpp"
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#include "autoware_trajectory_follower_node/controller_node.hpp"
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#include "fake_test_node/fake_test_node.hpp"
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#include "gtest/gtest.h"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp/time.hpp"
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#include "trajectory_follower_node/controller_node.hpp"
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#include "trajectory_follower_test_utils.hpp"
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#include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
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rclcpp::NodeOptions makeNodeOptions(const bool enable_keep_stopped_until_steer_convergence = false)
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{
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// Pass default parameter file to the node
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const auto share_dir = ament_index_cpp::get_package_share_directory("trajectory_follower_node");
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const auto share_dir =
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ament_index_cpp::get_package_share_directory("autoware_trajectory_follower_node");
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const auto longitudinal_share_dir =
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ament_index_cpp::get_package_share_directory("autoware_pid_longitudinal_controller");
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const auto lateral_share_dir =

‎control/trajectory_follower_node/test/test_controller_pid.param.yaml ‎control/autoware_trajectory_follower_node/test/test_controller_pid.param.yaml

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‎control/trajectory_follower_node/test/test_controller_pure_pursuit.param.yaml ‎control/autoware_trajectory_follower_node/test/test_controller_pure_pursuit.param.yaml

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‎control/trajectory_follower_node/test/test_nearest_search.param.yaml ‎control/autoware_trajectory_follower_node/test/test_nearest_search.param.yaml

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‎control/trajectory_follower_node/test/test_vehicle_info.param.yaml ‎control/autoware_trajectory_follower_node/test/test_vehicle_info.param.yaml

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‎control/trajectory_follower_node/test/trajectory_follower_test_utils.hpp ‎control/autoware_trajectory_follower_node/test/trajectory_follower_test_utils.hpp

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‎control/pure_pursuit/README.md

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# Pure Pursuit Controller
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The Pure Pursuit Controller module calculates the steering angle for tracking a desired trajectory using the pure pursuit algorithm. This is used as a lateral controller plugin in the `trajectory_follower_node`.
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The Pure Pursuit Controller module calculates the steering angle for tracking a desired trajectory using the pure pursuit algorithm. This is used as a lateral controller plugin in the `autoware_trajectory_follower_node`.
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## Inputs
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Set the following from the [controller_node](../trajectory_follower_node/README.md)
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Set the following from the [controller_node](../autoware_trajectory_follower_node/README.md)
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- `autoware_planning_msgs/Trajectory` : reference trajectory to follow.
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- `nav_msgs/Odometry`: current ego pose and velocity information

‎launch/tier4_control_launch/launch/control.launch.py

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trajectory_follower_mode = LaunchConfiguration("trajectory_follower_mode").perform(context)
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controller_component = ComposableNode(
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package="trajectory_follower_node",
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package="autoware_trajectory_follower_node",
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plugin="autoware::motion::control::trajectory_follower_node::Controller",
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name="controller_node_exe",
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namespace="trajectory_follower",

‎launch/tier4_control_launch/package.xml

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<exec_depend>autoware_external_cmd_selector</exec_depend>
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<exec_depend>autoware_lane_departure_checker</exec_depend>
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<exec_depend>autoware_shift_decider</exec_depend>
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<exec_depend>autoware_trajectory_follower_node</exec_depend>
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<exec_depend>autoware_vehicle_cmd_gate</exec_depend>
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<exec_depend>control_evaluator</exec_depend>
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<exec_depend>trajectory_follower_node</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>

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