Merge branch 'awf-latest' into fix/remove_front_points

Author: kyoichi-sugahara

common/tier4_adapi_rviz_plugin/src/route_panel.cpp

@@ -14,11 +14,13 @@
 
 #include "route_panel.hpp"
 
+#include <QGridLayout>
 #include <QHBoxLayout>
 #include <QVBoxLayout>
 #include <rviz_common/display_context.hpp>
 
 #include <memory>
+#include <string>
 
 namespace tier4_adapi_rviz_plugins
 {
@@ -28,6 +30,11 @@ RoutePanel::RoutePanel(QWidget * parent) : rviz_common::Panel(parent)
   waypoints_mode_ = new QPushButton("mode");
   waypoints_reset_ = new QPushButton("reset");
   waypoints_apply_ = new QPushButton("apply");
+  adapi_clear_ = new QPushButton("clear");
+  adapi_set_ = new QPushButton("set");
+  adapi_change_ = new QPushButton("change");
+  adapi_response_ = new QLabel("the response will be displayed here");
+  adapi_auto_clear_ = new QCheckBox("auto clear");
   allow_goal_modification_ = new QCheckBox("allow goal modification");
 
   waypoints_mode_->setCheckable(true);
@@ -37,6 +44,22 @@ RoutePanel::RoutePanel(QWidget * parent) : rviz_common::Panel(parent)
   connect(waypoints_reset_, &QPushButton::clicked, this, &RoutePanel::onWaypointsReset);
   connect(waypoints_apply_, &QPushButton::clicked, this, &RoutePanel::onWaypointsApply);
 
+  const auto buttons = new QButtonGroup(this);
+  buttons->addButton(adapi_set_);
+  buttons->addButton(adapi_change_);
+  buttons->setExclusive(true);
+  adapi_set_->setCheckable(true);
+  adapi_change_->setCheckable(true);
+  adapi_response_->setAlignment(Qt::AlignCenter);
+
+  connect(adapi_clear_, &QPushButton::clicked, this, &RoutePanel::clearRoute);
+  connect(adapi_set_, &QPushButton::clicked, [this] { adapi_mode_ = AdapiMode::Set; });
+  connect(adapi_change_, &QPushButton::clicked, [this] { adapi_mode_ = AdapiMode::Change; });
+
+  adapi_auto_clear_->setChecked(true);
+  adapi_set_->setChecked(true);
+  adapi_mode_ = AdapiMode::Set;
+
   const auto layout = new QVBoxLayout();
   setLayout(layout);
 
@@ -52,6 +75,19 @@ RoutePanel::RoutePanel(QWidget * parent) : rviz_common::Panel(parent)
     waypoints_group_ = group;
   }
 
+  // adapi group
+  {
+    const auto group = new QGroupBox("adapi");
+    const auto local = new QGridLayout();
+    local->addWidget(adapi_clear_, 0, 0);
+    local->addWidget(adapi_set_, 0, 1);
+    local->addWidget(adapi_change_, 0, 2);
+    local->addWidget(adapi_auto_clear_, 1, 0);
+    local->addWidget(adapi_response_, 1, 1, 1, 2);
+    group->setLayout(local);
+    layout->addWidget(group);
+  }
+
   // options group
   {
     const auto group = new QGroupBox("options");
@@ -73,25 +109,14 @@ void RoutePanel::onInitialize()
 
   const auto adaptor = component_interface_utils::NodeAdaptor(node.get());
   adaptor.init_cli(cli_clear_);
-  adaptor.init_cli(cli_route_);
-}
-
-void RoutePanel::setRoute(const PoseStamped & pose)
-{
-  const auto req = std::make_shared<ClearRoute::Service::Request>();
-  cli_clear_->async_send_request(req, [this, pose](auto) {
-    const auto req = std::make_shared<SetRoutePoints::Service::Request>();
-    req->header = pose.header;
-    req->goal = pose.pose;
-    req->option.allow_goal_modification = allow_goal_modification_->isChecked();
-    cli_route_->async_send_request(req);
-  });
+  adaptor.init_cli(cli_set_);
+  adaptor.init_cli(cli_change_);
 }
 
 void RoutePanel::onPose(const PoseStamped::ConstSharedPtr msg)
 {
   if (!waypoints_mode_->isChecked()) {
-    setRoute(*msg);
+    requestRoute(*msg);
   } else {
     waypoints_.push_back(*msg);
     waypoints_group_->setTitle(QString("waypoints (count: %1)").arg(waypoints_.size()));
@@ -120,18 +145,74 @@ void RoutePanel::onWaypointsApply()
 {
   if (waypoints_.empty()) return;
 
-  const auto req = std::make_shared<ClearRoute::Service::Request>();
-  cli_clear_->async_send_request(req, [this](auto) {
+  const auto call = [this] {
     const auto req = std::make_shared<SetRoutePoints::Service::Request>();
     req->header = waypoints_.back().header;
     req->goal = waypoints_.back().pose;
     for (size_t i = 0; i + 1 < waypoints_.size(); ++i) {
       req->waypoints.push_back(waypoints_[i].pose);
     }
     req->option.allow_goal_modification = allow_goal_modification_->isChecked();
-    cli_route_->async_send_request(req);
+    asyncSendRequest(req);
     onWaypointsReset();
-  });
+  };
+
+  if (adapi_mode_ == AdapiMode::Set && adapi_auto_clear_->isChecked()) {
+    const auto req = std::make_shared<ClearRoute::Service::Request>();
+    cli_clear_->async_send_request(req, [call](auto) { call(); });
+  } else {
+    call();
+  }
+}
+
+void RoutePanel::requestRoute(const PoseStamped & pose)
+{
+  const auto call = [this, pose] {
+    const auto req = std::make_shared<SetRoutePoints::Service::Request>();
+    req->header = pose.header;
+    req->goal = pose.pose;
+    req->option.allow_goal_modification = allow_goal_modification_->isChecked();
+    asyncSendRequest(req);
+  };
+
+  if (adapi_mode_ == AdapiMode::Set && adapi_auto_clear_->isChecked()) {
+    const auto req = std::make_shared<ClearRoute::Service::Request>();
+    cli_clear_->async_send_request(req, [call](auto) { call(); });
+  } else {
+    call();
+  }
+}
+
+void RoutePanel::clearRoute()
+{
+  const auto callback = [this](auto future) {
+    const auto status = future.get()->status;
+    std::string text = status.success ? "OK" : "Error";
+    text += "[" + std::to_string(status.code) + "]";
+    text += " " + status.message;
+    adapi_response_->setText(QString::fromStdString(text));
+  };
+
+  const auto req = std::make_shared<ClearRoute::Service::Request>();
+  cli_clear_->async_send_request(req, callback);
+}
+
+void RoutePanel::asyncSendRequest(SetRoutePoints::Service::Request::SharedPtr req)
+{
+  const auto callback = [this](auto future) {
+    const auto status = future.get()->status;
+    std::string text = status.success ? "OK" : "Error";
+    text += "[" + std::to_string(status.code) + "]";
+    text += " " + status.message;
+    adapi_response_->setText(QString::fromStdString(text));
+  };
+
+  if (adapi_mode_ == AdapiMode::Set) {
+    cli_set_->async_send_request(req, callback);
+  }
+  if (adapi_mode_ == AdapiMode::Change) {
+    cli_change_->async_send_request(req, callback);
+  }
 }
 
 }  // namespace tier4_adapi_rviz_plugins

common/tier4_adapi_rviz_plugin/src/route_panel.hpp

@@ -15,8 +15,10 @@
 #ifndef ROUTE_PANEL_HPP_
 #define ROUTE_PANEL_HPP_
 
+#include <QButtonGroup>
 #include <QCheckBox>
 #include <QGroupBox>
+#include <QLabel>
 #include <QPushButton>
 #include <autoware_ad_api_specs/routing.hpp>
 #include <component_interface_utils/rclcpp.hpp>
@@ -35,6 +37,7 @@ class RoutePanel : public rviz_common::Panel
   Q_OBJECT
   using ClearRoute = autoware_ad_api::routing::ClearRoute;
   using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints;
+  using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints;
   using PoseStamped = geometry_msgs::msg::PoseStamped;
 
 public:
@@ -45,18 +48,29 @@ class RoutePanel : public rviz_common::Panel
   QPushButton * waypoints_mode_;
   QPushButton * waypoints_reset_;
   QPushButton * waypoints_apply_;
+  QPushButton * adapi_clear_;
+  QPushButton * adapi_set_;
+  QPushButton * adapi_change_;
+  QLabel * adapi_response_;
+  QCheckBox * adapi_auto_clear_;
   QGroupBox * waypoints_group_;
   QCheckBox * allow_goal_modification_;
 
   rclcpp::Subscription<PoseStamped>::SharedPtr sub_pose_;
   std::vector<PoseStamped> waypoints_;
   void onPose(const PoseStamped::ConstSharedPtr msg);
 
+  enum AdapiMode { Set, Change };
+  AdapiMode adapi_mode_;
+
   component_interface_utils::Client<ClearRoute>::SharedPtr cli_clear_;
-  component_interface_utils::Client<SetRoutePoints>::SharedPtr cli_route_;
-  void setRoute(const PoseStamped & pose);
+  component_interface_utils::Client<SetRoutePoints>::SharedPtr cli_set_;
+  component_interface_utils::Client<ChangeRoutePoints>::SharedPtr cli_change_;
+  void requestRoute(const PoseStamped & pose);
+  void asyncSendRequest(SetRoutePoints::Service::Request::SharedPtr req);
 
 private slots:
+  void clearRoute();
   void onWaypointsMode(bool clicked);
   void onWaypointsReset();
   void onWaypointsApply();

control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp

@@ -30,6 +30,7 @@
 
 #include <cmath>
 #include <limits>
+#include <utility>
 
 namespace autoware::motion::control::pid_longitudinal_controller
 {
@@ -62,11 +63,11 @@ double getPitchByPose(const Quaternion & quaternion);
  * @brief calculate pitch angle from trajectory on map
  * NOTE: there is currently no z information so this always returns 0.0
  * @param [in] trajectory input trajectory
- * @param [in] closest_idx nearest index to current vehicle position
+ * @param [in] start_idx nearest index to current vehicle position
  * @param [in] wheel_base length of wheel base
  */
 double getPitchByTraj(
-  const Trajectory & trajectory, const size_t closest_idx, const double wheel_base);
+  const Trajectory & trajectory, const size_t start_idx, const double wheel_base);
 
 /**
  * @brief calculate vehicle pose after time delay by moving the vehicle at current velocity and
@@ -82,7 +83,7 @@ Pose calcPoseAfterTimeDelay(
  * @param [in] point Interpolated point is nearest to this point.
  */
 template <class T>
-TrajectoryPoint lerpTrajectoryPoint(
+std::pair<TrajectoryPoint, size_t> lerpTrajectoryPoint(
   const T & points, const Pose & pose, const double max_dist, const double max_yaw)
 {
   TrajectoryPoint interpolated_point;
@@ -101,6 +102,8 @@ TrajectoryPoint lerpTrajectoryPoint(
       points.at(i).pose.position.x, points.at(i + 1).pose.position.x, interpolate_ratio);
     interpolated_point.pose.position.y = interpolation::lerp(
       points.at(i).pose.position.y, points.at(i + 1).pose.position.y, interpolate_ratio);
+    interpolated_point.pose.position.z = interpolation::lerp(
+      points.at(i).pose.position.z, points.at(i + 1).pose.position.z, interpolate_ratio);
     interpolated_point.pose.orientation = interpolation::lerpOrientation(
       points.at(i).pose.orientation, points.at(i + 1).pose.orientation, interpolate_ratio);
     interpolated_point.longitudinal_velocity_mps = interpolation::lerp(
@@ -114,7 +117,7 @@ TrajectoryPoint lerpTrajectoryPoint(
       points.at(i).heading_rate_rps, points.at(i + 1).heading_rate_rps, interpolate_ratio);
   }
 
-  return interpolated_point;
+  return std::make_pair(interpolated_point, seg_idx);
 }
 
 /**
@@ -138,6 +141,17 @@ double applyDiffLimitFilter(
 double applyDiffLimitFilter(
   const double input_val, const double prev_val, const double dt, const double max_val,
   const double min_val);
+
+/**
+ * @brief calculate the projected pose after distance from the current index
+ * @param [in] src_idx current index
+ * @param [in] distance distance to project
+ * @param [in] trajectory reference trajectory
+ */
+geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance(
+  const size_t src_idx, const double distance,
+  const autoware_auto_planning_msgs::msg::Trajectory & trajectory);
+
 }  // namespace longitudinal_utils
 }  // namespace autoware::motion::control::pid_longitudinal_controller