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TetsuKawaTetsuKawa
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Merge branch 'feat/add-mrm-v0.6-launch-based-on-v3.0.0' into feat/add-leader-election-converter
2 parents dc817fa + c826a19 commit 61dcfad

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‎planning/trajectory_repeater/CMakeLists.txt

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cmake_minimum_required(VERSION 3.14)
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project(trajectory_repeater)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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ament_auto_add_library(trajectory_repeater SHARED
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src/trajectory_repeater.cpp
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)
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ament_target_dependencies(trajectory_repeater)
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "trajectory_repeater::TrajectoryRepeater"
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EXECUTABLE ${PROJECT_NAME}_node
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)
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ament_auto_package(
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INSTALL_TO_SHARE
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launch
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config
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)

‎planning/trajectory_repeater/README.md

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# Trajectory Repeater
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## Purpose
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## Inner-workings / Algorithms
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## Inputs / Outputs
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### Input
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### Output
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## Parameters
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## Assumptions / Known limits
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## (Optional) Error detection and handling
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## (Optional) Performance characterization
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## (Optional) References/External links
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## (Optional) Future extensions / Unimplemented parts

‎planning/trajectory_repeater/config/trajectory_repeater.param.yaml

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/**:
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ros__parameters:

‎planning/trajectory_repeater/launch/trajectory_repeater.launch.xml

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<launch>
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<arg name="trajectory_repeater_param_path" default="$(find-pkg-share trajectory_repeater)/config/trajectory_repeater.param.yaml"/>
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<node pkg="trajectory_repeater" exec="trajectory_repeater_node" name="trajectory_repeater" output="screen">
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<remap from="~/input/trajectory" to="/main/planning/scenario_planning/trajectory"/>
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<remap from="~/output/trajectory" to="/planning/scenario_planning/trajectory"/>
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</node>
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</launch>

‎planning/trajectory_repeater/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_repeater</name>
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<version>0.1.0</version>
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<description>The trajectory_repeater package</description>
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<maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<build_depend>autoware_cmake</build_depend>
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<!-- depend -->
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<depend>autoware_auto_planning_msgs</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</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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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎planning/trajectory_repeater/src/trajectory_repeater.cpp

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// Copyright 2024 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 "trajectory_repeater.hpp"
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namespace trajectory_repeater
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{
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TrajectoryRepeater::TrajectoryRepeater(const rclcpp::NodeOptions & node_options)
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: Node("trajectory_repeater", node_options)
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{
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// Parameter
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// Subscriber
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sub_trajectory_ = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>(
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"~/input/trajectory", 10, std::bind(&TrajectoryRepeater::onTrajectory, this, std::placeholders::_1));
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// Publisher
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pub_trajectory_ = create_publisher<autoware_auto_planning_msgs::msg::Trajectory>("~/output/trajectory", 10);
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// Service
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// Client
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// Timer
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using namespace std::literals::chrono_literals;
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timer_ = rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&TrajectoryRepeater::onTimer, this));
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// State
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// Diagnostics
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}
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void TrajectoryRepeater::onTrajectory(const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg)
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{
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last_trajectory_ = msg;
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}
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void TrajectoryRepeater::onTimer()
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{
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if (!last_trajectory_) {
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RCLCPP_DEBUG(get_logger(), "No trajectory received");
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return;
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}
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pub_trajectory_->publish(*last_trajectory_);
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}
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} // namespace trajectory_repeater
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#include <rclcpp_components/register_node_macro.hpp>
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RCLCPP_COMPONENTS_REGISTER_NODE(trajectory_repeater::TrajectoryRepeater)

‎planning/trajectory_repeater/src/trajectory_repeater.hpp

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// Copyright 2024 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 TRAJECTORY_REPEATER__TRAJECTORY_REPEATER_HPP_
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#define TRAJECTORY_REPEATER__TRAJECTORY_REPEATER_HPP_
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// include
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#include <rclcpp/rclcpp.hpp>
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#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
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namespace trajectory_repeater
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{
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class TrajectoryRepeater : public rclcpp::Node
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{
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public:
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explicit TrajectoryRepeater(const rclcpp::NodeOptions & node_options);
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~TrajectoryRepeater() = default;
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private:
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// Parameter
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// Subscriber
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rclcpp::Subscription<autoware_auto_planning_msgs::msg::Trajectory>::SharedPtr sub_trajectory_;
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void onTrajectory(const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg);
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// Publisher
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rclcpp::Publisher<autoware_auto_planning_msgs::msg::Trajectory>::SharedPtr pub_trajectory_;
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// Service
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// Client
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// Timer
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rclcpp::TimerBase::SharedPtr timer_;
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void onTimer();
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// State
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autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr last_trajectory_;
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// Diagnostics
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};
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} // namespace trajectory_repeater
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#endif // TRAJECTORY_REPEATER__TRAJECTORY_REPEATER_HPP_

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