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fix(static_obstacle_avoidance): cherry pick PRs to fix some issues #1401

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merged 3 commits into from
Jul 9, 2024
Merged

fix(static_obstacle_avoidance): cherry pick PRs to fix some issues #1401

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3d4fd69
feat(safety_check): filter safety check targe objects by yaw deviatio…
satoshi-ota Jul 4, 2024
5ed698f
fix(static_obstacle_avoidance): fix issues in target object filtering…
satoshi-ota Jul 4, 2024
d5a18c6
fix(static_obstacle_avoidance): ignore pedestrian/cyclist who is not …
satoshi-ota Jul 5, 2024
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4 changes: 2 additions & 2 deletions planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -145,8 +145,8 @@ void AvoidanceByLaneChange::fillAvoidanceTargetObjects(
const auto [object_within_target_lane, object_outside_target_lane] =
utils::path_safety_checker::separateObjectsByLanelets(
*planner_data_->dynamic_object, data.current_lanelets,
[](const auto & obj, const auto & lane) {
return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane);
[](const auto & obj, const auto & lane, const auto yaw_threshold) {
return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane, yaw_threshold);
});

// Assume that the maximum allocation for data.other object is the sum of
Expand Down
4 changes: 4 additions & 0 deletions ...ng/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -357,6 +357,10 @@ struct ObjectData // avoidance target
{
}

Pose getPose() const { return object.kinematics.initial_pose_with_covariance.pose; }

Point getPosition() const { return object.kinematics.initial_pose_with_covariance.pose.position; }

PredictedObject object;

// object behavior.
Expand Down
10 changes: 4 additions & 6 deletions planning/behavior_path_avoidance_module/src/debug.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ MarkerArray createObjectsCubeMarkerArray(
}

marker.id = uuidToInt32(object.object.object_id);
marker.pose = object.object.kinematics.initial_pose_with_covariance.pose;
marker.pose = object.getPose();
msg.markers.push_back(marker);
}

Expand All @@ -80,10 +80,8 @@ MarkerArray createObjectPolygonMarkerArray(const ObjectDataArray & objects, std:
"map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, 0L, Marker::LINE_STRIP,
createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(1.0, 1.0, 1.0, 0.999));

const auto pos = object.object.kinematics.initial_pose_with_covariance.pose.position;

for (const auto & p : object.envelope_poly.outer()) {
marker.points.push_back(createPoint(p.x(), p.y(), pos.z));
marker.points.push_back(createPoint(p.x(), p.y(), object.getPosition().z));
}

marker.points.push_back(marker.points.front());
Expand Down Expand Up @@ -142,7 +140,7 @@ MarkerArray createObjectInfoMarkerArray(
for (const auto & object : objects) {
if (verbose) {
marker.id = uuidToInt32(object.object.object_id);
marker.pose = object.object.kinematics.initial_pose_with_covariance.pose;
marker.pose = object.getPose();
std::ostringstream string_stream;
string_stream << std::fixed << std::setprecision(2) << std::boolalpha;
string_stream << "ratio:" << object.shiftable_ratio << " [-]\n"
Expand All @@ -161,7 +159,7 @@ MarkerArray createObjectInfoMarkerArray(

{
marker.id = uuidToInt32(object.object.object_id);
marker.pose = object.object.kinematics.initial_pose_with_covariance.pose;
marker.pose = object.getPose();
marker.pose.position.z += 2.0;
std::ostringstream string_stream;
string_stream << magic_enum::enum_name(object.info) << (object.is_parked ? "(PARKED)" : "");
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16 changes: 6 additions & 10 deletions planning/behavior_path_avoidance_module/src/shift_line_generator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,9 +165,9 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
}

// the avoidance path is already approved
const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position;
const auto is_approved = (helper_->getShift(object_pos) > 0.0 && is_object_on_right) ||
(helper_->getShift(object_pos) < 0.0 && !is_object_on_right);
const auto is_approved =
(helper_->getShift(object.getPosition()) > 0.0 && is_object_on_right) ||
(helper_->getShift(object.getPosition()) < 0.0 && !is_object_on_right);
if (is_approved) {
return std::make_pair(desire_shift_length, avoidance_distance);
}
Expand Down Expand Up @@ -362,9 +362,8 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
if (is_return_shift_to_goal) {
return true;
}
const auto & object_pos = o.object.kinematics.initial_pose_with_covariance.pose.position;
const bool has_object_near_goal =
tier4_autoware_utils::calcDistance2d(goal_pose.position, object_pos) <
tier4_autoware_utils::calcDistance2d(goal_pose.position, o.getPosition()) <
parameters_->object_check_goal_distance;
return has_object_near_goal;
}();
Expand Down Expand Up @@ -1022,8 +1021,7 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine(
const auto has_object_near_goal =
std::any_of(data.target_objects.begin(), data.target_objects.end(), [&](const auto & o) {
return tier4_autoware_utils::calcDistance2d(
data_->route_handler->getGoalPose().position,
o.object.kinematics.initial_pose_with_covariance.pose.position) <
data_->route_handler->getGoalPose().position, o.getPosition()) <
parameters_->object_check_goal_distance;
});
if (has_object_near_goal) {
Expand Down Expand Up @@ -1090,9 +1088,7 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine(
if (utils::isAllowedGoalModification(data_->route_handler)) {
const bool has_last_shift_near_goal =
std::any_of(data.target_objects.begin(), data.target_objects.end(), [&](const auto & o) {
return tier4_autoware_utils::calcDistance2d(
last_sl.end.position,
o.object.kinematics.initial_pose_with_covariance.pose.position) <
return tier4_autoware_utils::calcDistance2d(last_sl.end.position, o.getPosition()) <
parameters_->object_check_goal_distance;
});
if (has_last_shift_near_goal) {
Expand Down
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