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fix(ndt_scan_matcher): fixed an issue where processing speed was slow when using a single map #1161

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merged 2 commits into from
Feb 28, 2024
Merged

fix(ndt_scan_matcher): fixed an issue where processing speed was slow when using a single map #1161

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145734c
feat(ndt_scan_matcher): zero mutex blocking for ndt map update (#6480)
anhnv3991 Feb 27, 2024
9161649
Fixed update_ndt
SakodaShintaro Feb 27, 2024
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2 changes: 1 addition & 1 deletion localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ class MapUpdateModule
friend class NDTScanMatcher;

// Update the specified NDT
void update_ndt(const geometry_msgs::msg::Point & position, NdtType & ndt);
bool update_ndt(const geometry_msgs::msg::Point & position, NdtType & ndt);
void update_map(const geometry_msgs::msg::Point & position);
[[nodiscard]] bool should_update_map(const geometry_msgs::msg::Point & position);
void publish_partial_pcd_map();
Expand Down
17 changes: 13 additions & 4 deletions localization/ndt_scan_matcher/src/map_update_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position)
// lock and rebuild ndt_ptr_
if (need_rebuild_) {
ndt_ptr_mutex_->lock();

auto param = ndt_ptr_->getParams();

ndt_ptr_.reset(new NdtType);
Expand All @@ -85,13 +86,20 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position)
// the main ndt_ptr_) overlap, the latency of updating/alignment reduces partly.
// If the updating is done the main ndt_ptr_, either the update or the NDT
// align will be blocked by the other.
update_ndt(position, *secondary_ndt_ptr_);
const bool updated = update_ndt(position, *secondary_ndt_ptr_);
if (!updated) {
last_update_position_ = position;
return;
}

ndt_ptr_mutex_->lock();
auto dummy_ptr = ndt_ptr_;
auto input_source = ndt_ptr_->getInputSource();
ndt_ptr_ = secondary_ndt_ptr_;
ndt_ptr_->setInputSource(input_source);
ndt_ptr_mutex_->unlock();

dummy_ptr.reset();
}

secondary_ndt_ptr_.reset(new NdtType);
Expand All @@ -104,7 +112,7 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position)
publish_partial_pcd_map();
}

void MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, NdtType & ndt)
bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, NdtType & ndt)
{
auto request = std::make_shared<autoware_map_msgs::srv::GetDifferentialPointCloudMap::Request>();

Expand All @@ -126,7 +134,7 @@ void MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt
while (status != std::future_status::ready) {
RCLCPP_INFO(logger_, "waiting response");
if (!rclcpp::ok()) {
return;
return false; // No update
}
status = result.wait_for(std::chrono::seconds(1));
}
Expand All @@ -138,7 +146,7 @@ void MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt
logger_, "Update map (Add: %lu, Remove: %lu)", maps_to_add.size(), map_ids_to_remove.size());
if (maps_to_add.empty() && map_ids_to_remove.empty()) {
RCLCPP_INFO(logger_, "Skip map update");
return;
return false; // No update
}

const auto exe_start_time = std::chrono::system_clock::now();
Expand Down Expand Up @@ -168,6 +176,7 @@ void MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt
std::chrono::duration_cast<std::chrono::microseconds>(exe_end_time - exe_start_time).count();
const auto exe_time = static_cast<double>(duration_micro_sec) / 1000.0;
RCLCPP_INFO(logger_, "Time duration for creating new ndt_ptr: %lf [ms]", exe_time);
return true; // Updated
}

void MapUpdateModule::publish_partial_pcd_map()
Expand Down
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