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chore: backport autowarefoundation#6973 and #6992 #1293

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merged 3 commits into from
May 14, 2024
Merged

chore: backport autowarefoundation#6973 and #6992 #1293

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bd81d4c
fix(accel_brake_map_calibrator): fix accel_brake_map_calibrator not t…
tkimura4 May 13, 2024
c6354d1
fix(accel_brake_calibrator): fix to set service name and exception fa…
h-ohta May 13, 2024
a1ff746
Update utils.py
h-ohta May 8, 2024
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48 changes: 41 additions & 7 deletions common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,13 +34,19 @@ namespace tier4_calibration_rviz_plugin
AccelBrakeMapCalibratorButtonPanel::AccelBrakeMapCalibratorButtonPanel(QWidget * parent)
: rviz_common::Panel(parent)
{
topic_label_ = new QLabel("Topic name of update suggest ");
topic_label_ = new QLabel("topic: ");
topic_label_->setAlignment(Qt::AlignCenter);

topic_edit_ =
new QLineEdit("/vehicle/calibration/accel_brake_map_calibrator/output/update_suggest");
connect(topic_edit_, SIGNAL(textEdited(QString)), SLOT(editTopic()));

service_label_ = new QLabel("service: ");
service_label_->setAlignment(Qt::AlignCenter);

service_edit_ = new QLineEdit("/vehicle/calibration/accel_brake_map_calibrator/update_map_dir");
connect(service_edit_, SIGNAL(textEdited(QString)), SLOT(editService()));

calibration_button_ = new QPushButton("Wait for subscribe topic");
calibration_button_->setEnabled(false);
connect(calibration_button_, SIGNAL(clicked(bool)), SLOT(pushCalibrationButton()));
Expand All @@ -56,8 +62,13 @@ AccelBrakeMapCalibratorButtonPanel::AccelBrakeMapCalibratorButtonPanel(QWidget *
topic_layout->addWidget(topic_label_);
topic_layout->addWidget(topic_edit_);

auto * service_layout = new QHBoxLayout;
service_layout->addWidget(service_label_);
service_layout->addWidget(service_edit_);

auto * v_layout = new QVBoxLayout;
v_layout->addLayout(topic_layout);
v_layout->addLayout(service_layout);
v_layout->addWidget(calibration_button_);
v_layout->addWidget(status_label_);

Expand All @@ -75,7 +86,7 @@ void AccelBrakeMapCalibratorButtonPanel::onInitialize()
&AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1));

client_ = raw_node->create_client<tier4_vehicle_msgs::srv::UpdateAccelBrakeMap>(
"/vehicle/calibration/accel_brake_map_calibrator/update_map_dir");
service_edit_->text().toStdString());
}

void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest(
Expand All @@ -85,6 +96,12 @@ void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest(
return;
}

if (!client_ || !client_->service_is_ready()) {
calibration_button_->setText("wait for service");
calibration_button_->setEnabled(false);
return;
}

if (msg->data) {
status_label_->setText("Ready");
status_label_->setStyleSheet("QLabel { background-color : white;}");
Expand All @@ -98,17 +115,34 @@ void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest(

void AccelBrakeMapCalibratorButtonPanel::editTopic()
{
update_suggest_sub_.reset();
rclcpp::Node::SharedPtr raw_node =
this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();
update_suggest_sub_ = raw_node->create_subscription<std_msgs::msg::Bool>(
topic_edit_->text().toStdString(), 10,
std::bind(
&AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1));
try {
update_suggest_sub_.reset();
update_suggest_sub_ = raw_node->create_subscription<std_msgs::msg::Bool>(
topic_edit_->text().toStdString(), 10,
std::bind(
&AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1));
} catch (const rclcpp::exceptions::InvalidTopicNameError & e) {
RCLCPP_WARN_STREAM(raw_node->get_logger(), e.what());
}
calibration_button_->setText("Wait for subscribe topic");
calibration_button_->setEnabled(false);
}

void AccelBrakeMapCalibratorButtonPanel::editService()
{
rclcpp::Node::SharedPtr raw_node =
this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();
try {
client_.reset();
client_ = raw_node->create_client<tier4_vehicle_msgs::srv::UpdateAccelBrakeMap>(
service_edit_->text().toStdString());
} catch (const rclcpp::exceptions::InvalidServiceNameError & e) {
RCLCPP_WARN_STREAM(raw_node->get_logger(), e.what());
}
}

void AccelBrakeMapCalibratorButtonPanel::pushCalibrationButton()
{
// lock button
Expand Down
3 changes: 3 additions & 0 deletions common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ class AccelBrakeMapCalibratorButtonPanel : public rviz_common::Panel

public Q_SLOTS: // NOLINT for Qt
void editTopic();
void editService();
void pushCalibrationButton();

protected:
Expand All @@ -56,6 +57,8 @@ public Q_SLOTS: // NOLINT for Qt

QLabel * topic_label_;
QLineEdit * topic_edit_;
QLabel * service_label_;
QLineEdit * service_edit_;
QPushButton * calibration_button_;
QLabel * status_label_;
};
Expand Down
2 changes: 1 addition & 1 deletion planning/planning_debug_tools/scripts/perception_replayer/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -146,7 +146,7 @@ def toc(self, name):
time.perf_counter() - self.start_times[name]
) * 1000 # Convert to milliseconds
if self.verbose:
print(f"Time for {name}: {elapsed_time:.2f} ms")
print(f"Time for {name}: {elapsed_time: .2f} ms")

# Reset the starting time for the name
del self.start_times[name]
12 changes: 7 additions & 5 deletions ...l_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -703,17 +703,19 @@ void AccelBrakeMapCalibrator::takeConsistencyOfAccelMap()
{
const double bit = std::pow(1e-01, precision_);
for (std::size_t ped_idx = 0; ped_idx < update_accel_map_value_.size() - 1; ped_idx++) {
for (std::size_t vel_idx = 0; vel_idx < update_accel_map_value_.at(0).size() - 1; vel_idx++) {
for (std::size_t vel_idx = update_accel_map_value_.at(0).size() - 1;; vel_idx--) {
if (vel_idx == 0) break;

const double current_acc = update_accel_map_value_.at(ped_idx).at(vel_idx);
const double next_ped_acc = update_accel_map_value_.at(ped_idx + 1).at(vel_idx);
const double next_vel_acc = update_accel_map_value_.at(ped_idx).at(vel_idx + 1);
const double prev_vel_acc = update_accel_map_value_.at(ped_idx).at(vel_idx - 1);

if (current_acc <= next_vel_acc) {
if (current_acc + bit >= prev_vel_acc) {
// the higher the velocity, the lower the acceleration
update_accel_map_value_.at(ped_idx).at(vel_idx + 1) = current_acc - bit;
update_accel_map_value_.at(ped_idx).at(vel_idx - 1) = current_acc + bit;
}

if (current_acc >= next_ped_acc) {
if (current_acc + bit >= next_ped_acc) {
// the higher the accel pedal, the higher the acceleration
update_accel_map_value_.at(ped_idx + 1).at(vel_idx) = current_acc + bit;
}
Expand Down
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