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refactor(obstacle_velocity_limiter): use motion_utils instead of motion_common #2273

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Nov 14, 2022
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refactor(obstacle_velocity_limiter): use motion_utils instead of motion_common #2273

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5 changes: 3 additions & 2 deletions ...cle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,6 @@
#include "obstacle_velocity_limiter/parameters.hpp"
#include "obstacle_velocity_limiter/types.hpp"

#include <experimental/optional>
#include <rclcpp/rclcpp.hpp>
#include <tier4_autoware_utils/ros/self_pose_listener.hpp>
#include <tier4_autoware_utils/ros/transform_listener.hpp>
Expand All @@ -32,6 +31,8 @@
#include <std_msgs/msg/int64.hpp>
#include <visualization_msgs/msg/marker_array.hpp>

#include <boost/optional.hpp>

#include <lanelet2_core/LaneletMap.h>

#include <memory>
Expand Down Expand Up @@ -101,7 +102,7 @@ class ObstacleVelocityLimiterNode : public rclcpp::Node
/// @brief validate the inputs of the node
/// @param[in] ego_idx trajectory index closest to the current ego pose
/// @return true if the inputs are valid
bool validInputs(const std::experimental::fundamentals_v1::optional<size_t> & ego_idx);
bool validInputs(const boost::optional<size_t> & ego_idx);
};
} // namespace obstacle_velocity_limiter

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2 changes: 1 addition & 1 deletion planning/obstacle_velocity_limiter/package.xml
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Expand Up @@ -20,7 +20,7 @@
<depend>lanelet2_core</depend>
<depend>lanelet2_extension</depend>
<depend>libboost-dev</depend>
<depend>motion_common</depend>
<depend>motion_utils</depend>
<depend>nav_msgs</depend>
<depend>pcl_ros</depend>
<depend>rclcpp</depend>
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8 changes: 3 additions & 5 deletions planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp
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Expand Up @@ -23,7 +23,7 @@
#include "obstacle_velocity_limiter/types.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
#include <motion_common/trajectory_common.hpp>
#include <motion_utils/motion_utils.hpp>
#include <rclcpp/duration.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/qos.hpp>
Expand Down Expand Up @@ -177,8 +177,7 @@ void ObstacleVelocityLimiterNode::onTrajectory(const Trajectory::ConstSharedPtr
get_logger(), *get_clock(), rcutils_duration_value_t(1000), "Waiting for current pose");
return;
}
const auto ego_idx =
autoware::motion::motion_common::findNearestIndex(msg->points, current_pose_ptr->pose);
const auto ego_idx = motion_utils::findNearestIndex(msg->points, current_pose_ptr->pose);
if (!validInputs(ego_idx)) return;
auto original_traj = *msg;
if (preprocessing_params_.calculate_steering_angles)
Expand Down Expand Up @@ -235,8 +234,7 @@ void ObstacleVelocityLimiterNode::onTrajectory(const Trajectory::ConstSharedPtr
}
}

bool ObstacleVelocityLimiterNode::validInputs(
const std::experimental::fundamentals_v1::optional<size_t> & ego_idx)
bool ObstacleVelocityLimiterNode::validInputs(const boost::optional<size_t> & ego_idx)
{
constexpr auto one_sec = rcutils_duration_value_t(1000);
if (!occupancy_grid_ptr_)
Expand Down