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feat(behavior_path_planner): keep original points in resampling of pull over #2478

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merged 6 commits into from
Dec 19, 2022
Merged

feat(behavior_path_planner): keep original points in resampling of pull over #2478

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653762b
feat(behavior_path_planner): keep original points in resampling
kosuke55 Dec 8, 2022
8e170e9
Update planning/behavior_path_planner/src/path_utilities.cpp
kosuke55 Dec 8, 2022
c0026bc
change motion_utils::overlap_threshold to 0.2 and use it
kosuke55 Dec 8, 2022
032e8fd
Revert "change motion_utils::overlap_threshold to 0.2 and use it"
kosuke55 Dec 14, 2022
5691b07
keep input points only in pull over
kosuke55 Dec 16, 2022
792c102
Add comment of temporary processe
kosuke55 Dec 19, 2022
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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,6 +172,8 @@ class BehaviorPathPlannerNode : public rclcpp::Node
bool skipSmoothGoalConnection(
const std::vector<std::shared_ptr<SceneModuleStatus>> & statuses) const;

bool keepInputPoints(const std::vector<std::shared_ptr<SceneModuleStatus>> & statuses) const;

/**
* @brief skip smooth goal connection
*/
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3 changes: 2 additions & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp
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Expand Up @@ -41,7 +41,8 @@ std::vector<double> calcPathArcLengthArray(
const PathWithLaneId & path, const size_t start = 0,
const size_t end = std::numeric_limits<size_t>::max(), const double offset = 0.0);

PathWithLaneId resamplePathWithSpline(const PathWithLaneId & path, double interval);
PathWithLaneId resamplePathWithSpline(
const PathWithLaneId & path, const double interval, const bool keep_input_points = false);

Path toPath(const PathWithLaneId & input);

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21 changes: 19 additions & 2 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -781,8 +781,9 @@ PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath(
connected_path = modifyPathForSmoothGoalConnection(*path);
}

const auto resampled_path =
util::resamplePathWithSpline(connected_path, planner_data_->parameters.path_interval);
const auto resampled_path = util::resamplePathWithSpline(
connected_path, planner_data_->parameters.path_interval,
keepInputPoints(module_status_ptr_vec));
return std::make_shared<PathWithLaneId>(resampled_path);
}

Expand Down Expand Up @@ -841,6 +842,22 @@ bool BehaviorPathPlannerNode::skipSmoothGoalConnection(
return false;
}

// This is a temporary process until motion planning can take the terminal pose into account
bool BehaviorPathPlannerNode::keepInputPoints(
const std::vector<std::shared_ptr<SceneModuleStatus>> & statuses) const
{
const auto target_module = "PullOver";

for (auto & status : statuses) {
if (status->is_waiting_approval || status->status == BT::NodeStatus::RUNNING) {
if (target_module == status->module_name) {
return true;
}
}
}
return false;
}

void BehaviorPathPlannerNode::onVelocity(const Odometry::ConstSharedPtr msg)
{
std::lock_guard<std::mutex> lock(mutex_pd_);
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8 changes: 6 additions & 2 deletions planning/behavior_path_planner/src/path_utilities.cpp
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Expand Up @@ -55,7 +55,8 @@ std::vector<double> calcPathArcLengthArray(
/**
* @brief resamplePathWithSpline
*/
PathWithLaneId resamplePathWithSpline(const PathWithLaneId & path, double interval)
PathWithLaneId resamplePathWithSpline(
const PathWithLaneId & path, const double interval, const bool keep_input_points)
{
if (path.points.size() < 2) {
return path;
Expand All @@ -66,7 +67,7 @@ PathWithLaneId resamplePathWithSpline(const PathWithLaneId & path, double interv
transformed_path.at(i) = path.points.at(i).point;
}

constexpr double epsilon = 0.01;
constexpr double epsilon = 0.2;
const auto has_almost_same_value = [&](const auto & vec, const auto x) {
if (vec.empty()) return false;
const auto has_close = [&](const auto v) { return std::abs(v - x) < epsilon; };
Expand All @@ -79,6 +80,9 @@ PathWithLaneId resamplePathWithSpline(const PathWithLaneId & path, double interv
for (size_t i = 0; i < path.points.size(); ++i) {
const double s = motion_utils::calcSignedArcLength(transformed_path, 0, i);
for (const auto & lane_id : path.points.at(i).lane_ids) {
if (keep_input_points && !has_almost_same_value(s_in, s)) {
s_in.push_back(s);
}
if (
std::find(unique_lane_ids.begin(), unique_lane_ids.end(), lane_id) !=
unique_lane_ids.end()) {
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