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fix(obstacle_cruise_planner): use planning factor interface #1718

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Dec 20, 2024
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fix(obstacle_cruise_planner): use planning factor interface #1718

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8 changes: 7 additions & 1 deletion ...re_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#ifndef AUTOWARE__OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
#define AUTOWARE__OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_

#include "autoware/motion_utils/factor/planning_factor_interface.hpp"
#include "autoware/motion_utils/trajectory/trajectory.hpp"
#include "autoware/obstacle_cruise_planner/common_structs.hpp"
#include "autoware/obstacle_cruise_planner/stop_planning_debug_info.hpp"
Expand Down Expand Up @@ -47,7 +48,9 @@ class PlannerInterface
rclcpp::Node & node, const LongitudinalInfo & longitudinal_info,
const autoware::vehicle_info_utils::VehicleInfo & vehicle_info,
const EgoNearestParam & ego_nearest_param, const std::shared_ptr<DebugData> debug_data_ptr)
: longitudinal_info_(longitudinal_info),
: planning_factor_interface_{std::make_unique<autoware::motion_utils::PlanningFactorInterface>(
&node, "obstacle_cruise_planner")},
longitudinal_info_(longitudinal_info),
vehicle_info_(vehicle_info),
ego_nearest_param_(ego_nearest_param),
debug_data_ptr_(debug_data_ptr),
Expand Down Expand Up @@ -101,6 +104,7 @@ class PlannerInterface
const std::optional<geometry_msgs::msg::Pose> & stop_pose = std::nullopt,
const std::optional<StopObstacle> & stop_obstacle = std::nullopt);
void publishMetrics(const rclcpp::Time & current_time);
void publishPlanningFactors() { planning_factor_interface_->publish(); }
void clearMetrics();

void onParam(const std::vector<rclcpp::Parameter> & parameters)
Expand Down Expand Up @@ -128,6 +132,8 @@ class PlannerInterface
double getSafeDistanceMargin() const { return longitudinal_info_.safe_distance_margin; }

protected:
std::unique_ptr<autoware::motion_utils::PlanningFactorInterface> planning_factor_interface_;

// Parameters
bool enable_debug_info_{false};
bool enable_calculation_time_info_{false};
Expand Down
1 change: 1 addition & 0 deletions planning/autoware_obstacle_cruise_planner/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -726,6 +726,7 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms
// 8. Publish debug data
published_time_publisher_->publish_if_subscribed(trajectory_pub_, output_traj.header.stamp);
planner_ptr_->publishMetrics(now());
planner_ptr_->publishPlanningFactors();
publishDebugMarker();
publishDebugInfo();
objects_of_interest_marker_interface_.publishMarkerArray();
Expand Down
4 changes: 4 additions & 0 deletions planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
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Expand Up @@ -335,6 +335,10 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::planCruise(
debug_data_ptr_->obstacles_to_cruise.push_back(cruise_obstacle_info->obstacle);
debug_data_ptr_->cruise_metrics = makeMetrics("PIDBasedPlanner", "cruise", planner_data);

planning_factor_interface_->add(
stop_traj_points, planner_data.ego_pose, stop_traj_points.at(wall_idx).pose,
tier4_planning_msgs::msg::PlanningFactor::NONE,
tier4_planning_msgs::msg::SafetyFactorArray{});
velocity_factors_pub_->publish(obstacle_cruise_utils::makeVelocityFactorArray(
planner_data.current_time, PlanningBehavior::ADAPTIVE_CRUISE,
stop_traj_points.at(wall_idx).pose));
Expand Down
11 changes: 11 additions & 0 deletions planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -338,6 +338,10 @@ std::vector<TrajectoryPoint> PlannerInterface::generateStopTrajectory(
const auto stop_pose = output_traj_points.at(*zero_vel_idx).pose;
velocity_factors_pub_->publish(obstacle_cruise_utils::makeVelocityFactorArray(
planner_data.current_time, PlanningBehavior::ROUTE_OBSTACLE, stop_pose));
planning_factor_interface_->add(
output_traj_points, planner_data.ego_pose, stop_pose,
tier4_planning_msgs::msg::PlanningFactor::STOP,
tier4_planning_msgs::msg::SafetyFactorArray{});
// Store stop reason debug data
debug_data_ptr_->stop_metrics =
makeMetrics("PlannerInterface", "stop", planner_data, stop_pose, *determined_stop_obstacle);
Expand Down Expand Up @@ -594,6 +598,13 @@ std::vector<TrajectoryPoint> PlannerInterface::generateSlowDownTrajectory(
planner_data.current_time, PlanningBehavior::ROUTE_OBSTACLE,
slow_down_traj_points.at(slow_down_wall_idx).pose));
autoware::universe_utils::appendMarkerArray(markers, &debug_data_ptr_->slow_down_wall_marker);
planning_factor_interface_->add(
slow_down_traj_points, planner_data.ego_pose,
slow_down_traj_points.at(*slow_down_start_idx).pose,
slow_down_traj_points.at(*slow_down_end_idx).pose,
tier4_planning_msgs::msg::PlanningFactor::SLOW_DOWN,
tier4_planning_msgs::msg::SafetyFactorArray{}, planner_data.is_driving_forward,
stable_slow_down_vel);
}

// add debug virtual wall
Expand Down
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