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feat(tier4_planning_rviz_plugins): add vehicle_info to Footprint Displays #712

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merged 3 commits into from
Apr 23, 2022
Merged

feat(tier4_planning_rviz_plugins): add vehicle_info to Footprint Displays #712

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e90be4b
feat(tier4_planning_rviz_plugins): add vehicle_info to PathFootprintD…
Apr 16, 2022
5d278dd
add vehicle_info to other footprint displays
takayuki5168 Apr 23, 2022
c913b46
fix the scope of local variables
takayuki5168 Apr 23, 2022
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6 changes: 6 additions & 0 deletions common/tier4_planning_rviz_plugin/include/path_footprint/display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/parse_color.hpp>
#include <rviz_common/validate_floats.hpp>
#include <vehicle_info_util/vehicle_info_util.hpp>

#include <autoware_auto_planning_msgs/msg/path.hpp>

Expand All @@ -37,6 +38,9 @@

namespace rviz_plugins
{
using vehicle_info_util::VehicleInfo;
using vehicle_info_util::VehicleInfoUtil;

class AutowarePathFootprintDisplay
: public rviz_common::MessageFilterDisplay<autoware_auto_planning_msgs::msg::Path>
{
Expand Down Expand Up @@ -72,6 +76,8 @@ private Q_SLOTS:
}
float length, width, rear_overhang;
};

std::shared_ptr<VehicleInfo> vehicle_info_;
std::shared_ptr<VehicleFootprintInfo> vehicle_footprint_info_;

private:
Expand Down
5 changes: 5 additions & 0 deletions common/tier4_planning_rviz_plugin/include/path_with_lane_id_footprint/display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/parse_color.hpp>
#include <rviz_common/validate_floats.hpp>
#include <vehicle_info_util/vehicle_info_util.hpp>

#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>

Expand All @@ -37,6 +38,9 @@

namespace rviz_plugins
{
using vehicle_info_util::VehicleInfo;
using vehicle_info_util::VehicleInfoUtil;

class AutowarePathWithLaneIdFootprintDisplay
: public rviz_common::MessageFilterDisplay<autoware_auto_planning_msgs::msg::PathWithLaneId>
{
Expand Down Expand Up @@ -72,6 +76,7 @@ private Q_SLOTS:
}
float length, width, rear_overhang;
};
std::shared_ptr<VehicleInfo> vehicle_info_;
std::shared_ptr<VehicleFootprintInfo> vehicle_footprint_info_;

private:
Expand Down
5 changes: 5 additions & 0 deletions common/tier4_planning_rviz_plugin/include/trajectory_footprint/display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/parse_color.hpp>
#include <rviz_common/validate_floats.hpp>
#include <vehicle_info_util/vehicle_info_util.hpp>

#include <autoware_auto_planning_msgs/msg/trajectory.hpp>

Expand All @@ -37,6 +38,9 @@

namespace rviz_plugins
{
using vehicle_info_util::VehicleInfo;
using vehicle_info_util::VehicleInfoUtil;

class AutowareTrajectoryFootprintDisplay
: public rviz_common::MessageFilterDisplay<autoware_auto_planning_msgs::msg::Trajectory>
{
Expand Down Expand Up @@ -79,6 +83,7 @@ private Q_SLOTS:
}
float length, width, rear_overhang;
};
std::shared_ptr<VehicleInfo> vehicle_info_;
std::shared_ptr<VehicleFootprintInfo> vehicle_footprint_info_;

private:
Expand Down
1 change: 1 addition & 0 deletions common/tier4_planning_rviz_plugin/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_planning_msgs</depend>
<depend>vehicle_info_util</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
Expand Down
22 changes: 21 additions & 1 deletion common/tier4_planning_rviz_plugin/src/path_footprint/display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,20 @@ void AutowarePathFootprintDisplay::processMessage(
return;
}

// This doesn't work in the constructor.
if (!vehicle_info_) {
try {
vehicle_info_ = std::make_shared<VehicleInfo>(
VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
updateVehicleInfo();
} catch (const std::exception & e) {
RCLCPP_WARN_THROTTLE(
rviz_ros_node_.lock()->get_raw_node()->get_logger(),
*rviz_ros_node_.lock()->get_raw_node()->get_clock(), 5000, "Failed to get vehicle_info: %s",
e.what());
}
}

Ogre::Vector3 position;
Ogre::Quaternion orientation;
if (!context_->getFrameManager()->getTransform(msg_ptr->header, position, orientation)) {
Expand Down Expand Up @@ -176,7 +190,13 @@ void AutowarePathFootprintDisplay::updateVehicleInfo()
float width{property_vehicle_width_->getFloat()};
float rear_overhang{property_rear_overhang_->getFloat()};

vehicle_footprint_info_ = std::make_shared<VehicleFootprintInfo>(length, width, rear_overhang);
if (vehicle_info_) {
vehicle_footprint_info_ = std::make_shared<VehicleFootprintInfo>(
vehicle_info_->vehicle_length_m, vehicle_info_->vehicle_width_m,
vehicle_info_->rear_overhang_m);
} else {
vehicle_footprint_info_ = std::make_shared<VehicleFootprintInfo>(length, width, rear_overhang);
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}
}

} // namespace rviz_plugins
Expand Down
22 changes: 21 additions & 1 deletion common/tier4_planning_rviz_plugin/src/path_with_lane_id_footprint/display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,20 @@ void AutowarePathWithLaneIdFootprintDisplay::processMessage(
return;
}

// This doesn't work in the constructor.
if (!vehicle_info_) {
try {
vehicle_info_ = std::make_shared<VehicleInfo>(
VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
updateVehicleInfo();
} catch (const std::exception & e) {
RCLCPP_WARN_THROTTLE(
rviz_ros_node_.lock()->get_raw_node()->get_logger(),
*rviz_ros_node_.lock()->get_raw_node()->get_clock(), 5000, "Failed to get vehicle_info: %s",
e.what());
}
}

Ogre::Vector3 position;
Ogre::Quaternion orientation;
if (!context_->getFrameManager()->getTransform(msg_ptr->header, position, orientation)) {
Expand Down Expand Up @@ -178,7 +192,13 @@ void AutowarePathWithLaneIdFootprintDisplay::updateVehicleInfo()
float width{property_vehicle_width_->getFloat()};
float rear_overhang{property_rear_overhang_->getFloat()};

vehicle_footprint_info_ = std::make_shared<VehicleFootprintInfo>(length, width, rear_overhang);
if (vehicle_info_) {
vehicle_footprint_info_ = std::make_shared<VehicleFootprintInfo>(
vehicle_info_->vehicle_length_m, vehicle_info_->vehicle_width_m,
vehicle_info_->rear_overhang_m);
} else {
vehicle_footprint_info_ = std::make_shared<VehicleFootprintInfo>(length, width, rear_overhang);
}
}

} // namespace rviz_plugins
Expand Down
22 changes: 21 additions & 1 deletion common/tier4_planning_rviz_plugin/src/trajectory_footprint/display.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,20 @@ void AutowareTrajectoryFootprintDisplay::processMessage(
return;
}

// This doesn't work in the constructor.
if (!vehicle_info_) {
try {
vehicle_info_ = std::make_shared<VehicleInfo>(
VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
updateVehicleInfo();
} catch (const std::exception & e) {
RCLCPP_WARN_THROTTLE(
rviz_ros_node_.lock()->get_raw_node()->get_logger(),
*rviz_ros_node_.lock()->get_raw_node()->get_clock(), 5000, "Failed to get vehicle_info: %s",
e.what());
}
}

Ogre::Vector3 position;
Ogre::Quaternion orientation;
if (!context_->getFrameManager()->getTransform(msg_ptr->header, position, orientation)) {
Expand Down Expand Up @@ -241,7 +255,13 @@ void AutowareTrajectoryFootprintDisplay::updateVehicleInfo()
float width{property_vehicle_width_->getFloat()};
float rear_overhang{property_rear_overhang_->getFloat()};

vehicle_footprint_info_ = std::make_shared<VehicleFootprintInfo>(length, width, rear_overhang);
if (vehicle_info_) {
vehicle_footprint_info_ = std::make_shared<VehicleFootprintInfo>(
vehicle_info_->vehicle_length_m, vehicle_info_->vehicle_width_m,
vehicle_info_->rear_overhang_m);
} else {
vehicle_footprint_info_ = std::make_shared<VehicleFootprintInfo>(length, width, rear_overhang);
}
}

} // namespace rviz_plugins
Expand Down