Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix(external_velocity_limit_selector): increase history depth external velocity limit selector #233

Merged
merged 1 commit into from
Jan 4, 2023
Merged

fix(external_velocity_limit_selector): increase history depth external velocity limit selector #233

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 7 additions & 1 deletion ...lector/include/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

#include <rclcpp/rclcpp.hpp>

#include <tier4_debug_msgs/msg/string_stamped.hpp>
#include <tier4_planning_msgs/msg/velocity_limit.hpp>
#include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>

Expand All @@ -25,10 +26,13 @@
#include <string>
#include <unordered_map>

using tier4_debug_msgs::msg::StringStamped;
using tier4_planning_msgs::msg::VelocityLimit;
using tier4_planning_msgs::msg::VelocityLimitClearCommand;
using tier4_planning_msgs::msg::VelocityLimitConstraints;

using VelocityLimitTable = std::unordered_map<std::string, VelocityLimit>;

class ExternalVelocityLimitSelectorNode : public rclcpp::Node
{
public:
Expand Down Expand Up @@ -58,18 +62,20 @@ class ExternalVelocityLimitSelectorNode : public rclcpp::Node
rclcpp::Subscription<VelocityLimit>::SharedPtr sub_external_velocity_limit_from_internal_;
rclcpp::Subscription<VelocityLimitClearCommand>::SharedPtr sub_velocity_limit_clear_command_;
rclcpp::Publisher<VelocityLimit>::SharedPtr pub_external_velocity_limit_;
rclcpp::Publisher<StringStamped>::SharedPtr pub_debug_string_;

void publishVelocityLimit(const VelocityLimit & velocity_limit);
void setVelocityLimitFromAPI(const VelocityLimit & velocity_limit);
void setVelocityLimitFromInternal(const VelocityLimit & velocity_limit);
void clearVelocityLimit(const std::string & sender);
void updateVelocityLimit();
void publishDebugString();
VelocityLimit getCurrentVelocityLimit() { return hardest_limit_; }

// Parameters
NodeParam node_param_{};
VelocityLimit hardest_limit_{};
std::unordered_map<std::string, VelocityLimit> velocity_limit_table_;
VelocityLimitTable velocity_limit_table_;
};

#endif // EXTERNAL_VELOCITY_LIMIT_SELECTOR__EXTERNAL_VELOCITY_LIMIT_SELECTOR_NODE_HPP_
2 changes: 2 additions & 0 deletions planning/external_velocity_limit_selector/launch/external_velocity_limit_selector.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
<arg name="input_velocity_limit_from_internal" default="/planning/scenario_planning/max_velocity_candidates"/>
<arg name="input_velocity_limit_clear_command_from_internal" default="/planning/scenario_planning/clear_velocity_limit"/>
<arg name="output_velocity_limit_from_selector" default="/planning/scenario_planning/max_velocity"/>
<arg name="output_debug_string" default="/planning/scenario_planning/external_velocity_limit_selector/debug"/>

<node pkg="external_velocity_limit_selector" exec="external_velocity_limit_selector" name="external_velocity_limit_selector" output="screen">
<param from="$(var common_param_path)"/>
Expand All @@ -16,5 +17,6 @@
<remap from="input/velocity_limit_from_internal" to="$(var input_velocity_limit_from_internal)"/>
<remap from="input/velocity_limit_clear_command_from_internal" to="$(var input_velocity_limit_clear_command_from_internal)"/>
<remap from="output/external_velocity_limit" to="$(var output_velocity_limit_from_selector)"/>
<remap from="output/debug" to="$(var output_debug_string)"/>
</node>
</launch>
1 change: 1 addition & 0 deletions planning/external_velocity_limit_selector/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@

<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_debug_msgs</depend>
<depend>tier4_planning_msgs</depend>

<exec_depend>ros2cli</exec_depend>
Expand Down
39 changes: 36 additions & 3 deletions planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
namespace
{
VelocityLimit getHardestLimit(
const std::unordered_map<std::string, VelocityLimit> & velocity_limits,
const VelocityLimitTable & velocity_limits,
const ExternalVelocityLimitSelectorNode::NodeParam & node_param)
{
VelocityLimit hardest_limit{};
Expand Down Expand Up @@ -65,6 +65,23 @@ VelocityLimit getHardestLimit(

return hardest_limit;
}

std::string getDebugString(const VelocityLimitTable & velocity_limits)
{
std::ostringstream string_stream;
string_stream << std::boolalpha << std::fixed << std::setprecision(2);
for (const auto & limit : velocity_limits) {
string_stream << "[" << limit.first << "]";
string_stream << "(";
string_stream << limit.second.use_constraints << ",";
string_stream << limit.second.max_velocity << ",";
string_stream << limit.second.constraints.min_acceleration << ",";
string_stream << limit.second.constraints.min_jerk << ",";
string_stream << limit.second.constraints.max_jerk << ")";
}

return string_stream.str();
}
} // namespace

ExternalVelocityLimitSelectorNode::ExternalVelocityLimitSelectorNode(
Expand All @@ -78,17 +95,19 @@ ExternalVelocityLimitSelectorNode::ExternalVelocityLimitSelectorNode(
std::bind(&ExternalVelocityLimitSelectorNode::onVelocityLimitFromAPI, this, _1));

sub_external_velocity_limit_from_internal_ = this->create_subscription<VelocityLimit>(
"input/velocity_limit_from_internal", rclcpp::QoS{1}.transient_local(),
"input/velocity_limit_from_internal", rclcpp::QoS{10}.transient_local(),
std::bind(&ExternalVelocityLimitSelectorNode::onVelocityLimitFromInternal, this, _1));

sub_velocity_limit_clear_command_ = this->create_subscription<VelocityLimitClearCommand>(
"input/velocity_limit_clear_command_from_internal", rclcpp::QoS{1}.transient_local(),
"input/velocity_limit_clear_command_from_internal", rclcpp::QoS{10}.transient_local(),
std::bind(&ExternalVelocityLimitSelectorNode::onVelocityLimitClearCommand, this, _1));

// Output
pub_external_velocity_limit_ =
this->create_publisher<VelocityLimit>("output/external_velocity_limit", 1);

pub_debug_string_ = this->create_publisher<StringStamped>("output/debug", 1);

// Params
{
auto & p = node_param_;
Expand All @@ -112,6 +131,8 @@ void ExternalVelocityLimitSelectorNode::onVelocityLimitFromAPI(

const auto velocity_limit = getCurrentVelocityLimit();
publishVelocityLimit(velocity_limit);

publishDebugString();
}

void ExternalVelocityLimitSelectorNode::onVelocityLimitFromInternal(
Expand All @@ -122,6 +143,8 @@ void ExternalVelocityLimitSelectorNode::onVelocityLimitFromInternal(

const auto velocity_limit = getCurrentVelocityLimit();
publishVelocityLimit(velocity_limit);

publishDebugString();
}

void ExternalVelocityLimitSelectorNode::onVelocityLimitClearCommand(
Expand All @@ -135,13 +158,23 @@ void ExternalVelocityLimitSelectorNode::onVelocityLimitClearCommand(

const auto velocity_limit = getCurrentVelocityLimit();
publishVelocityLimit(velocity_limit);

publishDebugString();
}

void ExternalVelocityLimitSelectorNode::publishVelocityLimit(const VelocityLimit & velocity_limit)
{
pub_external_velocity_limit_->publish(velocity_limit);
}

void ExternalVelocityLimitSelectorNode::publishDebugString()
{
StringStamped debug_string{};
debug_string.stamp = this->now();
debug_string.data = getDebugString(velocity_limit_table_);
pub_debug_string_->publish(debug_string);
}

void ExternalVelocityLimitSelectorNode::setVelocityLimitFromAPI(
const VelocityLimit & velocity_limit)
{
Expand Down