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fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing #909

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merged 6 commits into from
Oct 10, 2023
Merged

fix(behavior_path): only apply spline interpolation for its output, not for turn_signal processing #909

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9adff6e
fix(behavior_path): only apply spline interpolate for output, not for…
h-ohta Oct 4, 2023
437737f
fix implementation
h-ohta Oct 6, 2023
3f70c96
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 6, 2023
8f8bf3d
Merge branch 'beta/v0.3.17' into fix/behavior_turn_signal
h-ohta Oct 10, 2023
3750cca
Update behavior_path_planner_node.hpp
h-ohta Oct 10, 2023
077e47f
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 10, 2023
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3 changes: 2 additions & 1 deletion 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 @@ -136,7 +136,8 @@ class BehaviorPathPlannerNode : public rclcpp::Node
/**
* @brief extract path from behavior tree output
*/
PathWithLaneId::SharedPtr getPath(const BehaviorModuleOutput & bt_out);
std::pair<PathWithLaneId::SharedPtr, PathWithLaneId::SharedPtr> getPath(
const BehaviorModuleOutput & bt_out);

/**
* @brief extract path candidate from behavior tree output
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13 changes: 9 additions & 4 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -478,7 +478,10 @@ void BehaviorPathPlannerNode::run()
const auto output = bt_manager_->run(planner_data_);

// path handling
const auto path = getPath(output);
const auto paths = getPath(output);
const auto path = paths.first;
const auto original_path = paths.second;

const auto path_candidate = getPathCandidate(output);
planner_data_->prev_output_path = path;

Expand All @@ -504,7 +507,7 @@ void BehaviorPathPlannerNode::run()
hazard_signal.command = output.turn_signal_info.hazard_signal.command;
} else {
turn_signal = turn_signal_decider_.getTurnSignal(
*path, planner_data_->self_pose->pose, *(planner_data_->route_handler),
*original_path, planner_data_->self_pose->pose, *(planner_data_->route_handler),
output.turn_signal_info.turn_signal, output.turn_signal_info.signal_distance);
hazard_signal.command = HazardLightsCommand::DISABLE;
}
Expand All @@ -527,7 +530,9 @@ void BehaviorPathPlannerNode::run()
RCLCPP_DEBUG(get_logger(), "----- behavior path planner end -----\n\n");
}

PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath(const BehaviorModuleOutput & bt_output)
// output: spline interpolated path, original path
std::pair<PathWithLaneId::SharedPtr, PathWithLaneId::SharedPtr> BehaviorPathPlannerNode::getPath(
const BehaviorModuleOutput & bt_output)
{
// TODO(Horibe) do some error handling when path is not available.

Expand All @@ -539,7 +544,7 @@ PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath(const BehaviorModuleO

const auto resampled_path =
util::resamplePathWithSpline(*path, planner_data_->parameters.path_interval);
return std::make_shared<PathWithLaneId>(resampled_path);
return std::make_pair(std::make_shared<PathWithLaneId>(resampled_path), path);
}

PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPathCandidate(
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