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Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>
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Taichi Higashide
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...lanning/lane_driving/behavior_planning/lane_change_planner/lane_change_planner.param.yaml
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|---|---|---|
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| /**: | ||
| ros__parameters: | ||
| min_stop_distance: 5.0 | ||
| stop_time: 2.0 | ||
| hysteresis_buffer_distance: 2.0 | ||
| backward_path_length: 5.0 | ||
| forward_path_length: 200.0 | ||
| max_accel: -5.0 | ||
| lane_change_prepare_duration: 4.0 | ||
| lane_changing_duration: 8.0 | ||
| backward_length_buffer_for_end_of_lane: 5.0 | ||
| lane_change_finish_judge_buffer: 3.0 | ||
| minimum_lane_change_length: 12.0 | ||
| minimum_lane_change_velocity: 5.6 | ||
| prediction_duration: 8.0 | ||
| prediction_time_resolution: 0.5 | ||
| drivable_area_resolution: 0.1 | ||
| drivable_area_width: 100.0 | ||
| drivable_area_height: 50.0 | ||
| static_obstacle_velocity_thresh: 1.5 | ||
| maximum_deceleration: 1.0 | ||
| refine_goal_search_radius_range: 7.5 |
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planning_launch/launch/mission_planning/mission_planning.launch.py
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| Original file line number | Diff line number | Diff line change |
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| # Copyright 2021 Tier IV, Inc. All rights reserved. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
| import launch | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import ComposableNodeContainer | ||
| from launch_ros.descriptions import ComposableNode | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| container = ComposableNodeContainer( | ||
| name='mission_planning_container', | ||
| namespace='', | ||
| package='rclcpp_components', | ||
| executable='component_container', | ||
| composable_node_descriptions=[ | ||
| ComposableNode( | ||
| package='mission_planner', | ||
| plugin='mission_planner::MissionPlannerLanelet2', | ||
| name='mission_planner', | ||
| remappings=[ | ||
| ('input/vector_map', '/map/vector_map'), | ||
| ('input/goal_pose', '/planning/mission_planning/goal'), | ||
| ('input/checkpoint', '/planning/mission_planning/checkpoint'), | ||
| ('output/route', '/planning/mission_planning/route'), | ||
| ('visualization_topic_name', | ||
| '/planning/mission_planning/route_marker'), | ||
| ], | ||
| parameters=[ | ||
| { | ||
| 'map_frame': 'map', | ||
| 'base_link_frame': 'base_link', | ||
| } | ||
| ], | ||
| extra_arguments=[{ | ||
| 'use_intra_process_comms': LaunchConfiguration('use_intra_process') | ||
| }], | ||
| ), | ||
| ComposableNode( | ||
| package='mission_planner', | ||
| plugin='mission_planner::GoalPoseVisualizer', | ||
| name='goal_pose_visualizer', | ||
| remappings=[ | ||
| ('input/route', '/planning/mission_planning/route'), | ||
| ('output/goal_pose', | ||
| '/planning/mission_planning/echo_back_goal_pose'), | ||
| ], | ||
| extra_arguments=[{ | ||
| 'use_intra_process_comms': LaunchConfiguration('use_intra_process') | ||
| }], | ||
| ) | ||
| ], | ||
| ) | ||
| return launch.LaunchDescription([ | ||
| DeclareLaunchArgument("use_intra_process", default_value='false'), | ||
| container | ||
| ]) |
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242 changes: 242 additions & 0 deletions
242
...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,242 @@ | ||
| # Copyright 2021 Tier IV, Inc. All rights reserved. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| from ament_index_python.packages import get_package_share_directory | ||
| import launch | ||
| from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration, ExecuteProcess | ||
| from launch.conditions import IfCondition, UnlessCondition | ||
| from launch.substitutions import LaunchConfiguration | ||
|
|
||
| from launch_ros.actions import ComposableNodeContainer | ||
| from launch_ros.descriptions import ComposableNode | ||
|
|
||
| import os | ||
| import yaml | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| # lane change planner | ||
| lane_change_planner_param_path = os.path.join( | ||
| get_package_share_directory('planning_launch'), | ||
| 'config', | ||
| 'scenario_planning', | ||
| 'lane_driving', | ||
| 'behavior_planning', | ||
| 'lane_change_planner', | ||
| 'lane_change_planner.param.yaml', | ||
| ) | ||
| with open(lane_change_planner_param_path, 'r') as f: | ||
| lane_change_planner_param = yaml.safe_load(f)['/**']['ros__parameters'] | ||
|
|
||
| lane_change_planner_component = ComposableNode( | ||
| package='lane_change_planner', | ||
| plugin='lane_change_planner::LaneChanger', | ||
| name='lane_change_planner', | ||
| namespace='', | ||
| remappings=[ | ||
| ('~/input/route', LaunchConfiguration('input_route_topic_name')), | ||
| ('~/input/vector_map', LaunchConfiguration('map_topic_name')), | ||
| ('~/input/perception', '/perception/object_recognition/objects'), | ||
| ('~/input/velocity', '/localization/twist'), | ||
| ('~/input/lane_change_approval', | ||
| '/planning/scenario_planning/lane_driving/lane_change_approval'), | ||
| ('~/input/force_lane_change', | ||
| '/planning/scenario_planning/lane_driving/force_lane_change'), | ||
| ('~/output/lane_change_path', 'path_with_lane_id'), | ||
| ('~/output/lane_change_ready', | ||
| '/planning/scenario_planning/lane_driving/lane_change_ready'), | ||
| ('~/output/lane_change_avialable', | ||
| '/planning/scenario_planning/lane_driving/lane_change_available'), | ||
| ('~/output/stop_reasons', '/planning/scenario_planning/status/stop_reasons'), | ||
| ('~/debug/lane_change_candidate_path', | ||
| '/planning/scenario_planning/lane_driving/lane_change_candidate_path'), | ||
| ], | ||
| parameters=[ | ||
| lane_change_planner_param, | ||
| { | ||
| "enable_abort_lane_change": False, | ||
| "enable_collision_check_at_prepare_phase": False, | ||
| "use_predicted_path_outside_lanelet": False, | ||
| "use_all_predicted_path": False, | ||
| "enable_blocked_by_obstacle": False, | ||
| } | ||
| ], | ||
| extra_arguments=[ | ||
| {'use_intra_process_comms': LaunchConfiguration('use_intra_process')} | ||
| ], | ||
| ) | ||
|
|
||
| # turn signal decider | ||
| turn_signal_decider_component = ComposableNode( | ||
| package='turn_signal_decider', | ||
| plugin='turn_signal_decider::TurnSignalDecider', | ||
| name='turn_signal_decider', | ||
| namespace='', | ||
| remappings=[ | ||
| ('input/path_with_lane_id', 'path_with_lane_id'), | ||
| ('input/vector_map', LaunchConfiguration('map_topic_name')), | ||
| ('output/turn_signal_cmd', '/planning/turn_signal_decider/turn_signal_cmd'), | ||
| ], | ||
| parameters=[ | ||
| {'lane_change_search_distance': 30.0}, | ||
| {'intersection_search_distance': 15.0}, | ||
| ], | ||
| extra_arguments=[ | ||
| {'use_intra_process_comms': LaunchConfiguration('use_intra_process')} | ||
| ], | ||
| ) | ||
|
|
||
| # behavior velocity planner | ||
| blind_spot_param_path = os.path.join( | ||
| get_package_share_directory('behavior_velocity_planner'), | ||
| 'config', | ||
| 'blind_spot.param.yaml', | ||
| ) | ||
| with open(blind_spot_param_path, 'r') as f: | ||
| blind_spot_param = yaml.safe_load(f)['/**']['ros__parameters'] | ||
|
|
||
| crosswalk_param_path = os.path.join( | ||
| get_package_share_directory('behavior_velocity_planner'), | ||
| 'config', | ||
| 'crosswalk.param.yaml', | ||
| ) | ||
| with open(crosswalk_param_path, 'r') as f: | ||
| crosswalk_param = yaml.safe_load(f)['/**']['ros__parameters'] | ||
|
|
||
| detection_area_param_path = os.path.join( | ||
| get_package_share_directory('behavior_velocity_planner'), | ||
| 'config', | ||
| 'detection_area.param.yaml', | ||
| ) | ||
| with open(detection_area_param_path, 'r') as f: | ||
| detection_area_param = yaml.safe_load(f)['/**']['ros__parameters'] | ||
|
|
||
| intersection_param_path = os.path.join( | ||
| get_package_share_directory('behavior_velocity_planner'), | ||
| 'config', | ||
| 'intersection.param.yaml', | ||
| ) | ||
| with open(intersection_param_path, 'r') as f: | ||
| intersection_param = yaml.safe_load(f)['/**']['ros__parameters'] | ||
|
|
||
| stop_line_param_path = os.path.join( | ||
| get_package_share_directory('behavior_velocity_planner'), | ||
| 'config', | ||
| 'stop_line.param.yaml', | ||
| ) | ||
| with open(stop_line_param_path, 'r') as f: | ||
| stop_line_param = yaml.safe_load(f)['/**']['ros__parameters'] | ||
|
|
||
| traffic_light_param_path = os.path.join( | ||
| get_package_share_directory('behavior_velocity_planner'), | ||
| 'config', | ||
| 'traffic_light.param.yaml', | ||
| ) | ||
| with open(traffic_light_param_path, 'r') as f: | ||
| traffic_light_param = yaml.safe_load(f)['/**']['ros__parameters'] | ||
|
|
||
| behavior_velocity_planner_component = ComposableNode( | ||
| package='behavior_velocity_planner', | ||
| plugin='BehaviorVelocityPlannerNode', | ||
| name='behavior_velocity_planner', | ||
| namespace='', | ||
| remappings=[ | ||
| ('~/input/path_with_lane_id', 'path_with_lane_id'), | ||
| ('~/input/vector_map', '/map/vector_map'), | ||
| ('~/input/vehicle_velocity', '/localization/twist'), | ||
| ('~/input/dynamic_objects', '/perception/object_recognition/objects'), | ||
| ('~/input/no_ground_pointcloud', '/sensing/lidar/no_ground/pointcloud'), | ||
| ('~/input/traffic_light_states', | ||
| '/perception/traffic_light_recognition/traffic_light_states'), | ||
| ('~/input/external_traffic_light_states', | ||
| '/foa/traffic_light_recognition/traffic_light_states'), | ||
| ('~/output/path', 'path'), | ||
| ('~/output/stop_reasons', | ||
| '/planning/scenario_planning/status/stop_reasons'), | ||
| ('~/output/traffic_light_state', 'debug/traffic_light_state'), | ||
| ], | ||
| parameters=[ | ||
| { | ||
| 'launch_stop_line': True, | ||
| 'launch_crosswalk': True, | ||
| 'launch_traffic_light': True, | ||
| 'launch_intersection': True, | ||
| 'launch_blind_spot': True, | ||
| 'launch_detection_area': True, | ||
| 'forward_path_length': 1000.0, | ||
| 'backward_path_length': 5.0, | ||
| 'max_accel': -2.8, | ||
| 'delay_response_time': 1.3 | ||
| }, | ||
| blind_spot_param, | ||
| crosswalk_param, | ||
| detection_area_param, | ||
| intersection_param, | ||
| stop_line_param, | ||
| traffic_light_param | ||
| ], | ||
| extra_arguments=[{ | ||
| 'use_intra_process_comms': LaunchConfiguration('use_intra_process') | ||
| }], | ||
| ) | ||
|
|
||
| container = ComposableNodeContainer( | ||
| name='behavior_planning_container', | ||
| namespace='', | ||
| package='rclcpp_components', | ||
| executable=LaunchConfiguration('container_executable'), | ||
| composable_node_descriptions=[ | ||
| lane_change_planner_component, | ||
| turn_signal_decider_component, | ||
| behavior_velocity_planner_component, | ||
| ], | ||
| output='screen', | ||
| ) | ||
|
|
||
| set_container_executable = SetLaunchConfiguration( | ||
| 'container_executable', | ||
| 'component_container', | ||
| condition=UnlessCondition(LaunchConfiguration('use_multithread')), | ||
| ) | ||
| set_container_mt_executable = SetLaunchConfiguration( | ||
| 'container_executable', | ||
| 'component_container_mt', | ||
| condition=IfCondition(LaunchConfiguration('use_multithread')), | ||
| ) | ||
|
|
||
| return launch.LaunchDescription([ | ||
| DeclareLaunchArgument( | ||
| 'input_route_topic_name', | ||
| default_value='/planning/mission_planning/route'), | ||
| DeclareLaunchArgument( | ||
| 'map_topic_name', | ||
| default_value='/map/vector_map' | ||
| ), | ||
| DeclareLaunchArgument( | ||
| 'use_intra_process', | ||
| default_value='false' | ||
| ), | ||
| DeclareLaunchArgument( | ||
| 'use_multithread', | ||
| default_value='false' | ||
| ), | ||
| set_container_executable, | ||
| set_container_mt_executable, | ||
| container, | ||
| ExecuteProcess( | ||
| cmd=['ros2', 'topic', 'pub', | ||
| '/planning/scenario_planning/lane_driving/lane_change_approval', | ||
| 'autoware_planning_msgs/msg/LaneChangeCommand', '{command: true}', | ||
| '-r', '10']), | ||
| ]) |
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