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feat(surrround_obstacle_checker): use planning factor #1717

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merged 1 commit into from
Dec 20, 2024
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feat(surrround_obstacle_checker): use planning factor #1717

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10 changes: 9 additions & 1 deletion planning/autoware_surround_obstacle_checker/src/debug_marker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,9 @@ SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode(
const double & surround_check_back_distance, const double & surround_check_hysteresis_distance,
const geometry_msgs::msg::Pose & self_pose, const rclcpp::Clock::SharedPtr clock,
rclcpp::Node & node)
: vehicle_info_(vehicle_info),
: planning_factor_interface_{std::make_unique<autoware::motion_utils::PlanningFactorInterface>(
&node, "surround_obstacle_checker")},
vehicle_info_(vehicle_info),
object_label_(object_label),
surround_check_front_distance_(surround_check_front_distance),
surround_check_side_distance_(surround_check_side_distance),
Expand Down Expand Up @@ -145,6 +147,12 @@ void SurroundObstacleCheckerDebugNode::publish()
/* publish stop reason for autoware api */
const auto velocity_factor_msg = makeVelocityFactorArray();
velocity_factor_pub_->publish(velocity_factor_msg);
if (stop_pose_ptr_ != nullptr) {
planning_factor_interface_->add(
0.0, *stop_pose_ptr_, tier4_planning_msgs::msg::PlanningFactor::STOP,
tier4_planning_msgs::msg::SafetyFactorArray{});
}
planning_factor_interface_->publish();

/* reset variables */
stop_pose_ptr_ = nullptr;
Expand Down
7 changes: 7 additions & 0 deletions planning/autoware_surround_obstacle_checker/src/debug_marker.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,13 +15,15 @@
#ifndef DEBUG_MARKER_HPP_
#define DEBUG_MARKER_HPP_

#include <autoware/motion_utils/factor/planning_factor_interface.hpp>
#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
#include <geometry_msgs/msg/polygon_stamped.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <tier4_planning_msgs/msg/planning_factor_array.hpp>
#include <visualization_msgs/msg/marker.hpp>
#include <visualization_msgs/msg/marker_array.hpp>

Expand All @@ -38,6 +40,9 @@ using autoware_adapi_v1_msgs::msg::PlanningBehavior;
using autoware_adapi_v1_msgs::msg::VelocityFactor;
using autoware_adapi_v1_msgs::msg::VelocityFactorArray;
using geometry_msgs::msg::PolygonStamped;
using tier4_planning_msgs::msg::ControlPoint;
using tier4_planning_msgs::msg::PlanningFactor;
using tier4_planning_msgs::msg::PlanningFactorArray;
using visualization_msgs::msg::Marker;
using visualization_msgs::msg::MarkerArray;

Expand Down Expand Up @@ -71,6 +76,8 @@ class SurroundObstacleCheckerDebugNode
rclcpp::Publisher<PolygonStamped>::SharedPtr vehicle_footprint_offset_pub_;
rclcpp::Publisher<PolygonStamped>::SharedPtr vehicle_footprint_recover_offset_pub_;

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

autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
std::string object_label_;
double surround_check_front_distance_;
Expand Down
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