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feat(autoware_default_adapi): allow route clear while vehicle is stop… #1850

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merged 1 commit into from
Feb 21, 2025
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feat(autoware_default_adapi): allow route clear while vehicle is stop… #1850

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4 changes: 4 additions & 0 deletions system/autoware_default_adapi/config/default_adapi.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,10 @@
require_accept_start: false
stop_check_duration: 1.0

/adapi/node/routing:
ros__parameters:
stop_check_duration: 1.0

/adapi/node/vehicle_door:
ros__parameters:
check_autoware_control: true
15 changes: 10 additions & 5 deletions system/autoware_default_adapi/src/routing.cpp
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Expand Up @@ -48,8 +48,11 @@ ResponseStatus route_is_not_set()
namespace autoware::default_adapi
{

RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing", options)
RoutingNode::RoutingNode(const rclcpp::NodeOptions & options)
: Node("routing", options), vehicle_stop_checker_(this)
{
stop_check_duration_ = declare_parameter<double>("stop_check_duration");

const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
adaptor.init_pub(pub_state_);
Expand Down Expand Up @@ -124,10 +127,12 @@ void RoutingNode::on_clear_route(
// For safety, do not clear the route while it is in use.
// https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/routing/clear_route/
if (is_auto_mode_ && is_autoware_control_) {
res->status.success = false;
res->status.code = ResponseStatus::UNKNOWN;
res->status.message = "The route cannot be cleared while it is in use.";
return;
if (!vehicle_stop_checker_.isVehicleStopped(stop_check_duration_)) {
res->status.success = false;
res->status.code = ResponseStatus::UNKNOWN;
res->status.message = "The route cannot be cleared while it is in use.";
return;
}
}
res->status = conversion::convert_call(cli_clear_route_, req);
}
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5 changes: 5 additions & 0 deletions system/autoware_default_adapi/src/routing.hpp
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Expand Up @@ -19,6 +19,7 @@
#include <autoware/component_interface_specs_universe/planning.hpp>
#include <autoware/component_interface_specs_universe/system.hpp>
#include <autoware/component_interface_utils/status.hpp>
#include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
#include <rclcpp/rclcpp.hpp>

// This file should be included after messages.
Expand Down Expand Up @@ -79,6 +80,10 @@ class RoutingNode : public rclcpp::Node
void on_change_route(
const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req,
const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res);

// Stop check for route clear.
autoware::motion_utils::VehicleStopChecker vehicle_stop_checker_;
double stop_check_duration_;
};

} // namespace autoware::default_adapi
Expand Down
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