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chore: sync awf-latest #1853

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merged 2 commits into from
Feb 20, 2025
Merged

chore: sync awf-latest #1853

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9784210
feat: replace autoware_universe_utils with autoware_utils in autoware…
mitsudome-r Feb 20, 2025
eeef43e
fix(autoware_traffic_light_category_merger): add missing dependency t…
mitsudome-r Feb 20, 2025
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1 change: 1 addition & 0 deletions perception/autoware_traffic_light_category_merger/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>

<depend>autoware_test_utils</depend>
<depend>autoware_universe_utils</depend>
<depend>message_filters</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
Expand Down
2 changes: 1 addition & 1 deletion planning/autoware_route_handler/package.xml
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Expand Up @@ -27,7 +27,7 @@
<depend>autoware_map_msgs</depend>
<depend>autoware_planning_msgs</depend>
<depend>autoware_test_utils</depend>
<depend>autoware_universe_utils</depend>
<depend>autoware_utils</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
Expand Down
20 changes: 9 additions & 11 deletions planning/autoware_route_handler/src/route_handler.cpp
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Expand Up @@ -14,12 +14,12 @@

#include "autoware/route_handler/route_handler.hpp"

#include <autoware/universe_utils/geometry/geometry.hpp>
#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/query.hpp>
#include <autoware_lanelet2_extension/utility/route_checker.hpp>
#include <autoware_lanelet2_extension/utility/utilities.hpp>
#include <autoware_utils/geometry/geometry.hpp>
#include <autoware_utils/math/normalization.hpp>
#include <rclcpp/rclcpp.hpp>

Expand Down Expand Up @@ -50,12 +50,12 @@ namespace autoware::route_handler
{
namespace
{
using autoware::universe_utils::createPoint;
using autoware::universe_utils::createQuaternionFromYaw;
using autoware_internal_planning_msgs::msg::PathPointWithLaneId;
using autoware_internal_planning_msgs::msg::PathWithLaneId;
using autoware_planning_msgs::msg::LaneletPrimitive;
using autoware_planning_msgs::msg::Path;
using autoware_utils::create_point;
using autoware_utils::create_quaternion_from_yaw;
using geometry_msgs::msg::Pose;
using lanelet::utils::to2D;

Expand Down Expand Up @@ -114,9 +114,7 @@ PathWithLaneId removeOverlappingPoints(const PathWithLaneId & input_path)
}

constexpr double min_dist = 0.001;
if (
autoware::universe_utils::calcDistance3d(filtered_path.points.back().point, pt.point) <
min_dist) {
if (autoware_utils::calc_distance3d(filtered_path.points.back().point, pt.point) < min_dist) {
filtered_path.points.back().lane_ids.push_back(pt.lane_ids.front());
filtered_path.points.back().point.longitudinal_velocity_mps = std::min(
pt.point.longitudinal_velocity_mps,
Expand Down Expand Up @@ -1642,14 +1640,14 @@ PathWithLaneId RouteHandler::getCenterLinePath(
double angle{0.0};
const auto & pts = reference_path.points;
if (i + 1 < reference_path.points.size()) {
angle = autoware::universe_utils::calcAzimuthAngle(
angle = autoware_utils::calc_azimuth_angle(
pts.at(i).point.pose.position, pts.at(i + 1).point.pose.position);
} else if (i != 0) {
angle = autoware::universe_utils::calcAzimuthAngle(
angle = autoware_utils::calc_azimuth_angle(
pts.at(i - 1).point.pose.position, pts.at(i).point.pose.position);
}
reference_path.points.at(i).point.pose.orientation =
autoware::universe_utils::createQuaternionFromYaw(angle);
autoware_utils::create_quaternion_from_yaw(angle);
}

return reference_path;
Expand Down Expand Up @@ -2104,8 +2102,8 @@ Pose RouteHandler::get_pose_from_2d_arc_length(
const auto interpolated_pt = pt.basicPoint() * (1 - ratio) + next_pt.basicPoint() * ratio;
const auto yaw = std::atan2(next_pt.y() - pt.y(), next_pt.x() - pt.x());
Pose pose;
pose.position = createPoint(interpolated_pt.x(), interpolated_pt.y(), interpolated_pt.z());
pose.orientation = createQuaternionFromYaw(yaw);
pose.position = create_point(interpolated_pt.x(), interpolated_pt.y(), interpolated_pt.z());
pose.orientation = create_quaternion_from_yaw(yaw);
return pose;
}
accumulated_distance2d += distance2d;
Expand Down
19 changes: 9 additions & 10 deletions planning/autoware_route_handler/test/test_route_handler.cpp
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Expand Up @@ -14,7 +14,7 @@

#include "test_route_handler.hpp"

#include "autoware/universe_utils/geometry/geometry.hpp"
#include "autoware_utils/geometry/geometry.hpp"

#include <rclcpp/rclcpp.hpp>

Expand Down Expand Up @@ -54,10 +54,10 @@ TEST_F(TestRouteHandler, getLaneletSequenceWhenOverlappingRoute)

geometry_msgs::msg::Pose start_pose;
geometry_msgs::msg::Pose goal_pose;
start_pose.position = autoware::universe_utils::createPoint(3728.870361, 73739.281250, 0);
start_pose.orientation = autoware::universe_utils::createQuaternion(0, 0, -0.513117, 0.858319);
goal_pose.position = autoware::universe_utils::createPoint(3729.961182, 73727.328125, 0);
goal_pose.orientation = autoware::universe_utils::createQuaternion(0, 0, 0.234831, 0.972036);
start_pose.position = autoware_utils::create_point(3728.870361, 73739.281250, 0);
start_pose.orientation = autoware_utils::create_quaternion(0, 0, -0.513117, 0.858319);
goal_pose.position = autoware_utils::create_point(3729.961182, 73727.328125, 0);
goal_pose.orientation = autoware_utils::create_quaternion(0, 0, 0.234831, 0.972036);

lanelet::ConstLanelets path_lanelets;
ASSERT_TRUE(
Expand Down Expand Up @@ -88,17 +88,16 @@ TEST_F(TestRouteHandler, getClosestRouteLaneletFromLaneletWhenOverlappingRoute)
geometry_msgs::msg::Pose search_pose;

lanelet::ConstLanelet reference_lanelet;
reference_pose.position = autoware::universe_utils::createPoint(3730.88, 73735.3, 0);
reference_pose.orientation =
autoware::universe_utils::createQuaternion(0, 0, -0.504626, 0.863338);
reference_pose.position = autoware_utils::create_point(3730.88, 73735.3, 0);
reference_pose.orientation = autoware_utils::create_quaternion(0, 0, -0.504626, 0.863338);
const auto found_reference_lanelet =
route_handler_->getClosestLaneletWithinRoute(reference_pose, &reference_lanelet);
ASSERT_TRUE(found_reference_lanelet);
ASSERT_EQ(reference_lanelet.id(), 168);

lanelet::ConstLanelet closest_lanelet;
search_pose.position = autoware::universe_utils::createPoint(3736.89, 73730.8, 0);
search_pose.orientation = autoware::universe_utils::createQuaternion(0, 0, 0.223244, 0.974763);
search_pose.position = autoware_utils::create_point(3736.89, 73730.8, 0);
search_pose.orientation = autoware_utils::create_quaternion(0, 0, 0.223244, 0.974763);
bool found_lanelet = route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lanelet);
ASSERT_TRUE(found_lanelet);
ASSERT_EQ(closest_lanelet.id(), 345);
Expand Down
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