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Initial import of FaRui Campus ADS v3.2

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* text=auto
# Large binary assets and ROS data should be stored with Git LFS.
*.pcd filter=lfs diff=lfs merge=lfs -text
*.db3 filter=lfs diff=lfs merge=lfs -text
*.bag filter=lfs diff=lfs merge=lfs -text
*.mcap filter=lfs diff=lfs merge=lfs -text
*.onnx filter=lfs diff=lfs merge=lfs -text
*.engine filter=lfs diff=lfs merge=lfs -text
*.pt filter=lfs diff=lfs merge=lfs -text
*.pth filter=lfs diff=lfs merge=lfs -text
*.a filter=lfs diff=lfs merge=lfs -text
*.so filter=lfs diff=lfs merge=lfs -text
*.zip filter=lfs diff=lfs merge=lfs -text
*.tar filter=lfs diff=lfs merge=lfs -text
*.tar.gz filter=lfs diff=lfs merge=lfs -text
*.tgz filter=lfs diff=lfs merge=lfs -text
*.gif filter=lfs diff=lfs merge=lfs -text
# Common binary media.
*.png binary
*.jpg binary
*.jpeg binary
*.dae binary
*.stl binary
*.pcd !text !filter !merge !diff
*.db3 !text !filter !merge !diff
*.bag !text !filter !merge !diff
*.mcap !text !filter !merge !diff
*.onnx !text !filter !merge !diff
*.engine !text !filter !merge !diff
*.pt !text !filter !merge !diff
*.pth !text !filter !merge !diff
*.a !text !filter !merge !diff
*.so !text !filter !merge !diff
*.zip !text !filter !merge !diff
*.tar !text !filter !merge !diff
*.tar.gz !text !filter !merge !diff
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# ROS 2 / colcon build outputs
build/
install/
log/
# Python cache and virtual environments
__pycache__/
*.py[cod]
*.pyo
*.pyd
.venv/
venv/
env/
# CMake and native build outputs
CMakeFiles/
CMakeCache.txt
cmake_install.cmake
compile_commands.json
cmake-build-*/
# Runtime logs and local generated files
*.log
*.log.old
*.old
*.tmp
*.bak
core
# ROS bags and local recording outputs
*.bag
*.mcap.active
# IDE and assistant-local state
.vscode/
.idea/
.claude
.claude/
.agents
.agents/
.codex
.codex/
# VS Code C/C++ database files, kept explicit for safety if .vscode is unignored later.
.vscode/browse.vc.db*
.vscode/*.db
.vscode/*.db-*
# OS files
.DS_Store
Thumbs.db
README.md
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# FaRui Autoware Dual-Orin Stack
`FaRui Autoware Dual-Orin Stack` 是一个面向实车部署的 ROS 2 /
Autoware 工作空间。当前代码按双 Orin 主从域控架构组织：主控板负责上层
Autoware 算法和任务工具，从控板负责车辆接口、CAN、控制和安全反馈。
## 项目标识
| 项 | 值 |
| --- | --- |
| 正式名称 | FaRui Autoware Dual-Orin Stack |
| 简称 | FaRui Stack |
| 工作空间 ID | `farui_autoware_dual_orin` |
| 主 launch 包 | `farui_launch` |
| 车辆入口前缀 | `ecar_*` |
| 默认车型 | `ecar_vehicle` |
工作空间名称用于文档、交付和仓库识别；ROS 包名仍保持现状。除非计划做完整
迁移，不建议直接重命名 `farui_launch`、`ecar_vehicle_description`、
`ecar_can_driver` 等包。
## 架构概览
系统分为 `master/` 和 `slave/` 两个可独立编译、独立启动的 ROS 2 工作空间。
两端通过 ROS 2 DDS 通信，主从板通常使用 CycloneDDS 和固定 `ROS_DOMAIN_ID`
进行发现。
| 模块 | Master Orin | Slave Orin |
| --- | --- | --- |
| 地图、感知、定位、规划 | 是 | 否 |
| 传感器驱动、点云容器 | 是 | 否 |
| Autoware API、RViz、任务路线工具 | 是 | 否 |
| Control 控制模块 | 否 | 是 |
| SocketCAN、ECAR CAN 驱动 | 否 | 是 |
| 车辆状态、速度转换、system 反馈 | 否 | 是 |
| 心跳监控、MRM 相关安全反馈 | 否 | 是 |
主要跨板话题包括：
| 话题 | 方向 | 用途 |
| --- | --- | --- |
| `/planning/scenario_planning/trajectory` | Master -> Slave | 规划轨迹输入控制 |
| `/localization/kinematic_state` | Master -> Slave | 定位状态同步 |
| `/sensing/vehicle_velocity_converter/twist_with_covariance` | Slave -> Master | 车速反馈给定位链路 |
| `/system/operation_mode/state` | Slave -> Master | 运行模式状态反馈 |
| `/vehicle/status/*` | Slave -> Master | 车辆底盘状态反馈 |
| `/control/command/control_cmd` | Slave 内部 | 控制模块到车辆接口 |
## 目录结构
```text
.
├── master/ # 主控板工作空间
│ ├── src/ # Autoware、驱动、UI、地图、规划等 ROS 包
│ ├── debug/ # 主控板调试脚本
│ ├── build.sh # 主控板编译入口
│ ├── run_ecar_master_debug.sh
│ └── run_preset_route_real_vehicle.sh
├── slave/ # 从控板工作空间
│ ├── src/ # 控制、车辆接口、CAN、system 等 ROS 包
│ ├── debug/ # 从控板诊断脚本
│ ├── build.sh # 从控板编译入口
│ └── run_slave_real_vehicle.sh
└── README.md
```
核心 launch 包位于：
- `master/src/Launcher/farui_launch`
- `slave/src/Launcher/farui_launch`
主从实车启动文件为：
- `master/src/Launcher/farui_launch/launch/ecar_master.launch.xml`
- `slave/src/Launcher/farui_launch/launch/ecar_slave.launch.xml`
## 编译
分别在主控板和从控板进入对应工作空间执行编译脚本。脚本内部使用
`colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release`，并设置
`AUTOWARE_COMPILE_WITH_CUDA=1`。
主控板：
```bash
cd /home/nvidia/FaRui/v3.2/master
./build.sh
```
从控板：
```bash
cd /home/nvidia/FaRui/v3.2/slave
./build.sh
```
如果只想编译部分包，可以按脚本内注释打开 `--packages-select`。
## 实车启动
建议先启动从控板，再启动主控板。这样车辆接口、CAN、控制和 system 状态先就绪，
主控板启动规划和任务工具后可以直接收到车辆反馈。
### 1. 启动从控板
```bash
cd /home/nvidia/FaRui/v3.2/slave
./run_slave_real_vehicle.sh
```
可选位置参数：
```bash
./run_slave_real_vehicle.sh [车型] [CAN接口] [CAN波特率]
```
常用环境变量：
| 变量 | 默认值 | 说明 |
| --- | --- | --- |
| `SLAVE_VEHICLE_MODEL` | `ecar_vehicle` | 车型 |
| `SLAVE_CAN_INTERFACE` | `can1` | CAN 接口 |
| `SLAVE_CAN_BITRATE` | `500000` | CAN 波特率 |
| `SLAVE_CONFIGURE_CAN` | `false` | 是否由脚本执行 `sudo ip link` 配置 CAN |
| `SLAVE_LAUNCH_HEARTBEAT` | `true` | 是否启动主控板心跳监控 |
| `SLAVE_LAUNCH_SYSTEM` | `true` | 是否启动 system 反馈栈 |
### 2. 启动主控板调试栈
只启动主控板 Autoware，不启动预设路线 UI：
```bash
cd /home/nvidia/FaRui/v3.2/master
./run_ecar_master_debug.sh
```
可选位置参数：
```bash
./run_ecar_master_debug.sh [地图目录] [是否启动RViz] [车型]
```
默认地图目录为 `/home/nvidia/FaRui-test/map/School06`，默认 RViz 为 `true`。
### 3. 启动主控板和预设路线工具
```bash
cd /home/nvidia/FaRui/v3.2/master
./run_preset_route_real_vehicle.sh
```
默认模式是 `ui-only`，只打开预设路线 UI，不启动主板 Autoware 栈。完整参数为：
```bash
./run_preset_route_real_vehicle.sh [模式] [站点文件] [是否启动RViz] [地图目录] [车型]
```
支持模式：
| 模式 | 说明 |
| --- | --- |
| `ui-only` | 只启动预设路线 UI |
| `none` | 启动主板 Autoware，不启动额外路线工具 |
| `record` | 启动站点记录工具 |
| `replay` | 启动预设路线发送工具 |
| `mission` | 启动站点任务管理器 |
示例：
```bash
# 只启动主板 Autoware，不启动路线工具
./run_preset_route_real_vehicle.sh none
# 启动主板 Autoware + 站点任务管理器
./run_preset_route_real_vehicle.sh mission
# 指定地图并关闭 RViz
./run_preset_route_real_vehicle.sh mission "" false /home/nvidia/FaRui-test/map/School06
```
## 双 Orin 网络与 DDS
双 Orin 配置文件在两端都有副本：
- `master/env_config/dual_orin`
- `slave/env_config/dual_orin`
主要内容：
| 路径 | 作用 |
| --- | --- |
| `dds/cyclonedds_dual_orin.xml` | CycloneDDS 配置 |
| `netplan/master-netplan.yaml` | 主控板静态 IP 示例 |
| `netplan/slave-netplan.yaml` | 从控板静态 IP 示例 |
| `netplan/hosts` | `/etc/hosts` 示例 |
| `scripts/setup_master.sh` | 主控板一键配置脚本 |
| `scripts/setup_slave.sh` | 从控板一键配置脚本 |
| `scripts/setup_dds.sh` | DDS 配置辅助脚本 |
| `scripts/test_connection.sh` | 网络连通性测试 |
| `scripts/heartbeat_monitor.sh` | 从控板心跳监控 |
典型环境变量：
```bash
export ROS_DOMAIN_ID=42
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///opt/cyclonedds.xml
export VEHICLE_ID=ecar_001
```
## 开机配置
`master/env_config` 和 `slave/env_config` 提供 systemd 开机配置模板，主要用于：
- 配置 CAN 接口
- 配置串口权限
- 按顺序执行 `startup.d/` 下的启动脚本
- 记录 `startup.log`
安装服务前先检查 `env_config/config.sh` 中的路径是否指向当前工作空间。
## 调试与检查
常用诊断入口：
```bash
# 主控板规划链路检查
cd /home/nvidia/FaRui/v3.2/master
./debug/check_planning_pipeline.sh
# 从控板 control、system、CAN 链路检查
cd /home/nvidia/FaRui/v3.2/slave
./debug/check_system_driver_pipeline.sh
```
常用 ROS 检查命令：
```bash
ros2 node list
ros2 topic list
ros2 topic echo /planning/scenario_planning/trajectory
ros2 topic echo /system/operation_mode/state
ros2 topic echo /vehicle/status/velocity_status
```
## 注意事项
- `master/` 和 `slave/` 是两个独立 ROS 2 工作空间，编译和启动时应分别进入对应目录。
- 主从板必须使用一致的 `ROS_DOMAIN_ID`、RMW 实现和 DDS 配置。
- 实车启动前确认地图目录、车型配置、CAN 接口、车辆标定文件均存在。
- 从控板默认不自动配置 CAN。需要脚本配置 CAN 时设置 `SLAVE_CONFIGURE_CAN=true`。
- 当前工作空间路径为 `/home/nvidia/FaRui/v3.2`；如果复制到其他路径，需要同步检查脚本和
`env_config/config.sh` 中的硬编码路径。
docs/git-upload-prep.md
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# Git 上传准备记录
本文记录当前工作空间上传 Git 前已经完成的准备，以及后续推送远端时需要注意的事项。
## 已处理
- 已新增根目录 `.gitignore`，排除 colcon 构建产物、Python 缓存、日志、IDE 数据库和本地助手状态目录。
- 已新增根目录 `.gitattributes`，将 `.pcd`、`.db3`、`.bag`、`.mcap`、模型文件、静态库、动态库、压缩包和较大的 GIF 标记为 Git LFS 文件。
- 已确认本机安装了 Git LFS：`git-lfs/3.0.2`。
- 已确认当前未发现 `build/`、`install/`、`log/` 目录。
- 已备份并删除无效/嵌套 `.git/` 元数据，备份目录为 `/tmp/farui_git_metadata_backup_20260605_132216`。
- 已初始化根目录 Git 仓库，当前分支为 `main`。
- 已创建本地初始提交，提交信息为 `Initial import of FaRui Autoware Dual-Orin Stack`。
- 已规范 Git 中的 executable bit，仅保留带 shebang 的脚本为可执行。
## 当前仓库状态
- 根目录只有一个有效 `.git/`。
- 工作区当前为 clean 状态。
- 当前未配置远端仓库。
- 当前有 26 个文件由 Git LFS 管理。
## 大文件
当前最大本地生成物是 `.vscode/browse.vc.db`，约 867 MB，已通过 `.gitignore` 排除。
仍然建议使用 Git LFS 管理以下类型的大文件：
- 点云和地图测试数据：`*.pcd`
- ROS bag 数据：`*.db3`、`*.bag`、`*.mcap`
- SDK 或第三方二进制库：`*.a`、`*.so`
- 模型和推理制品：`*.onnx`、`*.engine`、`*.pt`、`*.pth`
- 压缩包和大型演示图：`*.zip`、`*.tar*`、`*.gif`
### 嵌套 Git 仓库
工作空间内存在多个嵌套 `.git/` 目录。若直接在根目录提交，Git 会把这些目录识别为
嵌入式仓库或 submodule 风格条目，容易导致克隆后源码不完整。
建议二选一：
- 作为 vendored source：记录来源和 commit 后，删除内部 `.git/` 目录，把源码完整纳入主仓库。当前初始提交采用此方式。
- 作为 submodule：在根仓库中正式配置 `.gitmodules`，由 Git 管理第三方依赖版本。
当前记录到的嵌套仓库如下：
| 路径 | Commit | Remote |
| --- | --- | --- |
| `master/src/Api/tier4_ad_api_adaptor` | `3de19bc` | `https://github.com/tier4/tier4_ad_api_adaptor.git` |
| `master/src/Driver/Camera/hikvision_ros2_driver` | `a2f8538` | `https://github.com/sjtu-cyberc3/hikvision_ros2_driver.git` |
| `master/src/Driver/Vehicle/ros2_socketcan` | `85da8c3` | `https://github.com/autowarefoundation/ros2_socketcan` |
| `master/src/Mapping/fast_lio2` | `18418bc` | `https://github.com/Ericsii/FAST_LIO_ROS2.git` |
| `master/src/Mapping/liorf` | `da22fa0` | `https://github.com/YJZLuckyBoy/liorf.git` |
| `master/src/Mapping/livox_ros_driver2` | `378d1c7` | `https://github.com/Ericsii/livox_ros_driver2.git` |
| `master/src/Vehicle/sensor_component_description` | `0798200` | `https://github.com/tier4/sensor_component_description.git` |
| `master/src/universe/common/glog` | `ea36766` | `https://github.com/tier4/glog.git` |
| `master/src/universe/common/muSSP` | `c79e98f` | `https://github.com/tier4/muSSP.git` |
| `master/src/universe/core/autoware_cmake` | `890e312` | `https://github.com/autowarefoundation/autoware_cmake.git` |
| `master/src/universe/core/autoware_common` | `6752ca7` | `https://github.com/autowarefoundation/autoware_common.git` |
| `master/src/universe/core/autoware_lanelet2_extension` | `6fc35a0` | `https://github.com/autowarefoundation/autoware_lanelet2_extension.git` |
| `master/src/universe/core/autoware_msgs/autoware_adapi_msgs` | `2512a4f` | `https://github.com/autowarefoundation/autoware_adapi_msgs.git` |
| `master/src/universe/core/autoware_msgs/autoware_internal_msgs` | `4f5feff` | `https://github.com/autowarefoundation/autoware_internal_msgs.git` |
| `master/src/universe/core/autoware_msgs/autoware_msgs` | `4f9f1c0` | `https://github.com/autowarefoundation/autoware_msgs.git` |
| `master/src/universe/core/autoware_utils` | `451419e` | `https://github.com/autowarefoundation/autoware_utils.git` |
| `slave/src/Api/tier4_ad_api_adaptor` | `3de19bc` | `https://github.com/tier4/tier4_ad_api_adaptor.git` |
| `slave/src/Driver/Vehicle/Pixkit_Chassis_Driver/pix_driver` | `a0c4902` | `https://github.com/pixmoving-moveit/pix_driver.git` |
| `slave/src/Driver/Vehicle/ros2_socketcan` | `85da8c3` | `https://github.com/autowarefoundation/ros2_socketcan` |
| `slave/src/Vehicle/sensor_component_description` | `0798200` | `https://github.com/tier4/sensor_component_description.git` |
| `slave/src/universe/core/autoware_cmake` | `890e312` | `https://github.com/autowarefoundation/autoware_cmake.git` |
| `slave/src/universe/core/autoware_common` | `6752ca7` | `https://github.com/autowarefoundation/autoware_common.git` |
| `slave/src/universe/core/autoware_lanelet2_extension` | `6fc35a0` | `https://github.com/autowarefoundation/autoware_lanelet2_extension.git` |
| `slave/src/universe/core/autoware_msgs/autoware_adapi_msgs` | `2512a4f` | `https://github.com/autowarefoundation/autoware_adapi_msgs.git` |
| `slave/src/universe/core/autoware_msgs/autoware_internal_msgs` | `4f5feff` | `https://github.com/autowarefoundation/autoware_internal_msgs.git` |
| `slave/src/universe/core/autoware_msgs/autoware_msgs` | `4f9f1c0` | `https://github.com/autowarefoundation/autoware_msgs.git` |
| `slave/src/universe/core/autoware_utils` | `451419e` | `https://github.com/autowarefoundation/autoware_utils.git` |
## 后续推送流程
添加远端仓库后推送：
```bash
git remote add origin <远端仓库地址>
git push -u origin main
```
如果远端平台需要 Git LFS，请确认远端仓库已启用 LFS，并在推送前执行：
```bash
git lfs install
git lfs ls-files
```
如果以后决定改成 submodule 管理第三方依赖，需要从当前单体仓库方式重新设计
`.gitmodules`，并替换对应目录的 vendored source。
master/build.sh
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#!/usr/bin/env bash
# ---------------------------------------------------------
# Autoware 编译脚本
# ---------------------------------------------------------
set -euo pipefail
readonly RED='\033[0;31m'
readonly GREEN='\033[0;32m'
readonly NC='\033[0m'
log() { echo -e "${GREEN}[INFO]${NC} $*"; }
warn() { echo -e "${RED}[WARN]${NC} $*" >&2; }
BUILD_ARGS=(
colcon build
--symlink-install
--cmake-args -DCMAKE_BUILD_TYPE=Release
)
# 如需部分包编译，把 xxx 换成包名后取消下一行注释
#BUILD_ARGS+=(--packages-select ecar_vehicle_description)
log "Starting colcon build..."
if AUTOWARE_COMPILE_WITH_CUDA=1 "${BUILD_ARGS[@]}"; then
log "Build succeeded. Sourcing workspace..."
# 临时关闭 -u，避免 COLCON_TRACE 未定义报错
set +u
source install/setup.bash
set -u
log "Done."
else
warn "Build failed, skip sourcing."
fi
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#!/bin/bash
#===============================================================================
# 加减速映射表标定启动脚本
# 位置: /home/nvidia/FaRui/v3.1/calibrate_accel_brake_map.sh
#===============================================================================
set -e # 遇到错误立即退出
# 颜色定义
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
BLUE='\033[0;34m'
NC='\033[0m' # No Color
# 默认参数
VEHICLE_MODEL="ecar_vehicle"
USE_SIM_TIME="false"
RVIZ="true"
RECORD_BAG="false"
UPDATE_METHOD="update_offset_four_cell_around"
# 帮助信息
show_help() {
echo "============================================================"
echo " 加减速映射表标定工具"
echo "============================================================"
echo ""
echo "用法: ./calibrate_accel_brake_map.sh [选项]"
echo ""
echo "选项:"
echo " -m, --model <车型> 车辆模型名称 (默认: ecar404)"
echo " -s, --sim-time 使用仿真时间 (rosbag回放时使用)"
echo " -n, --no-rviz 不启动RViz"
echo " -r, --record 录制数据到rosbag"
echo " -c, --cell 使用逐网格标定算法 (默认: 四邻域)"
echo " -h, --help 显示此帮助信息"
echo ""
echo "标定模式:"
echo " 1. 实车标定: ./calibrate_accel_brake_map.sh"
echo " 2. rosbag标定: ./calibrate_accel_brake_map.sh -s"
echo " 3. 高精度标定: ./calibrate_accel_brake_map.sh -c"
echo ""
echo "============================================================"
}
# 解析参数
while [[ $# -gt 0 ]]; do
case $1 in
-m|--model)
VEHICLE_MODEL="$2"
shift 2
;;
-s|--sim-time)
USE_SIM_TIME="true"
shift
;;
-n|--no-rviz)
RVIZ="false"
shift
;;
-r|--record)
RECORD_BAG="true"
shift
;;
-c|--cell)
UPDATE_METHOD="update_offset_each_cell"
shift
;;
-h|--help)
show_help
exit 0
;;
*)
echo -e "${RED}错误: 未知参数 $1${NC}"
show_help
exit 1
;;
esac
done
# 获取脚本所在目录
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "$SCRIPT_DIR"
echo "============================================================"
echo -e "${BLUE} 加减速映射表标定工具${NC}"
echo "============================================================"
echo ""
# 检查工作空间
if [ ! -f "install/setup.bash" ]; then
echo -e "${RED}错误: 未找到 install/setup.bash${NC}"
echo "请先编译工作空间: colcon build"
exit 1
fi
# Source 环境
echo -e "${BLUE}[1/6] 加载 ROS2 环境...${NC}"
source /opt/ros/humble/setup.bash
source install/setup.bash
# 检查 launch 文件是否存在
LAUNCH_FILE="src/Launcher/farui_launch/launch/calibration/accel_brake_map_calibration.launch.xml"
if [ ! -f "$LAUNCH_FILE" ]; then
echo -e "${RED}错误: 未找到标定 launch 文件${NC}"
echo "路径: $LAUNCH_FILE"
exit 1
fi
# 创建标定结果目录
CALIBRATION_DIR="$SCRIPT_DIR/src/Launcher/farui_launch/config/vehicle/calibrated_maps"
mkdir -p "$CALIBRATION_DIR"
echo -e "${GREEN}✓ 环境加载完成${NC}"
echo ""
# 显示配置信息
echo -e "${BLUE}[2/6] 标定配置信息:${NC}"
echo " 车辆模型: $VEHICLE_MODEL"
echo " 仿真时间: $USE_SIM_TIME"
echo " RViz可视化: $RVIZ"
echo " 录制数据: $RECORD_BAG"
echo " 标定算法: $UPDATE_METHOD"
echo " 结果保存路径: $CALIBRATION_DIR"
echo ""
# 检查车辆模型是否存在
VEHICLE_PKG="${VEHICLE_MODEL}_description"
if ! ros2 pkg list | grep "^$VEHICLE_PKG$" > /dev/null 2>&1; then
echo -e "${YELLOW}警告: 未找到车辆模型包 $VEHICLE_PKG${NC}"
echo "可用的车辆模型:"
ros2 pkg list | grep "_description$" | sed 's/_description$//' | head -10
echo ""
read -p "是否继续? (y/n) " -n 1 -r
echo
if [[ ! $REPLY =~ ^[Yy]$ ]]; then
exit 1
fi
fi
# 如果录制数据，创建bag目录
if [ "$RECORD_BAG" = "true" ]; then
BAG_DIR="$SCRIPT_DIR/calibration_bags"
mkdir -p "$BAG_DIR"
BAG_NAME="calibration_$(date +%Y%m%d_%H%M%S)"
fi
# 启动标定
echo -e "${BLUE}[3/6] 启动标定节点...${NC}"
echo ""
echo -e "${YELLOW}提示: 标定过程中请进行以下操作:${NC}"
echo " 1. 确保车辆在安全开阔场地"
echo " 2. 使用遥控器控制车辆"
echo " 3. 平稳加速、减速，覆盖各种速度"
echo " 4. 观察RViz中单元格变红表示数据充足"
echo " 5. 重点关注 0-6m/s 低速区间"
echo ""
read -p "按回车键开始标定，或按 Ctrl+C 取消..."
echo ""
# 构建 launch 参数
LAUNCH_ARGS="vehicle_model:=$VEHICLE_MODEL"
LAUNCH_ARGS="$LAUNCH_ARGS use_sim_time:=$USE_SIM_TIME"
LAUNCH_ARGS="$LAUNCH_ARGS rviz:=$RVIZ"
LAUNCH_ARGS="$LAUNCH_ARGS update_method:=$UPDATE_METHOD"
LAUNCH_ARGS="$LAUNCH_ARGS progress_file_output:=true"
LAUNCH_ARGS="$LAUNCH_ARGS pedal_accel_graph_output:=true"
# 启动 rosbag 录制（后台）
if [ "$RECORD_BAG" = "true" ]; then
echo -e "${BLUE}[4/6] 启动数据录制...${NC}"
ros2 bag record -o "$BAG_DIR/$BAG_NAME" \
/vehicle/status/velocity_status \
/vehicle/status/steering_status \
/vehicle/status/actuation_status \
/control/command/actuation_cmd \
/tf \
/tf_static \
&
BAG_PID=$!
echo -e "${GREEN}✓ 数据录制已启动，PID: $BAG_PID${NC}"
echo " 保存路径: $BAG_DIR/$BAG_NAME"
echo ""
fi
# 启动标定
echo -e "${BLUE}[5/6] 启动标定器...${NC}"
echo " 命令: ros2 launch farui_launch accel_brake_map_calibration.launch.xml $LAUNCH_ARGS"
echo ""
# 捕获 Ctrl+C 信号
cleanup() {
echo ""
echo -e "${YELLOW}接收到中断信号，正在清理...${NC}"
if [ "$RECORD_BAG" = "true" ] && [ -n "$BAG_PID" ]; then
echo "停止数据录制..."
kill $BAG_PID 2>/dev/null || true
wait $BAG_PID 2>/dev/null || true
fi
echo -e "${GREEN}✓ 已清理${NC}"
exit 0
}
trap cleanup SIGINT SIGTERM
# 启动标定节点
ros2 launch farui_launch accel_brake_map_calibration.launch.xml $LAUNCH_ARGS &
LAUNCH_PID=$!
# 等待标定节点启动
sleep 3
# 检查节点是否正常运行
if ! ps -p $LAUNCH_PID > /dev/null; then
echo -e "${RED}错误: 标定节点启动失败${NC}"
exit 1
fi
echo -e "${GREEN}✓ 标定节点已启动${NC}"
echo ""
# 显示操作提示
echo "============================================================"
echo -e "${BLUE} 标定操作指南${NC}"
echo "============================================================"
echo ""
echo "1. ${YELLOW}驾驶车辆${NC}: 使用遥控器控制车辆"
echo " - 平稳加速、减速"
echo " - 覆盖 0-最大车速 范围"
echo " - 覆盖 0-最大踏板开度 范围"
echo ""
echo "2. ${YELLOW}观察进度${NC}: 查看RViz可视化"
echo " - 灰色: 无数据"
echo " - 蓝色→红色: 数据逐渐充足"
echo " - 目标: 所有单元格变红"
echo ""
echo "3. ${YELLOW}保存结果${NC}: 新开终端执行"
echo " ros2 service call /accel_brake_map_calibrator/update_map_dir \\"
echo " tier4_vehicle_msgs/srv/UpdateAccelBrakeMap \\"
echo " \"path: '$CALIBRATION_DIR'\""
echo ""
echo "4. ${YELLOW}查看误差${NC}:"
echo " ros2 topic echo /accel_brake_map_calibrator/output/map_error_ratio"
echo " (比值 < 0.7 表示标定有效)"
echo ""
echo "5. ${YELLOW}结束标定${NC}: 在此窗口按 Ctrl+C"
echo ""
echo "============================================================"
echo ""
# 等待用户结束
wait $LAUNCH_PID
# 标定结束后的提示
echo ""
echo "============================================================"
echo -e "${BLUE} 标定已结束${NC}"
echo "============================================================"
echo ""
echo -e "${GREEN}标定结果保存在:${NC}"
echo " $CALIBRATION_DIR/"
echo ""
echo "生成的文件:"
ls -lh "$CALIBRATION_DIR/" 2>/dev/null || echo " (目录为空，请检查是否已调用保存服务)"
echo ""
echo "下一步:"
echo " 1. 检查 accel_map.csv 和 brake_map.csv 是否生成"
echo " 2. 修改 raw_vehicle_cmd_converter 配置使用新表"
echo " 3. 重启 Autoware 验证效果"
echo ""
echo "============================================================"
# ros2 service call /accel_brake_map_calibrator/input/update_map_dir tier4_vehicle_msgs/srv/UpdateAccelBrakeMap "path: '/home/nvidia/FaRui-test/v3.2/src/Launcher/farui_launch/config/vehicle/calibrated_maps'"
master/cleanup_master_autoware.sh
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#!/usr/bin/env bash
# Clean leftover master-board Autoware/debug processes.
#
# 用法:
# ./cleanup_master_autoware.sh
#
# 说明:
# 这个脚本用于主板调试后清理残留进程。
# 如果你在同一块板上故意运行从板底盘驱动，不要执行本脚本，
# 因为它会停止 ecar_can/socket_can 相关节点。
set -euo pipefail
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
NC='\033[0m'
log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }
PATTERNS=(
"run_ecar_master_debug.sh"
"run_preset_route_real_vehicle.sh"
"ros2 launch.*ecar_master"
"ros2 launch.*farui_launch"
"launch_ros_[0-9]+"
"launch_ros"
"component_container"
"component_container_mt"
"timoo_ros"
"pointcloud_process"
"map_hash_generator"
"imu_corrector"
"gyro_bias_validator"
"hipnuc"
"imu_sub"
"rqt_gui"
"rqt_gui_py_node"
"rviz2"
"ecar_can"
"ecar_can_receiver"
"ecar_can_sender"
"socket_can"
"socket_can_receiver"
"socket_can_sender"
)
terminate_patterns() {
local signal="$1"
local pattern
for pattern in "${PATTERNS[@]}"; do
pkill "-${signal}" -f "${pattern}" 2>/dev/null || true
done
}
log_info "Sending TERM to leftover master Autoware processes."
terminate_patterns TERM
sleep 3
if pgrep -f "component_container|component_container_mt|timoo_ros|map_hash_generator|imu_corrector|gyro_bias_validator|ecar_can|socket_can|rviz2|rqt_gui|launch_ros|ecar_can_receiver|ecar_can_sender|socket_can_receiver|socket_can_sender" >/dev/null 2>&1; then
log_warn "Some processes are still alive; sending KILL."
terminate_patterns KILL
sleep 1
fi
log_info "Restarting ROS daemon to refresh node discovery."
ros2 daemon stop >/dev/null 2>&1 || true
ros2 daemon start >/dev/null 2>&1 || true
log_info "Remaining matching processes:"
ps -ef | grep -E 'autoware|component_container|rviz2|timoo|ros2 launch|launch_ros|preset_route|ecar_can|socket_can|imu_corrector|gyro_bias|map_hash|rqt_gui' | grep -v grep || true
log_info "Remaining ROS nodes:"
ros2 node list 2>/dev/null || true
master/debug/check_planning_pipeline.sh
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#!/usr/bin/env bash
# 打印 RViz goal 到 planning trajectory 链路上的关键 topic/service 状态。
set -euo pipefail
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
RED='\033[0;31m'
NC='\033[0m'
log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }
log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
workspace_root="$(cd "${script_dir}/.." && pwd)"
ros_setup_file="${ROS_SETUP_FILE:-/opt/ros/${ROS_DISTRO:-humble}/setup.bash}"
set +u
if [[ -f "${ros_setup_file}" ]]; then
source "${ros_setup_file}"
fi
if [[ -f "${workspace_root}/install/setup.bash" ]]; then
source "${workspace_root}/install/setup.bash"
else
log_warn "未找到工作空间 setup 文件: ${workspace_root}/install/setup.bash"
log_warn "如果当前 shell 没有手动 source 正确的 install，后续 ros2 查询可能看不到本工作空间的包和节点。"
fi
set -u
node_check() {
local node="$1"
echo
log_info "检查 node: ${node}"
if ros2 node list | grep -Fx "${node}" >/dev/null; then
echo "存在"
else
log_warn "缺少 node: ${node}"
fi
}
component_check() {
local container="$1"
echo
log_info "检查 composable container: ${container}"
if ! ros2 node list | grep -Fx "${container}" >/dev/null; then
log_warn "容器不存在: ${container}"
return
fi
if ! timeout 3s ros2 component list "${container}"; then
log_warn "读取容器组件失败: ${container}"
fi
}
topic_info() {
local topic="$1"
echo
log_info "检查 topic 信息: ${topic}"
if ! timeout 3s ros2 topic info -v "${topic}"; then
log_warn "读取 topic 信息失败: ${topic}"
fi
}
topic_once() {
local topic="$1"
echo
log_info "读取一次 topic 消息: ${topic}"
if ! timeout 3s ros2 topic echo --once "${topic}"; then
log_warn "3 秒内没有收到消息: ${topic}"
fi
}
topic_once_field() {
local topic="$1"
local field="$2"
echo
log_info "读取一次 topic 字段 ${field}: ${topic}"
if ! timeout 3s ros2 topic echo --once --field "${field}" "${topic}"; then
log_warn "3 秒内没有收到消息: ${topic}"
fi
}
param_get() {
local node="$1"
local param="$2"
echo
log_info "读取参数: ${node} / ${param}"
if ! timeout 3s ros2 param get "${node}" "${param}"; then
log_warn "读取参数失败: ${node} / ${param}"
fi
}
service_check() {
local service="$1"
echo
log_info "检查 service: ${service}"
if ros2 service list | grep -Fx "${service}" >/dev/null; then
echo "存在"
else
log_warn "缺少 service: ${service}"
fi
}
package_prefix_check() {
local package="$1"
echo
log_info "检查 ROS 包安装路径: ${package}"
local prefix
if prefix="$(ros2 pkg prefix "${package}" 2>/dev/null)"; then
echo "${prefix}"
else
log_warn "当前环境找不到 ROS 包: ${package}"
fi
}
component_type_check() {
local package="$1"
local plugin="$2"
echo
log_info "检查 component plugin: ${package} / ${plugin}"
if timeout 5s ros2 component types | grep -A20 -Fx "${package}" | grep -Fx " ${plugin}" >/dev/null; then
echo "存在"
else
log_warn "当前环境没有发现 plugin: ${package} / ${plugin}"
fi
}
recent_behavior_container_log() {
echo
log_info "最近 behavior_planning_container 启动日志"
local log_file
local found="false"
for log_file in $(ls -t "${HOME}/.ros/log"/component_container_mt_*.log 2>/dev/null | head -50); do
if grep -q "behavior_planning_container" "${log_file}"; then
echo "日志文件: ${log_file}"
grep -E "behavior_planning_container|behavior_path_planner|Component constructor threw|outside_route|Load Library|Found class|Instantiate class|ERROR|FATAL|exception" "${log_file}" | tail -40
found="true"
break
fi
done
if [[ "${found}" == "false" ]]; then
log_warn "最近 50 个 component_container_mt 日志里没有找到 behavior_planning_container。"
fi
}
recent_planning_failure_log() {
echo
log_info "最近 planning/component 失败日志"
local log_root="${HOME}/.ros/log/latest"
if [[ ! -d "${log_root}" ]]; then
log_warn "未找到 ROS latest 日志目录: ${log_root}"
return
fi
local pattern="behavior_planning_container|behavior_path_planner|behavior_velocity_planner|motion_planning_container|mission_planner_container|scenario_selector|glog_component|Component constructor threw|Failed to load|LoadLibrary|plugin|exception|parameter|must be initialized|not found|outside_route|FATAL|ERROR"
if ! grep -R -n -E "${pattern}" "${log_root}" 2>/dev/null | tail -120; then
log_warn "latest 日志里没有匹配到明显的 planning/component 失败。"
fi
}
echo "ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-}"
echo "RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-}"
echo "CYCLONEDDS_URI=${CYCLONEDDS_URI:-}"
package_prefix_check "farui_launch"
package_prefix_check "autoware_behavior_path_planner"
package_prefix_check "autoware_behavior_velocity_planner"
package_prefix_check "autoware_behavior_path_lane_change_module"
package_prefix_check "autoware_behavior_path_external_request_lane_change_module"
package_prefix_check "autoware_behavior_path_static_obstacle_avoidance_module"
package_prefix_check "autoware_behavior_path_dynamic_obstacle_avoidance_module"
package_prefix_check "glog_component"
component_type_check "autoware_behavior_path_planner" "autoware::behavior_path_planner::BehaviorPathPlannerNode"
component_type_check "autoware_behavior_velocity_planner" "autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode"
component_type_check "glog_component" "GlogComponent"
echo
log_info "包含 routing/planning/scenario/operation/localization 的节点"
ros2 node list | grep -E 'routing|mission|scenario|planning|operation|localization|velocity_smoother' || true
node_check "/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container"
node_check "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"
node_check "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"
component_check "/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container"
component_check "/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container"
component_check "/planning/mission_planning/mission_planner_container"
param_get "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" "launch_modules"
param_get "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" "slots"
param_get "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" "lane_change.prepare_duration"
param_get "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" "external_request_lane_change_right.enable_rtc"
param_get "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" "external_request_lane_change_left.enable_rtc"
param_get "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner" "launch_modules"
param_get "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner" "intersection.common.attention_area_length"
param_get "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner" "merge_from_private.stopline_margin"
param_get "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner" "merge_from_private.stop_duration_sec"
service_check "/api/routing/set_route_points"
service_check "/planning/mission_planning/route_selector/main/set_waypoint_route"
topic_info "/map/vector_map"
topic_info "/map/vector_map_marker"
topic_info "/vehicle/status/velocity_status"
topic_info "/sensing/vehicle_velocity_converter/twist_with_covariance"
topic_info "/localization/kinematic_state"
topic_info "/system/operation_mode/state"
topic_info "/api/routing/state"
topic_info "/api/routing/route"
topic_info "/planning/mission_planning/route_selector/main/state"
topic_info "/planning/mission_planning/route"
topic_info "/planning/scenario_planning/scenario"
topic_info "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"
topic_info "/planning/scenario_planning/lane_driving/behavior_planning/path"
topic_info "/planning/scenario_planning/lane_driving/trajectory"
topic_info "/planning/scenario_planning/scenario_selector/trajectory"
topic_info "/planning/scenario_planning/velocity_smoother/trajectory"
topic_info "/planning/scenario_planning/trajectory"
topic_once_field "/map/vector_map" "header"
topic_once "/localization/kinematic_state"
topic_once "/system/operation_mode/state"
topic_once "/api/routing/state"
topic_once "/planning/mission_planning/route_selector/main/state"
topic_once "/planning/mission_planning/route"
topic_once "/planning/scenario_planning/scenario"
topic_once "/planning/scenario_planning/lane_driving/behavior_planning/path"
topic_once_field "/planning/scenario_planning/lane_driving/trajectory" "header"
topic_once "/planning/scenario_planning/lane_driving/trajectory"
topic_once_field "/planning/scenario_planning/trajectory" "header"
topic_once "/planning/scenario_planning/trajectory"
recent_behavior_container_log
recent_planning_failure_log
echo
log_info "结果解读"
echo "1. 如果 /map/vector_map 没有消息，定位仍可能正常，但 mission planning 无法生成 route。"
echo "2. 如果 /api/routing/state 缺失，或者不是 UNSET，RViz goal 不会真正设置新 route。"
echo "3. 如果点击 goal 后 /planning/mission_planning/route 缺失，检查 mission_planner 日志：goal 无效、route 为空、odometry 缺失或 lanelet map 缺失。"
echo "4. 如果 route 存在但 /planning/scenario_planning/scenario 缺失，优先检查 /system/operation_mode/state。"
echo "5. 如果 scenario 存在但 behavior/motion 输出缺失，按上面的 topic 链路找到第一个没有输出的 topic。"
echo "6. 如果 lane_driving trajectory 存在但最终 /planning/scenario_planning/trajectory 缺失，检查 operation mode 和 trajectory 时间戳延迟。"
echo "7. 如果 behavior_planning_container 或 behavior_path_planner 节点不存在，path 不会生成；先查 master 启动日志中的 component_container_mt 是否加载 autoware_behavior_path_planner 失败。"
echo "8. 如果日志出现 glog_component not found 或 GlogComponent plugin 缺失，说明当前运行环境没有正确构建/安装 glog_component，或 launch 中不应在该容器加载它。"
echo "9. 如果日志出现 must be initialized，说明组件参数 yaml 没有传入，或运行环境读到了旧版本/错误路径的 yaml。"
echo "10. external_request_lane_change 没有独立 yaml；它复用 lane_change.* 参数，并从 scene_module_manager 读取 external_request_lane_change_* 的 RTC/执行策略。"
echo "11. merge_from_private 没有独立 yaml；它的 merge_from_private.* 参数位于 behavior_velocity_planner/intersection.param.yaml，同时依赖 intersection.common.*。"
master/debug/operation_mode_state_fallback.py
Executable
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#!/usr/bin/env python3
from collections import deque
import rclpy
from autoware_adapi_v1_msgs.msg import OperationModeState
from rclpy.node import Node
from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
class OperationModeStateFallback(Node):
def __init__(self):
super().__init__("planning_debug_operation_mode_fallback")
self.topic = (
self.declare_parameter("topic", "/system/operation_mode/state")
.get_parameter_value()
.string_value
)
self.period_sec = (
self.declare_parameter("period_sec", 0.5).get_parameter_value().double_value
)
self.timeout_sec = (
self.declare_parameter("timeout_sec", 1.5).get_parameter_value().double_value
)
qos = QoSProfile(depth=1)
qos.reliability = ReliabilityPolicy.RELIABLE
qos.durability = DurabilityPolicy.TRANSIENT_LOCAL
self.pub = self.create_publisher(OperationModeState, self.topic, qos)
sub_qos = QoSProfile(depth=1)
sub_qos.reliability = ReliabilityPolicy.RELIABLE
sub_qos.durability = DurabilityPolicy.VOLATILE
self.sub = self.create_subscription(
OperationModeState, self.topic, self.on_state, sub_qos
)
self.timer = self.create_timer(self.period_sec, self.on_timer)
self.publishing_fallback = False
self.last_msg_time = None
self.own_stamps = deque(maxlen=32)
self.get_logger().info(
f"Monitoring {self.topic}; publishing STOP fallback when no fresh message exists."
)
@staticmethod
def stamp_key(stamp):
return stamp.sec, stamp.nanosec
def on_state(self, msg):
if self.stamp_key(msg.stamp) in self.own_stamps:
return
self.last_msg_time = self.get_clock().now()
def has_external_publisher(self):
own_name = self.get_name()
own_namespace = self.get_namespace()
for info in self.get_publishers_info_by_topic(self.topic):
if info.node_name != own_name or info.node_namespace != own_namespace:
return True
return False
def has_fresh_message(self):
if self.last_msg_time is None:
return False
age_sec = (self.get_clock().now() - self.last_msg_time).nanoseconds * 1e-9
return age_sec <= self.timeout_sec
def on_timer(self):
if self.has_fresh_message():
if self.publishing_fallback:
self.get_logger().info(
f"Detected fresh {self.topic}; fallback is idle."
)
self.publishing_fallback = False
return
msg = OperationModeState()
msg.stamp = self.get_clock().now().to_msg()
msg.mode = OperationModeState.STOP
msg.is_autoware_control_enabled = False
msg.is_in_transition = False
msg.is_stop_mode_available = True
msg.is_autonomous_mode_available = False
msg.is_local_mode_available = False
msg.is_remote_mode_available = False
self.own_stamps.append(self.stamp_key(msg.stamp))
self.pub.publish(msg)
if not self.publishing_fallback:
reason = (
"no external publisher"
if not self.has_external_publisher()
else f"no fresh message within {self.timeout_sec:.1f}s"
)
self.get_logger().warn(
f"{reason} on {self.topic}; publishing STOP fallback for planning."
)
self.publishing_fallback = True
def main():
rclpy.init()
node = OperationModeStateFallback()
try:
rclpy.spin(node)
finally:
node.destroy_node()
rclpy.shutdown()
if __name__ == "__main__":
main()
master/debug/txt.txt
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master/mapping.sh
Executable
+145
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#!/bin/bash
# ECar Mapping Script - 在线建图启动脚本
# 使用方法: ./mapping.sh [选项]
set -e # 遇到错误立即退出
# ============ 配置 ============
WORKSPACE_DIR="/home/nvidia/FaRui/v3.1"
MAP_SAVE_PATH="${WORKSPACE_DIR}/maps/$(date +%Y%m%d_%H%M%S)"
SLAM_METHOD="liorf" # 可选: fast_lio2 或 liorf
RECORD_BAG="false"
LAUNCH_RVIZ="true"
# ============ 帮助信息 ============
function show_help() {
echo "ECar Mapping Script - 在线建图启动脚本"
echo ""
echo "用法: $0 [选项]"
echo ""
echo "选项:"
echo " -h, --help 显示帮助信息"
echo " -m, --method METHOD 选择SLAM算法: fast_lio2 或 liorf (默认: ${SLAM_METHOD})"
echo " -s, --save PATH 地图保存路径 (默认: ${MAP_SAVE_PATH})"
echo " -r, --record 录制rosbag备份"
echo " --no-rviz 不启动RViz"
echo " -b, --bag-path PATH 指定rosbag录制路径"
echo ""
echo "示例:"
echo " $0 # 默认使用liorf建图"
echo " $0 -m fast_lio2 # 使用FAST_LIO2建图"
echo " $0 -r -s /home/nvidia/my_maps # 建图并录制bag到指定目录"
echo " $0 --no-rviz # 建图但不启动RViz"
exit 0
}
# ============ 解析参数 ============
while [[ $# -gt 0 ]]; do
case $1 in
-h|--help)
show_help
;;
-m|--method)
SLAM_METHOD="$2"
shift 2
;;
-s|--save)
MAP_SAVE_PATH="$2"
shift 2
;;
-r|--record)
RECORD_BAG="true"
shift
;;
--no-rviz)
LAUNCH_RVIZ="false"
shift
;;
-b|--bag-path)
BAG_SAVE_PATH="$2"
shift 2
;;
*)
echo "未知参数: $1"
show_help
;;
esac
done
# ============ 验证参数 ============
if [[ "${SLAM_METHOD}" != "fast_lio2" && "${SLAM_METHOD}" != "liorf" ]]; then
echo "错误: 不支持的SLAM算法 '${SLAM_METHOD}'"
echo "支持的算法: fast_lio2, liorf"
exit 1
fi
# 创建地图保存目录
mkdir -p "${MAP_SAVE_PATH}"
echo "地图将保存到: ${MAP_SAVE_PATH}"
# ============ 环境设置 ============
echo "================================"
echo " ECar 在线建图启动"
echo "================================"
echo "工作目录: ${WORKSPACE_DIR}"
echo "SLAM算法: ${SLAM_METHOD}"
echo "RViz: ${LAUNCH_RVIZ}"
echo "录制bag: ${RECORD_BAG}"
echo "================================"
# 切换到工作目录
cd "${WORKSPACE_DIR}"
# 加载ROS环境
echo "[1/3] 加载ROS2环境..."
if [ -f "install/setup.bash" ]; then
source install/setup.bash
echo " 已加载本地工作空间"
else
echo " 警告: 未找到本地工作空间,使用系统ROS2"
source /opt/ros/humble/setup.bash
fi
# 检查必要的包是否存在
echo "[2/3] 检查必要组件..."
REQUIRED_PKGS=("farui_launch" "timoo_ros2_driver" "wheeltec_gps_driver" "hipnuc_imu")
for pkg in "${REQUIRED_PKGS[@]}"; do
if ros2 pkg list | grep -q "^${pkg}$"; then
echo " ✓ ${pkg}"
else
echo " ✗ ${pkg} 未找到!"
exit 1
fi
done
# 启动建图
echo "[3/3] 启动建图节点..."
echo ""
# 构建启动参数
LAUNCH_ARGS=""
LAUNCH_ARGS+=" slam_method:=${SLAM_METHOD}"
LAUNCH_ARGS+=" map_save_path:=${MAP_SAVE_PATH}"
LAUNCH_ARGS+=" record_bag:=${RECORD_BAG}"
LAUNCH_ARGS+=" rviz:=${LAUNCH_RVIZ}"
if [ -n "${BAG_SAVE_PATH}" ]; then
LAUNCH_ARGS+=" map_save_path:=${BAG_SAVE_PATH}"
fi
echo "启动参数: ${LAUNCH_ARGS}"
echo ""
# 启动 launch 文件
ros2 launch farui_launch ecar_mapping.launch.xml ${LAUNCH_ARGS}
# 建图结束后提示
echo ""
echo "================================"
echo " 建图已结束"
echo "================================"
if [ -d "${MAP_SAVE_PATH}" ]; then
echo "地图保存位置: ${MAP_SAVE_PATH}"
ls -lh "${MAP_SAVE_PATH}" 2>/dev/null || true
fi
echo "================================"
master/run.sh
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#!/usr/bin/env bash
# -----------------------------------------------------------
# 脚本名称: run_simulation.sh
# 功 能: 启动 Autoware-CARLA 联合仿真
#
# 前置条件:
# 1) CARLA 服务器已启动。可在carla目录下运行 ./CarlaUE4.sh -prefernvidia -RenderOffScreen
# 2) 已编译 Autoware
#
# 修改提示:
# map_path : 本地地图路径
# carla_map : CARLA 中的地图名称
# -----------------------------------------------------------
set -euo pipefail
RED='\033[0;31m'
GREEN='\033[0;32m'
NC='\033[0m'
log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
# 1. Source 环境
log_info "Sourcing workspace environment..."
set +u
source install/setup.bash
set -u
# 2. 启动仿真
log_info "Launching Autoware-CARLA e2e simulation..."
ros2 launch farui_launch ecar_launcher.launch.xml \
map_path:=/home/nvidia/FaRui-test/map/parker01 \
vehicle_model:=ecar_vehicle
master/run_ecar_master_debug.sh
Executable
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#!/usr/bin/env bash
# Start only the master Orin Autoware launch for debugging, without preset-route UI.
#
# 用法:
# ./run_ecar_master_debug.sh [地图目录] [是否启动RViz] [车型]
#
# 位置参数都可以省略:
# 地图目录: $ECAR_MASTER_MAP_PATH
# 默认 /home/nvidia/FaRui-test/map/School06
# RViz: $ECAR_MASTER_RVIZ
# 默认 true，可选 true | false
# 车型: $ECAR_MASTER_VEHICLE_MODEL
# 默认 ecar_vehicle
#
# 常用示例:
# 启动主板 Autoware，并打开 RViz:
# ./run_ecar_master_debug.sh
#
# 启动主板 Autoware，但关闭 RViz:
# ./run_ecar_master_debug.sh /home/nvidia/FaRui-test/map/School06 false
#
# 用环境变量指定地图:
# ECAR_MASTER_MAP_PATH=/home/nvidia/FaRui-test/map/School06 ./run_ecar_master_debug.sh
#
# 双 Orin 说明:
# 本脚本只启动 src/Launcher/farui_launch/launch/ecar_master.launch.xml。
# 不启动 UI、预设路线工具、vehicle、control、system。
# 从板仍需单独启动 ecar_slave.launch.xml，负责底盘驱动、控制和 system 反馈。
set -euo pipefail
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
RED='\033[0;31m'
NC='\033[0m'
log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }
log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
find_workspace_root() {
if [[ -n "${ECAR_MASTER_WORKSPACE_ROOT:-}" ]]; then
echo "${ECAR_MASTER_WORKSPACE_ROOT}"
return
fi
local candidates=(
"${script_dir}"
"${PWD}"
)
for candidate in "${candidates[@]}"; do
if [[ -f "${candidate}/install/setup.bash" ]]; then
(cd "${candidate}" && pwd)
return
fi
done
echo "${script_dir}"
}
WORKSPACE_ROOT="$(find_workspace_root)"
#DEFAULT_MAP_PATH="/home/nvidia/FaRui-test/map/School06" parker01
DEFAULT_MAP_PATH="/home/nvidia/FaRui-test/map/School06"
DEFAULT_VEHICLE_MODEL="ecar_vehicle"
DEFAULT_LAUNCH_FILE="${WORKSPACE_ROOT}/src/Launcher/farui_launch/launch/ecar_master.launch.xml"
DEFAULT_OPERATION_MODE_FALLBACK_SCRIPT="${WORKSPACE_ROOT}/debug/operation_mode_state_fallback.py"
MAP_PATH="${1:-${ECAR_MASTER_MAP_PATH:-${DEFAULT_MAP_PATH}}}"
RVIZ="${2:-${ECAR_MASTER_RVIZ:-true}}"
VEHICLE_MODEL="${3:-${ECAR_MASTER_VEHICLE_MODEL:-${DEFAULT_VEHICLE_MODEL}}}"
LAUNCH_FILE="${ECAR_MASTER_LAUNCH_FILE:-${DEFAULT_LAUNCH_FILE}}"
OPERATION_MODE_FALLBACK="${ECAR_MASTER_OPERATION_MODE_FALLBACK:-false}"
OPERATION_MODE_FALLBACK_SCRIPT="${ECAR_MASTER_OPERATION_MODE_FALLBACK_SCRIPT:-${DEFAULT_OPERATION_MODE_FALLBACK_SCRIPT}}"
case "${RVIZ}" in
true|false)
;;
*)
log_error "RViz must be true or false, got: ${RVIZ}"
exit 1
;;
esac
case "${OPERATION_MODE_FALLBACK}" in
true|false)
;;
*)
log_error "ECAR_MASTER_OPERATION_MODE_FALLBACK must be true or false, got: ${OPERATION_MODE_FALLBACK}"
exit 1
;;
esac
if [[ ! -f "${WORKSPACE_ROOT}/install/setup.bash" ]]; then
log_error "Workspace setup file not found: ${WORKSPACE_ROOT}/install/setup.bash"
exit 1
fi
if [[ ! -f "${LAUNCH_FILE}" ]]; then
log_error "Master launch file not found: ${LAUNCH_FILE}"
exit 1
fi
if [[ ! -d "${MAP_PATH}" ]]; then
log_error "Map path not found: ${MAP_PATH}"
exit 1
fi
if [[ "${OPERATION_MODE_FALLBACK}" == "true" && ! -f "${OPERATION_MODE_FALLBACK_SCRIPT}" ]]; then
log_error "Operation mode fallback script not found: ${OPERATION_MODE_FALLBACK_SCRIPT}"
exit 1
fi
log_info "Workspace: ${WORKSPACE_ROOT}"
log_info "Master launch: ${LAUNCH_FILE}"
log_info "Map path: ${MAP_PATH}"
log_info "Vehicle model: ${VEHICLE_MODEL}"
log_info "RViz: ${RVIZ}"
log_info "Operation mode fallback: ${OPERATION_MODE_FALLBACK}"
log_info "Starting master Autoware without UI."
cd "${WORKSPACE_ROOT}"
set +u
source install/setup.bash
set -u
log_ros_pkg_prefix() {
local package="$1"
local prefix
if prefix="$(ros2 pkg prefix "${package}" 2>/dev/null)"; then
log_info "ROS package ${package}: ${prefix}"
else
log_warn "ROS package ${package} not found in the sourced environment."
fi
}
log_ros_pkg_prefix "farui_launch"
log_ros_pkg_prefix "autoware_behavior_path_planner"
log_ros_pkg_prefix "glog_component"
OPERATION_MODE_FALLBACK_PID=""
cleanup() {
local status=$?
trap - EXIT INT TERM
if [[ -n "${OPERATION_MODE_FALLBACK_PID}" ]]; then
kill "${OPERATION_MODE_FALLBACK_PID}" 2>/dev/null || true
wait "${OPERATION_MODE_FALLBACK_PID}" 2>/dev/null || true
fi
exit "${status}"
}
trap cleanup EXIT INT TERM
if [[ "${OPERATION_MODE_FALLBACK}" == "true" ]]; then
log_info "Starting planning operation mode fallback."
python3 "${OPERATION_MODE_FALLBACK_SCRIPT}" &
OPERATION_MODE_FALLBACK_PID=$!
fi
ros2 launch "${LAUNCH_FILE}" \
map_path:="${MAP_PATH}" \
vehicle_model:="${VEHICLE_MODEL}" \
launch_planning:=true \
launch_system:=false \
launch_vehicle:=false \
launch_control:=false \
launch_api:=true \
use_sim_time:=false \
rviz:="${RVIZ}" \
rviz_respawn:=false
master/run_preset_route_real_vehicle.sh
Executable
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#!/usr/bin/env bash
# Start the real-vehicle Autoware stack and one preset-route tool mode.
#
# 用法:
# ./run_preset_route_real_vehicle.sh [模式] [站点文件] [是否启动RViz] [地图目录] [车型]
#
# 位置参数都可以省略，省略时使用下面的默认值或对应环境变量:
# 模式: ui-only
# 可选 record | replay | mission | none | ui-only
# 站点文件: $PRESET_ROUTE_STATIONS_FILE
# 默认 src/UI/preset_route_cruise/paths/recorded_stations.yaml
# RViz: $PRESET_ROUTE_RVIZ
# 非ui-only模式默认 true；ui-only打开UI时默认 false，可选 true | false
# 地图目录: $PRESET_ROUTE_MAP_PATH
# 默认 /home/nvidia/FaRui-test/map/School06
# 车型: $PRESET_ROUTE_VEHICLE_MODEL
# 默认 ecar_vehicle
#
# 常用示例:
# 只打开UI，不启动主板Autoware:
# ./run_preset_route_real_vehicle.sh
#
# 只启动主板Autoware，不启动预设路线工具:
# ./run_preset_route_real_vehicle.sh none
#
# 启动主板Autoware并关闭RViz:
# ./run_preset_route_real_vehicle.sh mission "" false
#
# 使用指定地图:
# ./run_preset_route_real_vehicle.sh mission "" true /home/nvidia/FaRui-test/map/School06
#
# 启动主板Autoware + 站点任务管理器:
# ./run_preset_route_real_vehicle.sh mission
#
# 常用环境变量:
# PRESET_ROUTE_MAP_PATH=/path/to/map
# PRESET_ROUTE_RVIZ=false
# PRESET_ROUTE_NO_UI=true
# PRESET_ROUTE_SKIP_MAIN_STACK=true
# PRESET_ROUTE_START_ON_LAUNCH=true
# PRESET_ROUTE_LOOP_MISSION=true
# PRESET_ROUTE_START_STATION_INDEX=0
# PRESET_ROUTE_AUTOWARE_LAUNCH_FILE=/path/to/ecar_master.launch.xml
#
# 双Orin说明:
# 本脚本用于主板，默认启动 src/Launcher/farui_launch/launch/ecar_master.launch.xml。
# 主板默认不启动 system、vehicle、control；这些由从板脚本负责。
set -euo pipefail
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
RED='\033[0;31m'
NC='\033[0m'
log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }
log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
find_workspace_root() {
if [[ -n "${PRESET_ROUTE_WORKSPACE_ROOT:-}" ]]; then
echo "${PRESET_ROUTE_WORKSPACE_ROOT}"
return
fi
local candidates=(
"${PWD}"
"${script_dir}"
"${script_dir}/../../../.."
"${script_dir}/../../../../.."
)
for candidate in "${candidates[@]}"; do
if [[ -f "${candidate}/install/setup.bash" ]]; then
(cd "${candidate}" && pwd)
return
fi
done
echo "${PWD}"
}
kill_process_group() {
local pid="$1"
local signal="${2:-TERM}"
if [[ -z "${pid}" ]] || ! kill -0 "${pid}" 2>/dev/null; then
return 0
fi
local pgid
pgid="$(ps -o pgid= -p "${pid}" 2>/dev/null | tr -d ' ')"
if [[ -n "${pgid}" ]]; then
kill "-${signal}" -- "-${pgid}" 2>/dev/null || true
else
kill "-${signal}" "${pid}" 2>/dev/null || true
fi
}
launch_preset_route_ui() {
local source_ui="${WORKSPACE_ROOT}/src/UI/preset_route_cruise/scripts/preset_route_operator.py"
if [[ -f "${source_ui}" ]]; then
log_info "Launching preset route UI from source."
python3 "${source_ui}"
return
fi
local installed_ui="${WORKSPACE_ROOT}/install/preset_route_cruise/lib/preset_route_cruise/preset_route_operator.py"
if [[ -f "${installed_ui}" ]]; then
log_warn "preset_route_operator.py is not registered as a ros2 executable; launching installed script."
python3 "${installed_ui}"
return
fi
if ros2 pkg executables preset_route_cruise 2>/dev/null | awk '{print $2}' | grep -qx "preset_route_operator.py"; then
ros2 run preset_route_cruise preset_route_operator.py
return
fi
log_error "Preset route UI executable not found. Expected ros2 executable, ${source_ui}, or ${installed_ui}"
return 1
}
find_default_map_path() {
echo "/home/nvidia/FaRui-test/map/School06"
}
WORKSPACE_ROOT="$(find_workspace_root)"
DEFAULT_STATIONS_FILE="${WORKSPACE_ROOT}/src/UI/preset_route_cruise/paths/recorded_stations.yaml"
DEFAULT_MAP_PATH="$(find_default_map_path)"
DEFAULT_VEHICLE_MODEL="ecar_vehicle"
DEFAULT_AUTOWARE_LAUNCH_FILE="${WORKSPACE_ROOT}/src/Launcher/farui_launch/launch/ecar_master.launch.xml"
ROUTE_MODE="${1:-ui-only}"
STATIONS_FILE="${2:-${PRESET_ROUTE_STATIONS_FILE:-${DEFAULT_STATIONS_FILE}}}"
RVIZ="${3:-${PRESET_ROUTE_RVIZ:-true}}"
MAP_PATH="${4:-${PRESET_ROUTE_MAP_PATH:-${DEFAULT_MAP_PATH}}}"
VEHICLE_MODEL="${5:-${PRESET_ROUTE_VEHICLE_MODEL:-${DEFAULT_VEHICLE_MODEL}}}"
UI_START_RECORDING_ON_LAUNCH="${PRESET_ROUTE_START_RECORDING_ON_LAUNCH:-false}"
UI_AUTO_SEND_ON_START="${PRESET_ROUTE_AUTO_SEND_ON_START:-false}"
UI_MISSION_START_ON_LAUNCH="${PRESET_ROUTE_START_ON_LAUNCH:-false}"
UI_ALLOW_GOAL_MODIFICATION="${PRESET_ROUTE_ALLOW_GOAL_MODIFICATION:-false}"
UI_MISSION_LOOP="${PRESET_ROUTE_LOOP_MISSION:-false}"
UI_MISSION_START_STATION_INDEX="${PRESET_ROUTE_START_STATION_INDEX:-0}"
UI_SKIP_MAIN_STACK="${PRESET_ROUTE_SKIP_MAIN_STACK:-false}"
UI_RECORD_CLEAR_ON_START="${PRESET_ROUTE_RECORD_CLEAR_ON_START:-false}"
UI_RECORD_APPEND_EXISTING="${PRESET_ROUTE_RECORD_APPEND_EXISTING:-true}"
AUTOWARE_LAUNCH_FILE="${PRESET_ROUTE_AUTOWARE_LAUNCH_FILE:-${DEFAULT_AUTOWARE_LAUNCH_FILE}}"
case "${ROUTE_MODE}" in
record|replay|mission|none|ui-only)
;;
*)
log_error "Unsupported route mode: ${ROUTE_MODE}. Expected record, replay, mission, none, or ui-only."
exit 1
;;
esac
case "${RVIZ}" in
true|false)
;;
*)
log_error "RVIZ must be true or false, got: ${RVIZ}"
exit 1
;;
esac
if [[ ("${ROUTE_MODE}" == "replay" || "${ROUTE_MODE}" == "mission") && ! -f "${STATIONS_FILE}" ]]; then
log_error "Stations file not found: ${STATIONS_FILE}"
exit 1
fi
if [[ "${UI_SKIP_MAIN_STACK}" != "true" && ! -d "${MAP_PATH}" ]]; then
log_error "Map path not found: ${MAP_PATH}"
exit 1
fi
if [[ ! -f "${WORKSPACE_ROOT}/install/setup.bash" ]]; then
log_error "Workspace setup file not found: ${WORKSPACE_ROOT}/install/setup.bash"
exit 1
fi
if [[ "${UI_SKIP_MAIN_STACK}" != "true" && "${ROUTE_MODE}" != "ui-only" && ! -f "${AUTOWARE_LAUNCH_FILE}" ]]; then
log_error "Autoware launch file not found: ${AUTOWARE_LAUNCH_FILE}"
exit 1
fi
log_info "Workspace: ${WORKSPACE_ROOT}"
log_info "Mode: ${ROUTE_MODE}, stations: ${STATIONS_FILE}"
log_info "Autoware launch: ${AUTOWARE_LAUNCH_FILE}"
log_info "Map path: ${MAP_PATH}"
cd "${WORKSPACE_ROOT}"
set +u
source install/setup.bash
set -u
AUTOWARE_STACK_PID=""
EXTRA_TOOL_PID=""
UI_PID=""
if [[ "${UI_SKIP_MAIN_STACK}" != "true" && "${ROUTE_MODE}" != "ui-only" ]]; then
log_info "Launching master Orin Autoware stack."
setsid ros2 launch "${AUTOWARE_LAUNCH_FILE}" \
map_path:="${MAP_PATH}" \
vehicle_model:="${VEHICLE_MODEL}" \
launch_planning:=true \
launch_system:=false \
launch_vehicle:=false \
launch_control:=false \
launch_api:=true \
use_sim_time:=false \
rviz:="${RVIZ}" \
rviz_respawn:=false &
AUTOWARE_STACK_PID=$!
else
log_info "Main stack launch skipped by PRESET_ROUTE_SKIP_MAIN_STACK=true."
fi
if [[ "${ROUTE_MODE}" != "ui-only" ]]; then
if [[ "${ROUTE_MODE}" == "record" ]]; then
log_info "Launching station recorder."
setsid ros2 launch preset_route_cruise record_stations_from_rviz.launch.xml \
output_file:="${STATIONS_FILE}" \
clear_file_on_start:="${UI_RECORD_CLEAR_ON_START}" \
append_existing:="${UI_RECORD_APPEND_EXISTING}" \
write_on_each_point:=true \
start_recording_on_launch:="${UI_START_RECORDING_ON_LAUNCH}" \
use_sim_time:=false &
EXTRA_TOOL_PID=$!
fi
if [[ "${ROUTE_MODE}" == "replay" ]]; then
log_info "Launching preset route sender."
setsid ros2 launch preset_route_cruise preset_route_cruise.launch.xml \
stations_file:="${STATIONS_FILE}" \
clear_route_before_send:=true \
allow_goal_modification:="${UI_ALLOW_GOAL_MODIFICATION}" \
auto_shutdown_after_send:=false \
auto_send_on_start:="${UI_AUTO_SEND_ON_START}" \
use_sim_time:=false &
EXTRA_TOOL_PID=$!
fi
if [[ "${ROUTE_MODE}" == "mission" ]]; then
log_info "Launching station mission manager."
setsid ros2 launch preset_route_cruise station_mission_manager.launch.xml \
stations_file:="${STATIONS_FILE}" \
loop_mission:="${UI_MISSION_LOOP}" \
auto_start_on_each_leg:=false \
manual_start_first_leg_only:=true \
clear_route_before_send:=true \
allow_goal_modification:="${UI_ALLOW_GOAL_MODIFICATION}" \
start_on_launch:="${UI_MISSION_START_ON_LAUNCH}" \
start_station_index:="${UI_MISSION_START_STATION_INDEX}" \
auto_shutdown_on_finish:=false \
use_sim_time:=false &
EXTRA_TOOL_PID=$!
fi
if [[ "${ROUTE_MODE}" == "none" ]]; then
log_info "Extra preset-route tool launch skipped."
fi
else
log_info "UI-only mode: main stack and tools will be started from UI."
fi
# 启动 UI 界面
if [[ "${PRESET_ROUTE_NO_UI:-false}" != "true" ]]; then
export PRESET_ROUTE_MAP_PATH="${MAP_PATH}"
export PRESET_ROUTE_STATIONS_FILE="${STATIONS_FILE}"
export PRESET_ROUTE_VEHICLE_MODEL="${VEHICLE_MODEL}"
if [[ "${ROUTE_MODE}" == "ui-only" ]]; then
log_info "Launching preset route UI (UI-only mode)."
PRESET_ROUTE_RVIZ="${PRESET_ROUTE_RVIZ:-false}" launch_preset_route_ui &
UI_PID=$!
else
UI_LAUNCH_DELAY="${PRESET_ROUTE_UI_LAUNCH_DELAY:-3}"
log_info "UI will launch in ${UI_LAUNCH_DELAY} seconds..."
(
sleep "${UI_LAUNCH_DELAY}"
log_info "Launching preset route UI."
launch_preset_route_ui
) &
UI_PID=$!
fi
fi
cleanup() {
trap - EXIT INT TERM
local pids=()
if [[ -n "${UI_PID}" ]]; then
pids+=("${UI_PID}")
fi
if [[ -n "${EXTRA_TOOL_PID}" ]]; then
pids+=("${EXTRA_TOOL_PID}")
fi
if [[ -n "${AUTOWARE_STACK_PID}" ]]; then
pids+=("${AUTOWARE_STACK_PID}")
fi
if [[ ${#pids[@]} -eq 0 ]]; then
return
fi
log_info "Shutting down launched processes."
for pid in "${pids[@]}"; do
kill_process_group "${pid}" TERM
done
sleep 2
for pid in "${pids[@]}"; do
kill_process_group "${pid}" KILL
done
wait "${pids[@]}" 2>/dev/null || true
}
trap cleanup EXIT INT TERM
WAIT_PIDS=()
if [[ -n "${AUTOWARE_STACK_PID}" ]]; then
WAIT_PIDS+=("${AUTOWARE_STACK_PID}")
fi
if [[ -n "${EXTRA_TOOL_PID}" ]]; then
WAIT_PIDS+=("${EXTRA_TOOL_PID}")
fi
if [[ -n "${UI_PID}" ]]; then
WAIT_PIDS+=("${UI_PID}")
fi
if [[ ${#WAIT_PIDS[@]} -gt 0 ]]; then
wait "${WAIT_PIDS[@]}"
fi
master/src/Api/autoware_ad_api_specs/CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(autoware_ad_api_specs)
find_package(autoware_cmake REQUIRED)
autoware_package()
ament_auto_package()
master/src/Api/autoware_ad_api_specs/README.md
+3
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# autoware_adapi_specs
This package is a specification of Autoware AD API.
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
#define AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
namespace autoware_ad_api::fail_safe
{
struct MrmState
{
using Message = autoware_adapi_v1_msgs::msg::MrmState;
static constexpr char name[] = "/api/fail_safe/mrm_state";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
};
} // namespace autoware_ad_api::fail_safe
#endif // AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
#include <autoware_adapi_version_msgs/srv/interface_version.hpp>
namespace autoware_ad_api::interface
{
struct Version
{
using Service = autoware_adapi_version_msgs::srv::InterfaceVersion;
static constexpr char name[] = "/api/interface/version";
};
} // namespace autoware_ad_api::interface
#endif // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
#include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
namespace autoware_ad_api::localization
{
struct Initialize
{
using Service = autoware_adapi_v1_msgs::srv::InitializeLocalization;
static constexpr char name[] = "/api/localization/initialize";
};
struct InitializationState
{
using Message = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
static constexpr char name[] = "/api/localization/initialization_state";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
};
} // namespace autoware_ad_api::localization
#endif // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__MOTION_HPP_
#define AUTOWARE_AD_API_SPECS__MOTION_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/motion_state.hpp>
#include <autoware_adapi_v1_msgs/srv/accept_start.hpp>
namespace autoware_ad_api::motion
{
struct AcceptStart
{
using Service = autoware_adapi_v1_msgs::srv::AcceptStart;
static constexpr char name[] = "/api/motion/accept_start";
};
struct State
{
using Message = autoware_adapi_v1_msgs::msg::MotionState;
static constexpr char name[] = "/api/motion/state";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
};
} // namespace autoware_ad_api::motion
#endif // AUTOWARE_AD_API_SPECS__MOTION_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
#include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
namespace autoware_ad_api::operation_mode
{
struct ChangeToStop
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/change_to_stop";
};
struct ChangeToAutonomous
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/change_to_autonomous";
};
struct ChangeToLocal
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/change_to_local";
};
struct ChangeToRemote
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/change_to_remote";
};
struct EnableAutowareControl
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/enable_autoware_control";
};
struct DisableAutowareControl
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/disable_autoware_control";
};
struct OperationModeState
{
using Message = autoware_adapi_v1_msgs::msg::OperationModeState;
static constexpr char name[] = "/api/operation_mode/state";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
};
} // namespace autoware_ad_api::operation_mode
#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/dynamic_object_array.hpp>
namespace autoware_ad_api::perception
{
struct DynamicObjectArray
{
using Message = autoware_adapi_v1_msgs::msg::DynamicObjectArray;
static constexpr char name[] = "/api/perception/objects";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
};
} // namespace autoware_ad_api::perception
#endif // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__PLANNING_HPP_
#define AUTOWARE_AD_API_SPECS__PLANNING_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
namespace autoware_ad_api::planning
{
struct VelocityFactors
{
using Message = autoware_adapi_v1_msgs::msg::VelocityFactorArray;
static constexpr char name[] = "/api/planning/velocity_factors";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
};
struct SteeringFactors
{
using Message = autoware_adapi_v1_msgs::msg::SteeringFactorArray;
static constexpr char name[] = "/api/planning/steering_factors";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
};
} // namespace autoware_ad_api::planning
#endif // AUTOWARE_AD_API_SPECS__PLANNING_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__ROUTING_HPP_
#define AUTOWARE_AD_API_SPECS__ROUTING_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/route.hpp>
#include <autoware_adapi_v1_msgs/msg/route_state.hpp>
#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
#include <autoware_adapi_v1_msgs/srv/set_route.hpp>
#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
namespace autoware_ad_api::routing
{
struct SetRoutePoints
{
using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
static constexpr char name[] = "/api/routing/set_route_points";
};
struct SetRoute
{
using Service = autoware_adapi_v1_msgs::srv::SetRoute;
static constexpr char name[] = "/api/routing/set_route";
};
struct ChangeRoutePoints
{
using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
static constexpr char name[] = "/api/routing/change_route_points";
};
struct ChangeRoute
{
using Service = autoware_adapi_v1_msgs::srv::SetRoute;
static constexpr char name[] = "/api/routing/change_route";
};
struct ClearRoute
{
using Service = autoware_adapi_v1_msgs::srv::ClearRoute;
static constexpr char name[] = "/api/routing/clear_route";
};
struct RouteState
{
using Message = autoware_adapi_v1_msgs::msg::RouteState;
static constexpr char name[] = "/api/routing/state";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
};
struct Route
{
using Message = autoware_adapi_v1_msgs::msg::Route;
static constexpr char name[] = "/api/routing/route";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
};
} // namespace autoware_ad_api::routing
#endif // AUTOWARE_AD_API_SPECS__ROUTING_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp
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// Copyright 2024 The Autoware Contributors
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/heartbeat.hpp>
namespace autoware_ad_api::system
{
struct Heartbeat
{
using Message = autoware_adapi_v1_msgs::msg::Heartbeat;
static constexpr char name[] = "/api/system/heartbeat";
static constexpr size_t depth = 10;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
};
} // namespace autoware_ad_api::system
#endif // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp
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// Copyright 2023 TIER IV, Inc.
//
// 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.
#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/door_status_array.hpp>
#include <autoware_adapi_v1_msgs/msg/vehicle_kinematics.hpp>
#include <autoware_adapi_v1_msgs/msg/vehicle_status.hpp>
#include <autoware_adapi_v1_msgs/srv/get_door_layout.hpp>
#include <autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.hpp>
#include <autoware_adapi_v1_msgs/srv/set_door_command.hpp>
namespace autoware_ad_api::vehicle
{
struct VehicleKinematics
{
using Message = autoware_adapi_v1_msgs::msg::VehicleKinematics;
static constexpr char name[] = "/api/vehicle/kinematics";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
};
struct VehicleStatus
{
using Message = autoware_adapi_v1_msgs::msg::VehicleStatus;
static constexpr char name[] = "/api/vehicle/status";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
};
struct Dimensions
{
using Service = autoware_adapi_v1_msgs::srv::GetVehicleDimensions;
static constexpr char name[] = "/api/vehicle/dimensions";
};
struct DoorCommand
{
using Service = autoware_adapi_v1_msgs::srv::SetDoorCommand;
static constexpr char name[] = "/api/vehicle/doors/command";
};
struct DoorLayout
{
using Service = autoware_adapi_v1_msgs::srv::GetDoorLayout;
static constexpr char name[] = "/api/vehicle/doors/layout";
};
struct DoorStatus
{
using Message = autoware_adapi_v1_msgs::msg::DoorStatusArray;
static constexpr char name[] = "/api/vehicle/doors/status";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
};
} // namespace autoware_ad_api::vehicle
#endif // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
master/src/Api/autoware_ad_api_specs/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_ad_api_specs</name>
<version>0.0.0</version>
<description>The autoware_ad_api_specs package</description>
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
master/src/Api/autoware_default_adapi/CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(autoware_default_adapi)
find_package(autoware_cmake REQUIRED)
autoware_package()
ament_auto_add_library(${PROJECT_NAME} SHARED
src/diagnostics.cpp
src/fail_safe.cpp
src/heartbeat.cpp
src/interface.cpp
src/localization.cpp
src/motion.cpp
src/operation_mode.cpp
src/perception.cpp
src/planning.cpp
src/routing.cpp
src/vehicle.cpp
src/vehicle_info.cpp
src/vehicle_door.cpp
src/utils/localization_conversion.cpp
src/utils/route_conversion.cpp
src/compatibility/autoware_state.cpp
)
rclcpp_components_register_nodes(${PROJECT_NAME}
"autoware::default_adapi::AutowareStateNode"
"autoware::default_adapi::DiagnosticsNode"
"autoware::default_adapi::FailSafeNode"
"autoware::default_adapi::HeartbeatNode"
"autoware::default_adapi::InterfaceNode"
"autoware::default_adapi::LocalizationNode"
"autoware::default_adapi::MotionNode"
"autoware::default_adapi::OperationModeNode"
"autoware::default_adapi::PerceptionNode"
"autoware::default_adapi::PlanningNode"
"autoware::default_adapi::RoutingNode"
"autoware::default_adapi::VehicleNode"
"autoware::default_adapi::VehicleInfoNode"
"autoware::default_adapi::VehicleDoorNode"
)
if(BUILD_TESTING)
add_launch_test(test/main.test.py)
endif()
install(
PROGRAMS script/web_server.py script/guide.py
DESTINATION lib/${PROJECT_NAME}
)
ament_auto_package(INSTALL_TO_SHARE config launch test)
master/src/Api/autoware_default_adapi/README.md
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# autoware_default_adapi
## Notes
Components that relay services must be executed by the Multi-Threaded Executor.
## Features
This package is a default implementation AD API.
- [autoware state (backward compatibility)](document/autoware-state.md)
- [fail-safe](document/fail-safe.md)
- [interface](document/interface.md)
- [localization](document/localization.md)
- [motion](document/motion.md)
- [operation mode](document/operation-mode.md)
- [routing](document/routing.md)
## Web server script
This is a sample to call API using HTTP.
## Guide message script
This is a debug script to check the conditions for transition to autonomous mode.
```bash
$ ros2 run autoware_default_adapi guide.py
The vehicle pose is not estimated. Please set an initial pose or check GNSS.
The route is not set. Please set a goal pose.
The topic rate error is detected. Please check [control,planning] components.
The vehicle is ready. Please change the operation mode to autonomous.
The vehicle is driving autonomously.
The vehicle has reached the goal of the route. Please reset a route.
```
master/src/Api/autoware_default_adapi/config/default_adapi.param.yaml
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/adapi/node/autoware_state:
ros__parameters:
update_rate: 10.0
/adapi/node/motion:
ros__parameters:
require_accept_start: false
stop_check_duration: 1.0
master/src/Api/autoware_default_adapi/document/autoware-state.md
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# Autoware state compatibility
## Overview
Since `/autoware/state` was so widely used, this packages creates it from the states of AD API for backwards compatibility.
The diagnostic checks that ad_service_state_monitor used to perform have been replaced by component_state_monitor.
The service `/autoware/shutdown` to change autoware state to finalizing is also supported for compatibility.
![autoware-state-architecture](images/autoware-state-architecture.drawio.svg)
## Conversion
This is the correspondence between AD API states and autoware states.
The launch state is the data that this node holds internally.
![autoware-state-table](images/autoware-state-table.drawio.svg)
master/src/Api/autoware_default_adapi/document/fail-safe.md
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# Fail-safe API
## Overview
The fail-safe API simply relays the MRM state. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/fail-safe/) for AD API specifications.
master/src/Api/autoware_default_adapi/document/images/autoware-state-architecture.drawio.svg
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Side by Side

After

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State in AD API
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Moving
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Starting
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accept
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STARTING
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Side by Side

After

Width:  |  Height:  |  Size: 24 KiB

master/src/Api/autoware_default_adapi/document/images/operation-mode-state.drawio.svg
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auto
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
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enable autoware control
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</div>
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<div
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
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change operation mode
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
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mode change completed
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<rect x="527" y="120" width="160" height="40" rx="6" ry="6" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
<g transform="translate(-0.5 -0.5)">
<switch>
<foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
<div
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
<div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
remote
<br/>
(autoware control is false)
</div>
</div>
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<text x="607" y="144" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">remote...</text>
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<path d="M 887 160 L 887 190 L 887 233.63" fill="none" stroke="#6c8ebf" stroke-miterlimit="10" pointer-events="stroke"/>
<path d="M 887 238.88 L 883.5 231.88 L 887 233.63 L 890.5 231.88 Z" fill="#6c8ebf" stroke="#6c8ebf" stroke-miterlimit="10" pointer-events="all"/>
<rect x="767" y="120" width="160" height="40" rx="6" ry="6" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
<g transform="translate(-0.5 -0.5)">
<switch>
<foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
<div
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
<div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
local
<br/>
(autoware control is false)
</div>
</div>
</div>
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<text x="847" y="144" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">local...</text>
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
<div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
remote
<br/>
(in transition)
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</div>
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<path d="M 847 398.88 L 843.5 391.88 L 847 393.63 L 850.5 391.88 Z" fill="#d6b656" stroke="#d6b656" stroke-miterlimit="10" pointer-events="all"/>
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<path d="M 807 280 L 807 330 L 807 393.63" fill="none" stroke="#666666" stroke-miterlimit="10" pointer-events="stroke"/>
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<g transform="translate(-0.5 -0.5)">
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<div
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
<div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
local
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(in transition)
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<path d="M 525.88 140 L 518.88 143.5 L 520.63 140 L 518.88 136.5 Z" fill="#b85450" stroke="#b85450" stroke-miterlimit="10" pointer-events="all"/>
<path d="M 647 400 L 647 320 L 647 286.37" fill="none" stroke="#82b366" stroke-miterlimit="10" pointer-events="stroke"/>
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<rect x="527" y="400" width="160" height="40" rx="6" ry="6" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
<g transform="translate(-0.5 -0.5)">
<switch>
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<div
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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remote
<br/>
(autoware control is true)
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<div
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
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local
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(autoware control is true)
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<path d="M 167 320 L 887 320" fill="none" stroke="#82b366" stroke-miterlimit="10" pointer-events="stroke"/>
<rect x="297" y="30" width="150" height="20" fill="none" stroke="none" pointer-events="all"/>
<g transform="translate(-0.5 -0.5)">
<switch>
<foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
<div
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<div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
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mode change failed
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<text text-anchor="middle" font-size="10px" x="50%" y="100%">Viewer does not support full SVG 1.1</text>
</a>
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Side by Side

After

Width:  |  Height:  |  Size: 32 KiB

master/src/Api/autoware_default_adapi/document/images/operation-mode-table.drawio.svg
+317
View File
@@ -0,0 +1,317 @@
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driver
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autonomous
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stop
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Side by Side

After

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set route
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pose topic
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planning modules
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lanelet route
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set route points
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RViz
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AD
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API
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main module
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set lanelet route
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route, route state
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set route points
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clear route
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lanelet route
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master/src/Api/autoware_default_adapi/document/interface.md
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# Interface API
## Overview
The interface API simply returns a version number. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/interface/) for AD API specifications.
master/src/Api/autoware_default_adapi/document/localization.md
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# Localization API
## Overview
Unify the location initialization method to the service. The topic `/initialpose` from rviz is now only subscribed to by adapter node and converted to API call. This API call is forwarded to the pose initializer node so it can centralize the state of pose initialization. For other nodes that require initialpose, pose initializer node publishes as `/initialpose3d`. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/localization/) for AD API specifications.
![localization-architecture](images/localization.drawio.svg)
master/src/Api/autoware_default_adapi/document/motion.md
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# Motion API
## Overview
Provides a hook for when the vehicle starts. It is typically used for announcements that call attention to the surroundings. Add a pause function to the vehicle_cmd_gate, and API will control it based on vehicle stopped and start requested. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/motion/) for AD API specifications.
![motion-architecture](images/motion-architecture.drawio.svg)
## States
The implementation has more detailed state transitions to manage pause state synchronization. The correspondence with the AD API state is as follows.
![motion-state](images/motion-state.drawio.svg)
master/src/Api/autoware_default_adapi/document/operation-mode.md
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# Operation mode API
## Overview
Introduce operation mode. It handles autoware engage, gate_mode, external_cmd_selector and control_mode abstractly. When the mode is changed, it will be in-transition state, and if the transition completion condition to that mode is not satisfied, it will be returned to the previous mode. Also, currently, the condition for mode change is only `WaitingForEngage` in `/autoware/state`, and the engage state is shared between modes. After introducing the operation mode, each mode will have a transition available flag. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/operation_mode/) for AD API specifications.
![operation-mode-architecture](images/operation-mode-architecture.drawio.svg)
## States
The operation mode has the following state transitions. Disabling autoware control and changing operation mode when autoware control is disabled can be done immediately.
Otherwise, enabling autoware control and changing operation mode when autoware control is enabled causes the state will be transition state.
If the mode change completion condition is not satisfied within the timeout in the transition state, it will return to the previous mode.
![operation-mode-state](images/operation-mode-state.drawio.svg)
## Compatibility
Ideally, vehicle_cmd_gate and external_cmd_selector should be merged so that the operation mode can be handled directly.
However, currently the operation mode transition manager performs the following conversions to match the implementation.
The transition manager monitors each topic in the previous interface and synchronizes the operation mode when it changes.
When the operation mode is changed with the new interface, the transition manager disables synchronization and changes the operation mode using the previous interface.
![operation-mode-table](images/operation-mode-table.drawio.svg)
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# Routing API
## Overview
Unify the route setting method to the service. This API supports two waypoint formats, poses and lanelet segments. The goal and checkpoint topics from rviz is only subscribed to by adapter node and converted to API call. This API call is forwarded to the mission planner node so it can centralize the state of routing. For other nodes that require route, mission planner node publishes as `/planning/mission_planning/route`. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/) for AD API specifications.
![routing-architecture](images/routing.drawio.svg)
master/src/Api/autoware_default_adapi/launch/default_adapi.launch.py
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# Copyright 2022 TIER IV, Inc.
#
# 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.substitutions import PathJoinSubstitution
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import Node
from launch_ros.descriptions import ComposableNode
from launch_ros.parameter_descriptions import ParameterFile
from launch_ros.substitutions import FindPackageShare
def create_api_node(node_name, class_name, **kwargs):
return ComposableNode(
namespace="adapi/node",
name=node_name,
package="autoware_default_adapi",
plugin="autoware::default_adapi::" + class_name,
parameters=[ParameterFile(LaunchConfiguration("config"))],
)
def get_default_config():
path = FindPackageShare("autoware_default_adapi")
path = PathJoinSubstitution([path, "config/default_adapi.param.yaml"])
return path
def generate_launch_description():
components = [
create_api_node("autoware_state", "AutowareStateNode"),
create_api_node("diagnostics", "DiagnosticsNode"),
create_api_node("fail_safe", "FailSafeNode"),
create_api_node("heartbeat", "HeartbeatNode"),
create_api_node("interface", "InterfaceNode"),
create_api_node("localization", "LocalizationNode"),
create_api_node("motion", "MotionNode"),
create_api_node("operation_mode", "OperationModeNode"),
create_api_node("perception", "PerceptionNode"),
create_api_node("planning", "PlanningNode"),
create_api_node("routing", "RoutingNode"),
create_api_node("vehicle", "VehicleNode"),
create_api_node("vehicle_info", "VehicleInfoNode"),
create_api_node("vehicle_door", "VehicleDoorNode"),
]
container = ComposableNodeContainer(
namespace="adapi",
name="container",
package="rclcpp_components",
executable="component_container_mt",
ros_arguments=["--log-level", "adapi.container:=WARN"],
composable_node_descriptions=components,
)
web_server = Node(
namespace="adapi",
package="autoware_default_adapi",
name="web_server",
executable="web_server.py",
)
argument = DeclareLaunchArgument("config", default_value=get_default_config())
return launch.LaunchDescription([argument, container, web_server])
master/src/Api/autoware_default_adapi/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_default_adapi</name>
<version>0.1.0</version>
<description>The autoware_default_adapi package</description>
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
<depend>autoware_ad_api_specs</depend>
<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_adapi_version_msgs</depend>
<depend>autoware_component_interface_specs</depend>
<depend>autoware_geography_utils</depend>
<depend>autoware_motion_utils</depend>
<depend>autoware_planning_msgs</depend>
<depend>autoware_system_msgs</depend>
<depend>autoware_vehicle_info_utils</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>component_interface_utils</depend>
<depend>diagnostic_graph_utils</depend>
<depend>geographic_msgs</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>shape_msgs</depend>
<depend>std_srvs</depend>
<depend>tier4_api_msgs</depend>
<depend>tier4_control_msgs</depend>
<depend>tier4_system_msgs</depend>
<exec_depend>python3-flask</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
master/src/Api/autoware_default_adapi/script/guide.py
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#!/usr/bin/env python3
# Copyright 2023 The Autoware Contributors
#
# 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 autoware_adapi_v1_msgs.msg import LocalizationInitializationState
from autoware_adapi_v1_msgs.msg import OperationModeState
from autoware_adapi_v1_msgs.msg import RouteState
import rclpy
from rclpy.node import Node
from rclpy.qos import QoSDurabilityPolicy
from rclpy.qos import QoSProfile
from rclpy.qos import QoSReliabilityPolicy
from tier4_system_msgs.msg import ModeChangeAvailable
modules = [
"control",
"localization",
"map",
"perception",
"planning",
"sensing",
"system",
"vehicle",
]
class Sub(object):
def __init__(self, node, topic_type, topic_name, durable):
qos = self.durable_qos(1) if durable else self.default_qos(1)
self.sub = node.create_subscription(topic_type, topic_name, self.callback, qos)
self.msg = None
def callback(self, msg):
self.msg = msg
@staticmethod
def durable_qos(depth):
r = QoSReliabilityPolicy.RELIABLE
d = QoSDurabilityPolicy.TRANSIENT_LOCAL
return QoSProfile(depth=depth, reliability=r, durability=d)
@staticmethod
def default_qos(depth):
r = QoSReliabilityPolicy.RELIABLE
d = QoSDurabilityPolicy.VOLATILE
return QoSProfile(depth=depth, reliability=r, durability=d)
class GuideNode(Node):
def __init__(self):
# fmt: off
super().__init__("guide")
self.localization = Sub(self, LocalizationInitializationState, "/api/localization/initialization_state", True)
self.routing = Sub(self, RouteState, "/api/routing/state", True)
self.operation_mode = Sub(self, OperationModeState, "/api/operation_mode/state", True)
self.launch_states = [Sub(self, ModeChangeAvailable, f"/system/component_state_monitor/component/launch/{module}", True) for module in modules]
self.auto_states = [Sub(self, ModeChangeAvailable, f"/system/component_state_monitor/component/autonomous/{module}", True) for module in modules]
self.timer = self.create_timer(1.0, self.check_callback)
self.previous_message = None
# fmt: on
def check_callback(self):
message = self.check_localization()
if self.previous_message != message:
print(message)
self.previous_message = message
def check_localization(self):
if self.localization.msg is None:
return "The localization state is not received. Please check ADAPI and localization component works correctly."
elif self.localization.msg.state == LocalizationInitializationState.INITIALIZED:
return self.check_routing()
else:
return "The vehicle pose is not estimated. Please set an initial pose or check GNSS."
def check_routing(self):
if self.routing.msg is None:
return "The routing state is not received. Please check ADAPI and planning component works correctly."
elif self.routing.msg.state == RouteState.UNSET:
return "The route is not set. Please set a goal pose."
elif self.routing.msg.state == RouteState.SET:
return self.check_operation_mode()
elif self.routing.msg.state == RouteState.ARRIVED:
return "The vehicle has reached the goal of the route. Please reset a route."
def check_operation_mode(self):
if self.operation_mode.msg is None:
return "The operation mode state is not received. Please check ADAPI and control component works correctly."
elif self.operation_mode.msg.mode == OperationModeState.AUTONOMOUS:
return "The vehicle is driving autonomously."
elif self.operation_mode.msg.mode == OperationModeState.LOCAL:
return "The vehicle is driving by a local operator."
elif self.operation_mode.msg.mode == OperationModeState.REMOTE:
return "The vehicle is driving by a remote operator."
elif self.operation_mode.msg.is_autonomous_mode_available:
return "The vehicle is ready. Please change the operation mode to autonomous."
else:
return self.check_autonomous_condition()
def check_autonomous_condition(self):
states = [state.msg.available if state.msg else False for state in self.auto_states]
if all(states):
return "Unable to safely switch to automatic mode. Please stop or satisfy the driving mode change condition."
else:
components = ",".join([module for module, state in zip(modules, states) if not state])
return f"The topic rate error is detected. Please check [{components}] components."
if __name__ == "__main__":
rclpy.init()
rclpy.spin(GuideNode())
rclpy.shutdown()
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#!/usr/bin/env python3
# Copyright 2022 TIER IV, Inc.
#
# 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 sys
from threading import Thread
from autoware_adapi_version_msgs.srv import InterfaceVersion
import flask
import rclpy
from rclpy.node import Node
app = flask.Flask(__name__)
cli = None
@app.route("/interface/version")
def interface_version():
req = InterfaceVersion.Request()
res = cli.call(req)
return flask.jsonify(convert_dict(res))
def create_service(node, service_type, service_name):
cli = node.create_client(service_type, service_name)
while not cli.wait_for_service(timeout_sec=1.0):
node.get_logger().info(f"service not available, waiting again... ({service_name}")
return cli
def convert_dict(msg):
fields = getattr(msg, "get_fields_and_field_types", None)
if not fields:
return msg
return {field: convert_dict(getattr(msg, field)) for field in fields()}
def spin_ros_node():
global cli
node = Node("ad_api_default_web_server")
cli = create_service(node, InterfaceVersion, "/api/interface/version")
rclpy.spin(node)
if __name__ == "__main__":
rclpy.init(args=sys.argv, signal_handler_options=rclpy.signals.SignalHandlerOptions.NO)
thread = Thread(target=spin_ros_node)
thread.start()
app.run(host="localhost", port=8888, debug=False)
rclpy.shutdown()
thread.join()
master/src/Api/autoware_default_adapi/src/compatibility/autoware_state.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "autoware_state.hpp"
#include <string>
#include <vector>
namespace autoware::default_adapi
{
AutowareStateNode::AutowareStateNode(const rclcpp::NodeOptions & options)
: Node("autoware_state", options)
{
const std::vector<std::string> module_names = {
"sensing", "perception", "map", "localization", "planning", "control", "vehicle", "system",
};
for (size_t i = 0; i < module_names.size(); ++i) {
const auto name = "/system/component_state_monitor/component/launch/" + module_names[i];
const auto qos = rclcpp::QoS(1).transient_local();
const auto callback = [this, i](const ModeChangeAvailable::ConstSharedPtr msg) {
component_states_[i] = msg->available;
};
sub_component_states_.push_back(create_subscription<ModeChangeAvailable>(name, qos, callback));
}
pub_autoware_state_ = create_publisher<AutowareState>("/autoware/state", 1);
srv_autoware_shutdown_ = create_service<std_srvs::srv::Trigger>(
"/autoware/shutdown",
std::bind(&AutowareStateNode::on_shutdown, this, std::placeholders::_1, std::placeholders::_2));
const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_sub(sub_localization_, this, &AutowareStateNode::on_localization);
adaptor.init_sub(sub_routing_, this, &AutowareStateNode::on_routing);
adaptor.init_sub(sub_operation_mode_, this, &AutowareStateNode::on_operation_mode);
const auto rate = rclcpp::Rate(declare_parameter<double>("update_rate"));
timer_ = rclcpp::create_timer(this, get_clock(), rate.period(), [this]() { on_timer(); });
component_states_.resize(module_names.size());
launch_state_ = LaunchState::Initializing;
localization_state_.state = LocalizationState::UNKNOWN;
routing_state_.state = RoutingState::UNKNOWN;
operation_mode_state_.mode = OperationModeState::UNKNOWN;
}
void AutowareStateNode::on_localization(const LocalizationState::ConstSharedPtr msg)
{
localization_state_ = *msg;
}
void AutowareStateNode::on_routing(const RoutingState::ConstSharedPtr msg)
{
routing_state_ = *msg;
}
void AutowareStateNode::on_operation_mode(const OperationModeState::ConstSharedPtr msg)
{
operation_mode_state_ = *msg;
}
void AutowareStateNode::on_shutdown(
const Trigger::Request::SharedPtr, const Trigger::Response::SharedPtr res)
{
launch_state_ = LaunchState::Finalizing;
res->success = true;
res->message = "Shutdown Autoware.";
}
void AutowareStateNode::on_timer()
{
const auto convert_state = [this]() {
if (launch_state_ == LaunchState::Finalizing) {
return AutowareState::FINALIZING;
}
if (launch_state_ == LaunchState::Initializing) {
return AutowareState::INITIALIZING;
}
if (localization_state_.state == LocalizationState::UNKNOWN) {
return AutowareState::INITIALIZING;
}
if (routing_state_.state == RoutingState::UNKNOWN) {
return AutowareState::INITIALIZING;
}
if (operation_mode_state_.mode == OperationModeState::UNKNOWN) {
return AutowareState::INITIALIZING;
}
if (localization_state_.state != LocalizationState::INITIALIZED) {
return AutowareState::INITIALIZING;
}
if (routing_state_.state == RoutingState::UNSET) {
return AutowareState::WAITING_FOR_ROUTE;
}
if (routing_state_.state == RoutingState::ARRIVED) {
return AutowareState::ARRIVED_GOAL;
}
if (operation_mode_state_.mode != OperationModeState::STOP) {
if (operation_mode_state_.is_autoware_control_enabled) {
return AutowareState::DRIVING;
}
}
if (operation_mode_state_.is_autonomous_mode_available) {
return AutowareState::WAITING_FOR_ENGAGE;
}
return AutowareState::PLANNING;
};
// Update launch state.
if (launch_state_ == LaunchState::Initializing) {
bool is_initialized = true;
for (const auto & state : component_states_) {
is_initialized &= state;
}
if (is_initialized) {
launch_state_ = LaunchState::Running;
}
}
// Update routing state to reproduce old logic.
if (routing_state_.state == RoutingState::ARRIVED) {
const auto duration = now() - rclcpp::Time(routing_state_.stamp);
if (2.0 < duration.seconds()) {
routing_state_.state = RoutingState::UNSET;
}
}
AutowareState msg;
msg.stamp = now();
msg.state = convert_state();
pub_autoware_state_->publish(msg);
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::AutowareStateNode)
master/src/Api/autoware_default_adapi/src/compatibility/autoware_state.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef COMPATIBILITY__AUTOWARE_STATE_HPP_
#define COMPATIBILITY__AUTOWARE_STATE_HPP_
#include <autoware_ad_api_specs/localization.hpp>
#include <autoware_ad_api_specs/operation_mode.hpp>
#include <autoware_ad_api_specs/routing.hpp>
#include <autoware_system_msgs/msg/autoware_state.hpp>
#include <std_srvs/srv/trigger.hpp>
#include <tier4_system_msgs/msg/mode_change_available.hpp>
#include <vector>
// This file should be included after messages.
#include "../utils/types.hpp"
namespace autoware::default_adapi
{
class AutowareStateNode : public rclcpp::Node
{
public:
explicit AutowareStateNode(const rclcpp::NodeOptions & options);
private:
using ModeChangeAvailable = tier4_system_msgs::msg::ModeChangeAvailable;
rclcpp::TimerBase::SharedPtr timer_;
// emergency
Sub<autoware_ad_api::localization::InitializationState> sub_localization_;
Sub<autoware_ad_api::routing::RouteState> sub_routing_;
Sub<autoware_ad_api::operation_mode::OperationModeState> sub_operation_mode_;
using AutowareState = autoware_system_msgs::msg::AutowareState;
using LocalizationState = autoware_ad_api::localization::InitializationState::Message;
using RoutingState = autoware_ad_api::routing::RouteState::Message;
using OperationModeState = autoware_ad_api::operation_mode::OperationModeState::Message;
using Trigger = std_srvs::srv::Trigger;
std::vector<bool> component_states_;
std::vector<rclcpp::Subscription<ModeChangeAvailable>::SharedPtr> sub_component_states_;
rclcpp::Publisher<AutowareState>::SharedPtr pub_autoware_state_;
rclcpp::Service<Trigger>::SharedPtr srv_autoware_shutdown_;
enum class LaunchState { Initializing, Running, Finalizing };
LaunchState launch_state_;
LocalizationState localization_state_;
RoutingState routing_state_;
OperationModeState operation_mode_state_;
void on_timer();
void on_localization(const LocalizationState::ConstSharedPtr msg);
void on_routing(const RoutingState::ConstSharedPtr msg);
void on_operation_mode(const OperationModeState::ConstSharedPtr msg);
void on_shutdown(const Trigger::Request::SharedPtr, const Trigger::Response::SharedPtr);
};
} // namespace autoware::default_adapi
#endif // COMPATIBILITY__AUTOWARE_STATE_HPP_
master/src/Api/autoware_default_adapi/src/diagnostics.cpp
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// Copyright 2024 The Autoware Contributors
//
// 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.
#include "diagnostics.hpp"
#include <memory>
#include <unordered_map>
namespace autoware::default_adapi
{
DiagnosticsNode::DiagnosticsNode(const rclcpp::NodeOptions & options) : Node("diagnostics", options)
{
using std::placeholders::_1;
pub_struct_ = create_publisher<autoware_adapi_v1_msgs::msg::DiagGraphStruct>(
"/api/system/diagnostics/struct", rclcpp::QoS(1).transient_local());
pub_status_ = create_publisher<autoware_adapi_v1_msgs::msg::DiagGraphStatus>(
"/api/system/diagnostics/status", rclcpp::QoS(1).best_effort());
sub_graph_.register_create_callback(std::bind(&DiagnosticsNode::on_create, this, _1));
sub_graph_.register_update_callback(std::bind(&DiagnosticsNode::on_update, this, _1));
sub_graph_.subscribe(*this, 10);
}
void DiagnosticsNode::on_create(DiagGraph::ConstSharedPtr graph)
{
const auto & units = graph->units();
const auto & links = graph->links();
std::unordered_map<DiagUnit *, size_t> unit_indices_;
for (size_t i = 0; i < units.size(); ++i) {
unit_indices_[units[i]] = i;
}
autoware_adapi_v1_msgs::msg::DiagGraphStruct msg;
msg.stamp = graph->created_stamp();
msg.id = graph->id();
msg.nodes.reserve(units.size());
msg.links.reserve(links.size());
for (const auto & unit : units) {
msg.nodes.emplace_back();
msg.nodes.back().path = unit->path();
}
for (const auto & link : links) {
msg.links.emplace_back();
msg.links.back().parent = unit_indices_.at(link->parent());
msg.links.back().child = unit_indices_.at(link->child());
}
pub_struct_->publish(msg);
}
void DiagnosticsNode::on_update(DiagGraph::ConstSharedPtr graph)
{
const auto & units = graph->units();
autoware_adapi_v1_msgs::msg::DiagGraphStatus msg;
msg.stamp = graph->updated_stamp();
msg.id = graph->id();
msg.nodes.reserve(units.size());
for (const auto & unit : units) {
msg.nodes.emplace_back();
msg.nodes.back().level = unit->level();
}
pub_status_->publish(msg);
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::DiagnosticsNode)
master/src/Api/autoware_default_adapi/src/diagnostics.hpp
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// Copyright 2024 The Autoware Contributors
//
// 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.
#ifndef DIAGNOSTICS_HPP_
#define DIAGNOSTICS_HPP_
#include "diagnostic_graph_utils/subscription.hpp"
#include <rclcpp/rclcpp.hpp>
#include <autoware_adapi_v1_msgs/msg/diag_graph_status.hpp>
#include <autoware_adapi_v1_msgs/msg/diag_graph_struct.hpp>
namespace autoware::default_adapi
{
class DiagnosticsNode : public rclcpp::Node
{
public:
explicit DiagnosticsNode(const rclcpp::NodeOptions & options);
private:
using DiagGraph = diagnostic_graph_utils::DiagGraph;
using DiagUnit = diagnostic_graph_utils::DiagUnit;
using DiagLink = diagnostic_graph_utils::DiagLink;
void on_create(DiagGraph::ConstSharedPtr graph);
void on_update(DiagGraph::ConstSharedPtr graph);
rclcpp::Publisher<autoware_adapi_v1_msgs::msg::DiagGraphStruct>::SharedPtr pub_struct_;
rclcpp::Publisher<autoware_adapi_v1_msgs::msg::DiagGraphStatus>::SharedPtr pub_status_;
diagnostic_graph_utils::DiagGraphSubscription sub_graph_;
};
} // namespace autoware::default_adapi
#endif // DIAGNOSTICS_HPP_
master/src/Api/autoware_default_adapi/src/fail_safe.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "fail_safe.hpp"
namespace autoware::default_adapi
{
FailSafeNode::FailSafeNode(const rclcpp::NodeOptions & options) : Node("fail_safe", options)
{
const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_pub(pub_mrm_state_);
adaptor.init_sub(sub_mrm_state_, this, &FailSafeNode::on_state);
prev_state_.state = MrmState::UNKNOWN;
}
void FailSafeNode::on_state(const MrmState::ConstSharedPtr msg)
{
prev_state_.stamp = msg->stamp;
if (prev_state_ != *msg) {
prev_state_ = *msg;
pub_mrm_state_->publish(*msg);
}
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::FailSafeNode)
master/src/Api/autoware_default_adapi/src/fail_safe.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef FAIL_SAFE_HPP_
#define FAIL_SAFE_HPP_
#include <autoware/component_interface_specs/system.hpp>
#include <autoware_ad_api_specs/fail_safe.hpp>
#include <component_interface_utils/rclcpp.hpp>
#include <rclcpp/rclcpp.hpp>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class FailSafeNode : public rclcpp::Node
{
public:
explicit FailSafeNode(const rclcpp::NodeOptions & options);
private:
using MrmState = autoware_ad_api::fail_safe::MrmState::Message;
Pub<autoware_ad_api::fail_safe::MrmState> pub_mrm_state_;
Sub<autoware::component_interface_specs::system::MrmState> sub_mrm_state_;
MrmState prev_state_;
void on_state(const MrmState::ConstSharedPtr msg);
};
} // namespace autoware::default_adapi
#endif // FAIL_SAFE_HPP_
master/src/Api/autoware_default_adapi/src/heartbeat.cpp
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// Copyright 2024 The Autoware Contributors
//
// 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.
#include "heartbeat.hpp"
#include <utility>
namespace autoware::default_adapi
{
HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartbeat", options)
{
// Move this function so that the timer no longer holds it as a reference.
const auto on_timer = [this]() {
autoware_ad_api::system::Heartbeat::Message heartbeat;
heartbeat.stamp = now();
heartbeat.seq = ++sequence_; // Wraps at 65535.
pub_->publish(heartbeat);
};
const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_pub(pub_);
const auto period = rclcpp::Rate(10.0).period();
timer_ = rclcpp::create_timer(this, get_clock(), period, std::move(on_timer));
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::HeartbeatNode)
master/src/Api/autoware_default_adapi/src/heartbeat.hpp
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// Copyright 2024 The Autoware Contributors
//
// 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.
#ifndef HEARTBEAT_HPP_
#define HEARTBEAT_HPP_
#include <autoware_ad_api_specs/system.hpp>
#include <rclcpp/rclcpp.hpp>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class HeartbeatNode : public rclcpp::Node
{
public:
explicit HeartbeatNode(const rclcpp::NodeOptions & options);
private:
rclcpp::TimerBase::SharedPtr timer_;
Pub<autoware_ad_api::system::Heartbeat> pub_;
uint16_t sequence_ = 0;
};
} // namespace autoware::default_adapi
#endif // HEARTBEAT_HPP_
master/src/Api/autoware_default_adapi/src/interface.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "interface.hpp"
namespace autoware::default_adapi
{
InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) : Node("interface", options)
{
const auto on_interface_version = [](auto, auto res) {
res->major = 1;
res->minor = 5;
res->patch = 0;
};
const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_srv(srv_, on_interface_version);
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::InterfaceNode)
master/src/Api/autoware_default_adapi/src/interface.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef INTERFACE_HPP_
#define INTERFACE_HPP_
#include <autoware_ad_api_specs/interface.hpp>
#include <rclcpp/rclcpp.hpp>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class InterfaceNode : public rclcpp::Node
{
public:
explicit InterfaceNode(const rclcpp::NodeOptions & options);
private:
Srv<autoware_ad_api::interface::Version> srv_;
};
} // namespace autoware::default_adapi
#endif // INTERFACE_HPP_
master/src/Api/autoware_default_adapi/src/localization.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "localization.hpp"
#include "utils/localization_conversion.hpp"
namespace autoware::default_adapi
{
LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options)
: Node("localization", options)
{
const auto adaptor = component_interface_utils::NodeAdaptor(this);
group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
adaptor.relay_message(pub_state_, sub_state_);
adaptor.init_cli(cli_initialize_);
adaptor.init_srv(srv_initialize_, this, &LocalizationNode::on_initialize, group_cli_);
}
void LocalizationNode::on_initialize(
const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req,
const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res)
{
res->status = localization_conversion::convert_call(cli_initialize_, req);
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::LocalizationNode)
master/src/Api/autoware_default_adapi/src/localization.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef LOCALIZATION_HPP_
#define LOCALIZATION_HPP_
#include <autoware/component_interface_specs/localization.hpp>
#include <autoware_ad_api_specs/localization.hpp>
#include <rclcpp/rclcpp.hpp>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class LocalizationNode : public rclcpp::Node
{
public:
explicit LocalizationNode(const rclcpp::NodeOptions & options);
private:
rclcpp::CallbackGroup::SharedPtr group_cli_;
Srv<autoware_ad_api::localization::Initialize> srv_initialize_;
Pub<autoware_ad_api::localization::InitializationState> pub_state_;
Cli<autoware::component_interface_specs::localization::Initialize> cli_initialize_;
Sub<autoware::component_interface_specs::localization::InitializationState> sub_state_;
void on_initialize(
const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req,
const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res);
};
} // namespace autoware::default_adapi
#endif // LOCALIZATION_HPP_
master/src/Api/autoware_default_adapi/src/motion.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "motion.hpp"
#include <memory>
#include <unordered_map>
namespace autoware::default_adapi
{
MotionNode::MotionNode(const rclcpp::NodeOptions & options)
: Node("motion", options), vehicle_stop_checker_(this)
{
stop_check_duration_ = declare_parameter<double>("stop_check_duration");
require_accept_start_ = declare_parameter<bool>("require_accept_start");
is_calling_set_pause_ = false;
const auto adaptor = component_interface_utils::NodeAdaptor(this);
group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
adaptor.init_srv(srv_accept_, this, &MotionNode::on_accept);
adaptor.init_pub(pub_state_);
adaptor.init_cli(cli_set_pause_, group_cli_);
adaptor.init_sub(sub_is_paused_, this, &MotionNode::on_is_paused);
adaptor.init_sub(sub_is_start_requested_, this, &MotionNode::on_is_start_requested);
rclcpp::Rate rate(10);
timer_ = rclcpp::create_timer(this, get_clock(), rate.period(), [this]() { on_timer(); });
state_ = State::Unknown;
}
void MotionNode::update_state()
{
if (!is_paused_ || !is_start_requested_) {
return;
}
const auto get_next_state = [this]() {
if (is_paused_.value()) {
if (!is_start_requested_.value()) {
return State::Paused;
} else {
return require_accept_start_ ? State::Starting : State::Resuming;
}
} else {
if (!vehicle_stop_checker_.isVehicleStopped(stop_check_duration_)) {
return State::Moving;
} else {
return is_start_requested_.value() ? State::Resumed : State::Pausing;
}
}
};
const auto next_state = get_next_state();
// Once the state becomes pausing, it must become a state where is_paused is true
if (state_ == State::Pausing) {
switch (next_state) {
case State::Paused:
case State::Starting:
case State::Resuming:
break;
case State::Moving:
case State::Pausing:
case State::Resumed:
case State::Unknown:
return;
}
}
// Prevents transition from starting to resuming
if (state_ == State::Resuming && next_state == State::Starting) {
return;
}
change_state(next_state);
}
void MotionNode::change_state(const State state)
{
using MotionState = autoware_ad_api::motion::State::Message;
static const auto mapping = std::unordered_map<State, MotionState::_state_type>(
{{State::Unknown, MotionState::UNKNOWN},
{State::Pausing, MotionState::STOPPED},
{State::Paused, MotionState::STOPPED},
{State::Starting, MotionState::STARTING},
{State::Resuming, MotionState::MOVING},
{State::Resumed, MotionState::MOVING},
{State::Moving, MotionState::MOVING}});
if (mapping.at(state_) != mapping.at(state)) {
MotionState msg;
msg.stamp = now();
msg.state = mapping.at(state);
pub_state_->publish(msg);
}
state_ = state;
update_pause(state);
}
void MotionNode::update_pause(const State state)
{
if (state == State::Pausing) {
return change_pause(true);
}
if (state == State::Resuming) {
return change_pause(false);
}
}
void MotionNode::change_pause(bool pause)
{
if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) {
const auto req =
std::make_shared<autoware::component_interface_specs::control::SetPause::Service::Request>();
req->pause = pause;
is_calling_set_pause_ = true;
cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; });
}
}
void MotionNode::on_timer()
{
update_state();
}
void MotionNode::on_is_paused(
const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg)
{
is_paused_ = msg->data;
update_state();
}
void MotionNode::on_is_start_requested(
const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr msg)
{
is_start_requested_ = msg->data;
update_state();
}
void MotionNode::on_accept(
const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr,
const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res)
{
if (state_ != State::Starting) {
using AcceptStartResponse = autoware_ad_api::motion::AcceptStart::Service::Response;
throw component_interface_utils::ServiceException(
AcceptStartResponse::ERROR_NOT_STARTING, "The motion state is not starting");
}
change_state(State::Resuming);
res->status.success = true;
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::MotionNode)
master/src/Api/autoware_default_adapi/src/motion.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef MOTION_HPP_
#define MOTION_HPP_
#include <autoware/component_interface_specs/control.hpp>
#include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
#include <autoware_ad_api_specs/motion.hpp>
#include <component_interface_utils/rclcpp.hpp>
#include <component_interface_utils/status.hpp>
#include <rclcpp/rclcpp.hpp>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class MotionNode : public rclcpp::Node
{
public:
explicit MotionNode(const rclcpp::NodeOptions & options);
private:
autoware::motion_utils::VehicleStopChecker vehicle_stop_checker_;
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::CallbackGroup::SharedPtr group_cli_;
Srv<autoware_ad_api::motion::AcceptStart> srv_accept_;
Pub<autoware_ad_api::motion::State> pub_state_;
Cli<autoware::component_interface_specs::control::SetPause> cli_set_pause_;
Sub<autoware::component_interface_specs::control::IsPaused> sub_is_paused_;
Sub<autoware::component_interface_specs::control::IsStartRequested> sub_is_start_requested_;
enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving };
State state_;
std::optional<bool> is_paused_;
std::optional<bool> is_start_requested_;
double stop_check_duration_;
bool require_accept_start_;
bool is_calling_set_pause_;
void update_state();
void change_state(const State state);
void update_pause(const State state);
void change_pause(bool pause);
void on_timer();
void on_is_paused(
const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg);
void on_is_start_requested(
const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr
msg);
void on_accept(
const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req,
const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res);
};
} // namespace autoware::default_adapi
#endif // MOTION_HPP_
master/src/Api/autoware_default_adapi/src/operation_mode.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "operation_mode.hpp"
#include <memory>
#include <string>
#include <vector>
namespace autoware::default_adapi
{
using ServiceResponse = autoware_adapi_v1_msgs::srv::ChangeOperationMode::Response;
OperationModeNode::OperationModeNode(const rclcpp::NodeOptions & options)
: Node("operation_mode", options)
{
const auto adaptor = component_interface_utils::NodeAdaptor(this);
group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
adaptor.init_sub(sub_state_, this, &OperationModeNode::on_state);
adaptor.init_pub(pub_state_);
adaptor.init_srv(srv_stop_mode_, this, &OperationModeNode::on_change_to_stop);
adaptor.init_srv(srv_autonomous_mode_, this, &OperationModeNode::on_change_to_autonomous);
adaptor.init_srv(srv_local_mode_, this, &OperationModeNode::on_change_to_local);
adaptor.init_srv(srv_remote_mode_, this, &OperationModeNode::on_change_to_remote);
adaptor.init_srv(srv_enable_control_, this, &OperationModeNode::on_enable_autoware_control);
adaptor.init_srv(srv_disable_control_, this, &OperationModeNode::on_disable_autoware_control);
adaptor.init_cli(cli_mode_, group_cli_);
adaptor.init_cli(cli_control_, group_cli_);
const auto name = "/system/operation_mode/availability";
const auto qos = rclcpp::QoS(1);
const auto callback = [this](const OperationModeAvailability::ConstSharedPtr msg) {
mode_available_[OperationModeState::Message::STOP] = msg->stop;
mode_available_[OperationModeState::Message::AUTONOMOUS] = msg->autonomous;
mode_available_[OperationModeState::Message::LOCAL] = msg->local;
mode_available_[OperationModeState::Message::REMOTE] = msg->remote;
};
sub_availability_ = create_subscription<OperationModeAvailability>(name, qos, callback);
timer_ = rclcpp::create_timer(
this, get_clock(), rclcpp::Rate(5.0).period(), std::bind(&OperationModeNode::on_timer, this));
curr_state_.mode = OperationModeState::Message::UNKNOWN;
prev_state_.mode = OperationModeState::Message::UNKNOWN;
mode_available_[OperationModeState::Message::UNKNOWN] = false;
mode_available_[OperationModeState::Message::STOP] = true;
mode_available_[OperationModeState::Message::AUTONOMOUS] = false;
mode_available_[OperationModeState::Message::LOCAL] = false;
mode_available_[OperationModeState::Message::REMOTE] = false;
}
template <class ResponseT>
void OperationModeNode::change_mode(
const ResponseT res, const OperationModeRequest::_mode_type mode)
{
if (!mode_available_[mode]) {
RCLCPP_WARN(
get_logger(),
"The target mode is not available. Please check the cause with "
"rqt_diagnostics_graph_monitor");
throw component_interface_utils::ServiceException(
ServiceResponse::ERROR_NOT_AVAILABLE,
"The target mode is not available. Please check the diagnostics.");
}
const auto req = std::make_shared<OperationModeRequest>();
req->mode = mode;
component_interface_utils::status::copy(cli_mode_->call(req), res); // NOLINT
}
void OperationModeNode::on_change_to_stop(
const ChangeToStop::Service::Request::SharedPtr,
const ChangeToStop::Service::Response::SharedPtr res)
{
change_mode(res, OperationModeRequest::STOP);
}
void OperationModeNode::on_change_to_autonomous(
const ChangeToAutonomous::Service::Request::SharedPtr,
const ChangeToAutonomous::Service::Response::SharedPtr res)
{
change_mode(res, OperationModeRequest::AUTONOMOUS);
}
void OperationModeNode::on_change_to_local(
const ChangeToLocal::Service::Request::SharedPtr,
const ChangeToLocal::Service::Response::SharedPtr res)
{
change_mode(res, OperationModeRequest::LOCAL);
}
void OperationModeNode::on_change_to_remote(
const ChangeToRemote::Service::Request::SharedPtr,
const ChangeToRemote::Service::Response::SharedPtr res)
{
change_mode(res, OperationModeRequest::REMOTE);
}
void OperationModeNode::on_enable_autoware_control(
const EnableAutowareControl::Service::Request::SharedPtr,
const EnableAutowareControl::Service::Response::SharedPtr res)
{
if (!mode_available_[curr_state_.mode]) {
throw component_interface_utils::ServiceException(
ServiceResponse::ERROR_NOT_AVAILABLE, "The mode change is blocked by the system.");
}
const auto req = std::make_shared<AutowareControlRequest>();
req->autoware_control = true;
component_interface_utils::status::copy(cli_control_->call(req), res); // NOLINT
}
void OperationModeNode::on_disable_autoware_control(
const DisableAutowareControl::Service::Request::SharedPtr,
const DisableAutowareControl::Service::Response::SharedPtr res)
{
const auto req = std::make_shared<AutowareControlRequest>();
req->autoware_control = false;
component_interface_utils::status::copy(cli_control_->call(req), res); // NOLINT
}
void OperationModeNode::on_state(const OperationModeState::Message::ConstSharedPtr msg)
{
curr_state_ = *msg;
update_state();
}
void OperationModeNode::on_timer()
{
update_state();
}
void OperationModeNode::update_state()
{
// Clear stamp to compare other fields.
OperationModeState::Message state = curr_state_;
state.stamp = builtin_interfaces::msg::Time();
state.is_stop_mode_available &= mode_available_[OperationModeState::Message::STOP];
state.is_autonomous_mode_available &= mode_available_[OperationModeState::Message::AUTONOMOUS];
state.is_local_mode_available &= mode_available_[OperationModeState::Message::LOCAL];
state.is_remote_mode_available &= mode_available_[OperationModeState::Message::REMOTE];
if (prev_state_ != state) {
prev_state_ = state;
state.stamp = now();
pub_state_->publish(state);
}
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::OperationModeNode)
master/src/Api/autoware_default_adapi/src/operation_mode.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef OPERATION_MODE_HPP_
#define OPERATION_MODE_HPP_
#include <autoware/component_interface_specs/system.hpp>
#include <autoware_ad_api_specs/operation_mode.hpp>
#include <component_interface_utils/status.hpp>
#include <rclcpp/rclcpp.hpp>
#include <string>
#include <unordered_map>
#include <vector>
// TODO(Takagi, Isamu): define interface
#include <tier4_system_msgs/msg/operation_mode_availability.hpp>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class OperationModeNode : public rclcpp::Node
{
public:
explicit OperationModeNode(const rclcpp::NodeOptions & options);
private:
using OperationModeState = autoware_ad_api::operation_mode::OperationModeState;
using EnableAutowareControl = autoware_ad_api::operation_mode::EnableAutowareControl;
using DisableAutowareControl = autoware_ad_api::operation_mode::DisableAutowareControl;
using ChangeToStop = autoware_ad_api::operation_mode::ChangeToStop;
using ChangeToAutonomous = autoware_ad_api::operation_mode::ChangeToAutonomous;
using ChangeToLocal = autoware_ad_api::operation_mode::ChangeToLocal;
using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote;
using OperationModeRequest =
autoware::component_interface_specs::system::ChangeOperationMode::Service::Request;
using AutowareControlRequest =
autoware::component_interface_specs::system::ChangeAutowareControl::Service::Request;
using OperationModeAvailability = tier4_system_msgs::msg::OperationModeAvailability;
OperationModeState::Message curr_state_;
OperationModeState::Message prev_state_;
std::unordered_map<OperationModeState::Message::_mode_type, bool> mode_available_;
rclcpp::CallbackGroup::SharedPtr group_cli_;
rclcpp::TimerBase::SharedPtr timer_;
Pub<autoware_ad_api::operation_mode::OperationModeState> pub_state_;
Srv<autoware_ad_api::operation_mode::ChangeToStop> srv_stop_mode_;
Srv<autoware_ad_api::operation_mode::ChangeToAutonomous> srv_autonomous_mode_;
Srv<autoware_ad_api::operation_mode::ChangeToLocal> srv_local_mode_;
Srv<autoware_ad_api::operation_mode::ChangeToRemote> srv_remote_mode_;
Srv<autoware_ad_api::operation_mode::EnableAutowareControl> srv_enable_control_;
Srv<autoware_ad_api::operation_mode::DisableAutowareControl> srv_disable_control_;
Sub<autoware::component_interface_specs::system::OperationModeState> sub_state_;
Cli<autoware::component_interface_specs::system::ChangeOperationMode> cli_mode_;
Cli<autoware::component_interface_specs::system::ChangeAutowareControl> cli_control_;
rclcpp::Subscription<OperationModeAvailability>::SharedPtr sub_availability_;
void on_change_to_stop(
const ChangeToStop::Service::Request::SharedPtr req,
const ChangeToStop::Service::Response::SharedPtr res);
void on_change_to_autonomous(
const ChangeToAutonomous::Service::Request::SharedPtr req,
const ChangeToAutonomous::Service::Response::SharedPtr res);
void on_change_to_local(
const ChangeToLocal::Service::Request::SharedPtr req,
const ChangeToLocal::Service::Response::SharedPtr res);
void on_change_to_remote(
const ChangeToRemote::Service::Request::SharedPtr req,
const ChangeToRemote::Service::Response::SharedPtr res);
void on_enable_autoware_control(
const EnableAutowareControl::Service::Request::SharedPtr req,
const EnableAutowareControl::Service::Response::SharedPtr res);
void on_disable_autoware_control(
const DisableAutowareControl::Service::Request::SharedPtr req,
const DisableAutowareControl::Service::Response::SharedPtr res);
void on_state(const OperationModeState::Message::ConstSharedPtr msg);
void on_timer();
void update_state();
template <class ResponseT>
void change_mode(const ResponseT res, const OperationModeRequest::_mode_type mode);
};
} // namespace autoware::default_adapi
#endif // OPERATION_MODE_HPP_
master/src/Api/autoware_default_adapi/src/perception.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "perception.hpp"
#include <vector>
namespace autoware::default_adapi
{
using DynamicObjectArray = autoware_ad_api::perception::DynamicObjectArray;
using ObjectClassification = autoware_adapi_v1_msgs::msg::ObjectClassification;
using DynamicObject = autoware_adapi_v1_msgs::msg::DynamicObject;
using DynamicObjectPath = autoware_adapi_v1_msgs::msg::DynamicObjectPath;
using API_Shape = shape_msgs::msg::SolidPrimitive;
using Shape = autoware_perception_msgs::msg::Shape;
std::unordered_map<uint8_t, uint8_t> shape_type_ = {
{Shape::BOUNDING_BOX, API_Shape::BOX},
{Shape::CYLINDER, API_Shape::CYLINDER},
{Shape::POLYGON, API_Shape::PRISM},
};
PerceptionNode::PerceptionNode(const rclcpp::NodeOptions & options) : Node("perception", options)
{
const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_pub(pub_object_recognized_);
adaptor.init_sub(sub_object_recognized_, this, &PerceptionNode::object_recognize);
}
uint8_t PerceptionNode::mapping(
std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value)
{
if (hash_map.find(input) == hash_map.end()) {
return default_value;
} else {
return hash_map[input];
}
}
void PerceptionNode::object_recognize(
const autoware::component_interface_specs::perception::ObjectRecognition::Message::ConstSharedPtr
msg)
{
DynamicObjectArray::Message objects;
objects.header = msg->header;
for (const auto & msg_object : msg->objects) {
DynamicObject object;
object.id = msg_object.object_id;
object.existence_probability = msg_object.existence_probability;
for (const auto & msg_classification : msg_object.classification) {
ObjectClassification classification;
classification.label = msg_classification.label;
classification.probability = msg_classification.probability;
object.classification.insert(object.classification.begin(), classification);
}
object.kinematics.pose = msg_object.kinematics.initial_pose_with_covariance.pose;
object.kinematics.twist = msg_object.kinematics.initial_twist_with_covariance.twist;
object.kinematics.accel = msg_object.kinematics.initial_acceleration_with_covariance.accel;
for (const auto & msg_predicted_path : msg_object.kinematics.predicted_paths) {
DynamicObjectPath predicted_path;
for (const auto & msg_path : msg_predicted_path.path) {
predicted_path.path.insert(predicted_path.path.begin(), msg_path);
}
predicted_path.time_step = msg_predicted_path.time_step;
predicted_path.confidence = msg_predicted_path.confidence;
object.kinematics.predicted_paths.insert(
object.kinematics.predicted_paths.begin(), predicted_path);
}
object.shape.type = mapping(shape_type_, msg_object.shape.type, API_Shape::PRISM);
object.shape.dimensions = {
msg_object.shape.dimensions.x, msg_object.shape.dimensions.y, msg_object.shape.dimensions.z};
object.shape.polygon = msg_object.shape.footprint;
objects.objects.insert(objects.objects.begin(), object);
}
pub_object_recognized_->publish(objects);
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::PerceptionNode)
master/src/Api/autoware_default_adapi/src/perception.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef PERCEPTION_HPP_
#define PERCEPTION_HPP_
#include <autoware/component_interface_specs/perception.hpp>
#include <autoware_ad_api_specs/perception.hpp>
#include <rclcpp/rclcpp.hpp>
#include <autoware_adapi_v1_msgs/msg/dynamic_object.hpp>
#include <autoware_adapi_v1_msgs/msg/dynamic_object_path.hpp>
#include <autoware_adapi_v1_msgs/msg/object_classification.hpp>
#include <autoware_perception_msgs/msg/shape.hpp>
#include <shape_msgs/msg/solid_primitive.hpp>
#include <unordered_map>
#include <vector>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class PerceptionNode : public rclcpp::Node
{
public:
explicit PerceptionNode(const rclcpp::NodeOptions & options);
private:
Pub<autoware_ad_api::perception::DynamicObjectArray> pub_object_recognized_;
Sub<autoware::component_interface_specs::perception::ObjectRecognition> sub_object_recognized_;
void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition::
Message::ConstSharedPtr msg);
uint8_t mapping(
std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
};
} // namespace autoware::default_adapi
#endif // PERCEPTION_HPP_
master/src/Api/autoware_default_adapi/src/planning.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "planning.hpp"
#include <autoware/motion_utils/trajectory/trajectory.hpp>
#include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
#include <memory>
#include <string>
#include <vector>
namespace autoware::default_adapi
{
template <class T>
void concat(std::vector<T> & v1, const std::vector<T> & v2)
{
v1.insert(v1.end(), v2.begin(), v2.end());
}
template <class T>
std::vector<typename rclcpp::Subscription<T>::SharedPtr> init_factors(
rclcpp::Node * node, std::vector<typename T::ConstSharedPtr> & factors,
const std::vector<std::string> & topics)
{
const auto callback = [&factors](const int index) {
return [&factors, index](const typename T::ConstSharedPtr msg) { factors[index] = msg; };
};
std::vector<typename rclcpp::Subscription<T>::SharedPtr> subs;
for (size_t index = 0; index < topics.size(); ++index) {
subs.push_back(node->create_subscription<T>(topics[index], rclcpp::QoS(1), callback(index)));
}
factors.resize(topics.size());
return subs;
}
template <class T>
T merge_factors(const rclcpp::Time stamp, const std::vector<typename T::ConstSharedPtr> & factors)
{
T message;
message.header.stamp = stamp;
message.header.frame_id = "map";
for (const auto & factor : factors) {
if (factor) {
concat(message.factors, factor->factors);
}
}
return message;
}
PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning", options)
{
// TODO(Takagi, Isamu): remove default value
stop_distance_ = declare_parameter<double>("stop_distance", 1.0);
stop_duration_ = declare_parameter<double>("stop_duration", 1.0);
stop_checker_ = std::make_unique<VehicleStopChecker>(this, stop_duration_ + 1.0);
std::vector<std::string> velocity_factor_topics = {
"/planning/velocity_factors/blind_spot",
"/planning/velocity_factors/crosswalk",
"/planning/velocity_factors/detection_area",
"/planning/velocity_factors/dynamic_obstacle_stop",
"/planning/velocity_factors/intersection",
"/planning/velocity_factors/merge_from_private",
"/planning/velocity_factors/no_stopping_area",
"/planning/velocity_factors/obstacle_stop",
"/planning/velocity_factors/obstacle_cruise",
"/planning/velocity_factors/occlusion_spot",
"/planning/velocity_factors/stop_line",
"/planning/velocity_factors/surround_obstacle",
"/planning/velocity_factors/traffic_light",
"/planning/velocity_factors/virtual_traffic_light",
"/planning/velocity_factors/walkway",
"/planning/velocity_factors/motion_velocity_planner"};
std::vector<std::string> steering_factor_topics = {
"/planning/steering_factor/avoidance", "/planning/steering_factor/intersection",
"/planning/steering_factor/lane_change", "/planning/steering_factor/start_planner",
"/planning/steering_factor/goal_planner"};
sub_velocity_factors_ =
init_factors<VelocityFactorArray>(this, velocity_factors_, velocity_factor_topics);
sub_steering_factors_ =
init_factors<SteeringFactorArray>(this, steering_factors_, steering_factor_topics);
const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_pub(pub_velocity_factors_);
adaptor.init_pub(pub_steering_factors_);
adaptor.init_sub(sub_kinematic_state_, this, &PlanningNode::on_kinematic_state);
adaptor.init_sub(sub_trajectory_, this, &PlanningNode::on_trajectory);
const auto rate = rclcpp::Rate(5);
timer_ = rclcpp::create_timer(this, get_clock(), rate.period(), [this]() { on_timer(); });
}
void PlanningNode::on_trajectory(const Trajectory::ConstSharedPtr msg)
{
trajectory_ = msg;
}
void PlanningNode::on_kinematic_state(const KinematicState::ConstSharedPtr msg)
{
kinematic_state_ = msg;
geometry_msgs::msg::TwistStamped twist;
twist.header = msg->header;
twist.twist = msg->twist.twist;
stop_checker_->addTwist(twist);
}
void PlanningNode::on_timer()
{
using autoware_adapi_v1_msgs::msg::VelocityFactor;
auto velocity = merge_factors<VelocityFactorArray>(now(), velocity_factors_);
auto steering = merge_factors<SteeringFactorArray>(now(), steering_factors_);
// Set the distance if it is nan.
if (trajectory_ && kinematic_state_) {
for (auto & factor : velocity.factors) {
if (std::isnan(factor.distance)) {
const auto & curr_point = kinematic_state_->pose.pose.position;
const auto & stop_point = factor.pose.position;
const auto & points = trajectory_->points;
factor.distance =
autoware::motion_utils::calcSignedArcLength(points, curr_point, stop_point);
}
}
}
// Set the status if it is unknown.
const auto is_vehicle_stopped = stop_checker_->isVehicleStopped(stop_duration_);
for (auto & factor : velocity.factors) {
if ((factor.status == VelocityFactor::UNKNOWN) && (!std::isnan(factor.distance))) {
const auto is_stopped = is_vehicle_stopped && (factor.distance < stop_distance_);
factor.status = is_stopped ? VelocityFactor::STOPPED : VelocityFactor::APPROACHING;
}
}
pub_velocity_factors_->publish(velocity);
pub_steering_factors_->publish(steering);
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::PlanningNode)
master/src/Api/autoware_default_adapi/src/planning.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef PLANNING_HPP_
#define PLANNING_HPP_
#include <autoware/component_interface_specs/localization.hpp>
#include <autoware/component_interface_specs/planning.hpp>
#include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
#include <autoware_ad_api_specs/planning.hpp>
#include <rclcpp/rclcpp.hpp>
#include <memory>
#include <vector>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class PlanningNode : public rclcpp::Node
{
public:
explicit PlanningNode(const rclcpp::NodeOptions & options);
private:
using VelocityFactorArray = autoware_adapi_v1_msgs::msg::VelocityFactorArray;
using SteeringFactorArray = autoware_adapi_v1_msgs::msg::SteeringFactorArray;
Pub<autoware_ad_api::planning::VelocityFactors> pub_velocity_factors_;
Pub<autoware_ad_api::planning::SteeringFactors> pub_steering_factors_;
Sub<autoware::component_interface_specs::planning::Trajectory> sub_trajectory_;
Sub<autoware::component_interface_specs::localization::KinematicState> sub_kinematic_state_;
std::vector<rclcpp::Subscription<VelocityFactorArray>::SharedPtr> sub_velocity_factors_;
std::vector<rclcpp::Subscription<SteeringFactorArray>::SharedPtr> sub_steering_factors_;
std::vector<VelocityFactorArray::ConstSharedPtr> velocity_factors_;
std::vector<SteeringFactorArray::ConstSharedPtr> steering_factors_;
rclcpp::TimerBase::SharedPtr timer_;
using VehicleStopChecker = autoware::motion_utils::VehicleStopCheckerBase;
using Trajectory = autoware::component_interface_specs::planning::Trajectory::Message;
using KinematicState = autoware::component_interface_specs::localization::KinematicState::Message;
void on_trajectory(const Trajectory::ConstSharedPtr msg);
void on_kinematic_state(const KinematicState::ConstSharedPtr msg);
void on_timer();
double stop_distance_;
double stop_duration_;
std::unique_ptr<VehicleStopChecker> stop_checker_;
Trajectory::ConstSharedPtr trajectory_;
KinematicState::ConstSharedPtr kinematic_state_;
};
} // namespace autoware::default_adapi
#endif // PLANNING_HPP_
master/src/Api/autoware_default_adapi/src/routing.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "routing.hpp"
#include "utils/route_conversion.hpp"
#include <memory>
namespace
{
using autoware_adapi_v1_msgs::msg::ResponseStatus;
template <class InterfaceT>
ResponseStatus route_already_set()
{
ResponseStatus status;
status.success = false;
status.code = InterfaceT::Service::Response::ERROR_INVALID_STATE;
status.message = "The route is already set.";
return status;
}
template <class InterfaceT>
ResponseStatus route_is_not_set()
{
ResponseStatus status;
status.success = false;
status.code = InterfaceT::Service::Response::ERROR_INVALID_STATE;
status.message = "The route is not set yet.";
return status;
}
} // namespace
namespace autoware::default_adapi
{
RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing", options)
{
const auto adaptor = component_interface_utils::NodeAdaptor(this);
group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
adaptor.init_pub(pub_state_);
adaptor.init_pub(pub_route_);
adaptor.init_sub(sub_state_, this, &RoutingNode::on_state);
adaptor.init_sub(sub_route_, this, &RoutingNode::on_route);
adaptor.init_cli(cli_clear_route_, group_cli_);
adaptor.init_cli(cli_set_waypoint_route_, group_cli_);
adaptor.init_cli(cli_set_lanelet_route_, group_cli_);
adaptor.init_srv(srv_clear_route_, this, &RoutingNode::on_clear_route);
adaptor.init_srv(srv_set_route_, this, &RoutingNode::on_set_route);
adaptor.init_srv(srv_set_route_points_, this, &RoutingNode::on_set_route_points);
adaptor.init_srv(srv_change_route_, this, &RoutingNode::on_change_route);
adaptor.init_srv(srv_change_route_points_, this, &RoutingNode::on_change_route_points);
adaptor.init_cli(cli_operation_mode_, group_cli_);
adaptor.init_sub(sub_operation_mode_, this, &RoutingNode::on_operation_mode);
is_auto_mode_ = false;
state_.state = State::Message::UNKNOWN;
}
void RoutingNode::change_stop_mode()
{
using OperationModeRequest =
autoware::component_interface_specs::system::ChangeOperationMode::Service::Request;
if (is_auto_mode_) {
const auto req = std::make_shared<OperationModeRequest>();
req->mode = OperationModeRequest::STOP;
cli_operation_mode_->async_send_request(req);
}
}
void RoutingNode::on_operation_mode(const OperationModeState::Message::ConstSharedPtr msg)
{
is_auto_mode_ = msg->mode == OperationModeState::Message::AUTONOMOUS;
}
void RoutingNode::on_state(const State::Message::ConstSharedPtr msg)
{
// TODO(Takagi, Isamu): Add adapi initializing state.
// Represent initializing state by not publishing the topic for now.
if (msg->state == State::Message::INITIALIZING) {
return;
}
state_ = *msg;
pub_state_->publish(conversion::convert_state(*msg));
// Change operation mode to stop when the vehicle arrives.
if (msg->state == State::Message::ARRIVED) {
change_stop_mode();
}
// TODO(Takagi, Isamu): Remove when the mission planner supports an empty route.
if (msg->state == State::Message::UNSET) {
pub_route_->publish(conversion::create_empty_route(msg->stamp));
}
}
void RoutingNode::on_route(const Route::Message::ConstSharedPtr msg)
{
pub_route_->publish(conversion::convert_route(*msg));
}
void RoutingNode::on_clear_route(
const autoware_ad_api::routing::ClearRoute::Service::Request::SharedPtr req,
const autoware_ad_api::routing::ClearRoute::Service::Response::SharedPtr res)
{
change_stop_mode();
res->status = conversion::convert_call(cli_clear_route_, req);
}
void RoutingNode::on_set_route_points(
const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req,
const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res)
{
if (state_.state != State::Message::UNSET) {
res->status = route_already_set<autoware_ad_api::routing::SetRoutePoints>();
return;
}
res->status = conversion::convert_call(cli_set_waypoint_route_, req);
}
void RoutingNode::on_set_route(
const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req,
const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res)
{
if (state_.state != State::Message::UNSET) {
res->status = route_already_set<autoware_ad_api::routing::SetRoute>();
return;
}
res->status = conversion::convert_call(cli_set_lanelet_route_, req);
}
void RoutingNode::on_change_route_points(
const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req,
const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res)
{
if (state_.state != State::Message::SET) {
res->status = route_is_not_set<autoware_ad_api::routing::SetRoutePoints>();
return;
}
res->status = conversion::convert_call(cli_set_waypoint_route_, req);
}
void RoutingNode::on_change_route(
const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req,
const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res)
{
if (state_.state != State::Message::SET) {
res->status = route_is_not_set<autoware_ad_api::routing::SetRoute>();
return;
}
res->status = conversion::convert_call(cli_set_lanelet_route_, req);
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::RoutingNode)
master/src/Api/autoware_default_adapi/src/routing.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef ROUTING_HPP_
#define ROUTING_HPP_
#include <autoware/component_interface_specs/planning.hpp>
#include <autoware/component_interface_specs/system.hpp>
#include <autoware_ad_api_specs/routing.hpp>
#include <component_interface_utils/status.hpp>
#include <rclcpp/rclcpp.hpp>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class RoutingNode : public rclcpp::Node
{
public:
explicit RoutingNode(const rclcpp::NodeOptions & options);
private:
using OperationModeState = autoware::component_interface_specs::system::OperationModeState;
using State = autoware::component_interface_specs::planning::RouteState;
using Route = autoware::component_interface_specs::planning::LaneletRoute;
rclcpp::CallbackGroup::SharedPtr group_cli_;
Pub<autoware_ad_api::routing::RouteState> pub_state_;
Pub<autoware_ad_api::routing::Route> pub_route_;
Srv<autoware_ad_api::routing::SetRoutePoints> srv_set_route_points_;
Srv<autoware_ad_api::routing::SetRoute> srv_set_route_;
Srv<autoware_ad_api::routing::ChangeRoutePoints> srv_change_route_points_;
Srv<autoware_ad_api::routing::ChangeRoute> srv_change_route_;
Srv<autoware_ad_api::routing::ClearRoute> srv_clear_route_;
Sub<autoware::component_interface_specs::planning::RouteState> sub_state_;
Sub<autoware::component_interface_specs::planning::LaneletRoute> sub_route_;
Cli<autoware::component_interface_specs::planning::SetWaypointRoute> cli_set_waypoint_route_;
Cli<autoware::component_interface_specs::planning::SetLaneletRoute> cli_set_lanelet_route_;
Cli<autoware::component_interface_specs::planning::ClearRoute> cli_clear_route_;
Cli<autoware::component_interface_specs::system::ChangeOperationMode> cli_operation_mode_;
Sub<autoware::component_interface_specs::system::OperationModeState> sub_operation_mode_;
bool is_auto_mode_;
State::Message state_;
void change_stop_mode();
void on_operation_mode(const OperationModeState::Message::ConstSharedPtr msg);
void on_state(const State::Message::ConstSharedPtr msg);
void on_route(const Route::Message::ConstSharedPtr msg);
void on_clear_route(
const autoware_ad_api::routing::ClearRoute::Service::Request::SharedPtr req,
const autoware_ad_api::routing::ClearRoute::Service::Response::SharedPtr res);
void on_set_route_points(
const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req,
const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res);
void on_set_route(
const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req,
const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res);
void on_change_route_points(
const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req,
const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res);
void on_change_route(
const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req,
const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res);
};
} // namespace autoware::default_adapi
#endif // ROUTING_HPP_
master/src/Api/autoware_default_adapi/src/utils/localization_conversion.cpp
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// Copyright 2024 TIER IV, Inc.
//
// 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.
#include "localization_conversion.hpp"
#include <memory>
namespace autoware::default_adapi::localization_conversion
{
InternalInitializeRequest convert_request(const ExternalInitializeRequest & external)
{
auto internal = std::make_shared<InternalInitializeRequest::element_type>();
internal->pose_with_covariance = external->pose;
internal->method = tier4_localization_msgs::srv::InitializeLocalization::Request::AUTO;
return internal;
}
ExternalResponse convert_response(const InternalResponse & internal)
{
// TODO(Takagi, Isamu): check error code correspondence
ExternalResponse external;
external.success = internal.success;
external.code = internal.code;
external.message = internal.message;
return external;
}
} // namespace autoware::default_adapi::localization_conversion
master/src/Api/autoware_default_adapi/src/utils/localization_conversion.hpp
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// Copyright 2024 TIER IV, Inc.
//
// 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.
#ifndef UTILS__LOCALIZATION_CONVERSION_HPP_
#define UTILS__LOCALIZATION_CONVERSION_HPP_
#include <rclcpp/rclcpp.hpp>
#include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
#include <tier4_localization_msgs/srv/initialize_localization.hpp>
namespace autoware::default_adapi::localization_conversion
{
using ExternalInitializeRequest =
autoware_adapi_v1_msgs::srv::InitializeLocalization::Request::SharedPtr;
using InternalInitializeRequest =
tier4_localization_msgs::srv::InitializeLocalization::Request::SharedPtr;
InternalInitializeRequest convert_request(const ExternalInitializeRequest & external);
using ExternalResponse = autoware_adapi_v1_msgs::msg::ResponseStatus;
using InternalResponse = autoware_common_msgs::msg::ResponseStatus;
ExternalResponse convert_response(const InternalResponse & internal);
template <class ClientT, class RequestT>
ExternalResponse convert_call(ClientT & client, RequestT & req)
{
return convert_response(client->call(convert_request(req))->status);
}
} // namespace autoware::default_adapi::localization_conversion
#endif // UTILS__LOCALIZATION_CONVERSION_HPP_
master/src/Api/autoware_default_adapi/src/utils/route_conversion.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "route_conversion.hpp"
#include <memory>
#include <vector>
namespace
{
using autoware_adapi_v1_msgs::msg::RoutePrimitive;
using autoware_adapi_v1_msgs::msg::RouteSegment;
using autoware_planning_msgs::msg::LaneletPrimitive;
using autoware_planning_msgs::msg::LaneletSegment;
template <class RetT, class ArgT>
RetT convert(const ArgT & arg);
template <class RetT, class ArgT>
std::vector<RetT> convert_vector(const std::vector<ArgT> & args)
{
std::vector<RetT> result;
result.reserve(args.size());
for (const auto & arg : args) {
result.push_back(convert<RetT, ArgT>(arg));
}
return result;
}
template <>
RoutePrimitive convert(const LaneletPrimitive & in)
{
RoutePrimitive api;
api.id = in.id;
api.type = in.primitive_type;
return api;
}
template <>
LaneletPrimitive convert(const RoutePrimitive & in)
{
LaneletPrimitive out;
out.id = in.id;
out.primitive_type = in.type;
return out;
}
template <>
RouteSegment convert(const LaneletSegment & in)
{
RouteSegment api;
api.alternatives = convert_vector<RoutePrimitive>(in.primitives);
for (auto iter = api.alternatives.begin(); iter != api.alternatives.end(); ++iter) {
if (iter->id == in.preferred_primitive.id) {
api.preferred = *iter;
api.alternatives.erase(iter);
break;
}
}
return api;
}
template <>
LaneletSegment convert(const RouteSegment & in)
{
LaneletSegment out;
out.preferred_primitive = convert<LaneletPrimitive>(in.preferred);
out.primitives.push_back(out.preferred_primitive);
for (const auto & primitive : in.alternatives) {
out.primitives.push_back(convert<LaneletPrimitive>(primitive));
}
return out;
}
} // namespace
namespace autoware::default_adapi::conversion
{
ExternalRoute create_empty_route(const rclcpp::Time & stamp)
{
ExternalRoute external;
external.header.stamp = stamp;
return external;
}
ExternalRoute convert_route(const InternalRoute & internal)
{
autoware_adapi_v1_msgs::msg::RouteData data;
data.start = internal.start_pose;
data.goal = internal.goal_pose;
data.segments = convert_vector<RouteSegment>(internal.segments);
ExternalRoute external;
external.header = internal.header;
external.data.push_back(data);
return external;
}
ExternalState convert_state(const InternalState & internal)
{
// clang-format off
const auto convert = [](InternalState::_state_type state) {
switch(state) {
// TODO(Takagi, Isamu): Add adapi state.
case InternalState::INITIALIZING: return ExternalState::UNSET;
case InternalState::UNSET: return ExternalState::UNSET;
case InternalState::ROUTING: return ExternalState::UNSET;
case InternalState::SET: return ExternalState::SET;
case InternalState::REROUTING: return ExternalState::CHANGING;
case InternalState::ARRIVED: return ExternalState::ARRIVED;
case InternalState::ABORTED: return ExternalState::SET;
case InternalState::INTERRUPTED: return ExternalState::SET;
default: return ExternalState::UNKNOWN;
}
};
// clang-format on
ExternalState external;
external.stamp = internal.stamp;
external.state = convert(internal.state);
return external;
}
InternalClearRequest convert_request(const ExternalClearRequest &)
{
auto internal = std::make_shared<InternalClearRequest::element_type>();
return internal;
}
InternalLaneletRequest convert_request(const ExternalLaneletRequest & external)
{
auto internal = std::make_shared<InternalLaneletRequest::element_type>();
internal->header = external->header;
internal->goal_pose = external->goal;
internal->segments = convert_vector<LaneletSegment>(external->segments);
internal->allow_modification = external->option.allow_goal_modification;
return internal;
}
InternalWaypointRequest convert_request(const ExternalWaypointRequest & external)
{
auto internal = std::make_shared<InternalWaypointRequest::element_type>();
internal->header = external->header;
internal->goal_pose = external->goal;
internal->waypoints = external->waypoints;
internal->allow_modification = external->option.allow_goal_modification;
return internal;
}
ExternalResponse convert_response(const InternalResponse & internal)
{
// TODO(Takagi, Isamu): check error code correspondence
ExternalResponse external;
external.success = internal.success;
external.code = internal.code;
external.message = internal.message;
return external;
}
} // namespace autoware::default_adapi::conversion
master/src/Api/autoware_default_adapi/src/utils/route_conversion.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef UTILS__ROUTE_CONVERSION_HPP_
#define UTILS__ROUTE_CONVERSION_HPP_
#include <rclcpp/rclcpp.hpp>
#include <autoware_adapi_v1_msgs/msg/route.hpp>
#include <autoware_adapi_v1_msgs/msg/route_state.hpp>
#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
#include <autoware_adapi_v1_msgs/srv/set_route.hpp>
#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
#include <tier4_planning_msgs/msg/route_state.hpp>
#include <tier4_planning_msgs/srv/clear_route.hpp>
#include <tier4_planning_msgs/srv/set_lanelet_route.hpp>
#include <tier4_planning_msgs/srv/set_waypoint_route.hpp>
namespace autoware::default_adapi::conversion
{
using ExternalRoute = autoware_adapi_v1_msgs::msg::Route;
using InternalRoute = autoware_planning_msgs::msg::LaneletRoute;
ExternalRoute create_empty_route(const rclcpp::Time & stamp);
ExternalRoute convert_route(const InternalRoute & internal);
using ExternalState = autoware_adapi_v1_msgs::msg::RouteState;
using InternalState = tier4_planning_msgs::msg::RouteState;
ExternalState convert_state(const InternalState & internal);
using ExternalClearRequest = autoware_adapi_v1_msgs::srv::ClearRoute::Request::SharedPtr;
using InternalClearRequest = tier4_planning_msgs::srv::ClearRoute::Request::SharedPtr;
InternalClearRequest convert_request(const ExternalClearRequest & external);
using ExternalLaneletRequest = autoware_adapi_v1_msgs::srv::SetRoute::Request::SharedPtr;
using InternalLaneletRequest = tier4_planning_msgs::srv::SetLaneletRoute::Request::SharedPtr;
InternalLaneletRequest convert_request(const ExternalLaneletRequest & external);
using ExternalWaypointRequest = autoware_adapi_v1_msgs::srv::SetRoutePoints::Request::SharedPtr;
using InternalWaypointRequest = tier4_planning_msgs::srv::SetWaypointRoute::Request::SharedPtr;
InternalWaypointRequest convert_request(const ExternalWaypointRequest & external);
using ExternalResponse = autoware_adapi_v1_msgs::msg::ResponseStatus;
using InternalResponse = autoware_common_msgs::msg::ResponseStatus;
ExternalResponse convert_response(const InternalResponse & internal);
template <class ClientT, class RequestT>
ExternalResponse convert_call(ClientT & client, RequestT & req)
{
return convert_response(client->call(convert_request(req))->status);
}
} // namespace autoware::default_adapi::conversion
#endif // UTILS__ROUTE_CONVERSION_HPP_
master/src/Api/autoware_default_adapi/src/utils/topics.hpp
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// Copyright 2024 The Autoware Contributors
//
// 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.
#ifndef UTILS__TOPICS_HPP_
#define UTILS__TOPICS_HPP_
#include <component_interface_utils/rclcpp.hpp>
#include <rclcpp/time.hpp>
#include <optional>
namespace autoware::default_adapi::utils
{
// cppcheck-suppress-begin unusedFunction
template <class MsgT>
MsgT ignore_stamp(MsgT msg)
{
msg.stamp = rclcpp::Time(0, 0);
return msg;
};
// cppcheck-suppress-end unusedFunction
template <class PubT, class MsgT, class FuncT>
void notify(PubT & pub, std::optional<MsgT> & prev, const MsgT & curr, FuncT && ignore)
{
if (!prev || ignore(*prev) != ignore(curr)) {
prev = curr;
pub->publish(curr);
}
}
} // namespace autoware::default_adapi::utils
#endif // UTILS__TOPICS_HPP_
master/src/Api/autoware_default_adapi/src/utils/types.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef UTILS__TYPES_HPP_
#define UTILS__TYPES_HPP_
#include <component_interface_utils/rclcpp.hpp>
namespace autoware::default_adapi
{
template <class T>
using Pub = typename component_interface_utils::Publisher<T>::SharedPtr;
template <class T>
using Sub = typename component_interface_utils::Subscription<T>::SharedPtr;
template <class T>
using Cli = typename component_interface_utils::Client<T>::SharedPtr;
template <class T>
using Srv = typename component_interface_utils::Service<T>::SharedPtr;
} // namespace autoware::default_adapi
#endif // UTILS__TYPES_HPP_
master/src/Api/autoware_default_adapi/src/vehicle.cpp
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// Copyright 2023 TIER IV, Inc.
//
// 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.
#include "vehicle.hpp"
#include <autoware/geography_utils/height.hpp>
#include <autoware/geography_utils/projection.hpp>
#include <geographic_msgs/msg/geo_point.hpp>
#include <limits>
namespace autoware::default_adapi
{
using GearReport = autoware::component_interface_specs::vehicle::GearStatus::Message;
using ApiGear = autoware_adapi_v1_msgs::msg::Gear;
using TurnIndicatorsReport =
autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message;
using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators;
using HazardLightsReport = autoware::component_interface_specs::vehicle::HazardLightStatus::Message;
using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights;
using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo::Message;
std::unordered_map<uint8_t, uint8_t> gear_type_ = {
{GearReport::NONE, ApiGear::UNKNOWN}, {GearReport::NEUTRAL, ApiGear::NEUTRAL},
{GearReport::DRIVE, ApiGear::DRIVE}, {GearReport::DRIVE_2, ApiGear::DRIVE},
{GearReport::DRIVE_3, ApiGear::DRIVE}, {GearReport::DRIVE_4, ApiGear::DRIVE},
{GearReport::DRIVE_5, ApiGear::DRIVE}, {GearReport::DRIVE_6, ApiGear::DRIVE},
{GearReport::DRIVE_7, ApiGear::DRIVE}, {GearReport::DRIVE_8, ApiGear::DRIVE},
{GearReport::DRIVE_9, ApiGear::DRIVE}, {GearReport::DRIVE_10, ApiGear::DRIVE},
{GearReport::DRIVE_11, ApiGear::DRIVE}, {GearReport::DRIVE_12, ApiGear::DRIVE},
{GearReport::DRIVE_13, ApiGear::DRIVE}, {GearReport::DRIVE_14, ApiGear::DRIVE},
{GearReport::DRIVE_15, ApiGear::DRIVE}, {GearReport::DRIVE_16, ApiGear::DRIVE},
{GearReport::DRIVE_17, ApiGear::DRIVE}, {GearReport::DRIVE_18, ApiGear::DRIVE},
{GearReport::REVERSE, ApiGear::REVERSE}, {GearReport::REVERSE_2, ApiGear::REVERSE},
{GearReport::PARK, ApiGear::PARK}, {GearReport::LOW, ApiGear::LOW},
{GearReport::LOW_2, ApiGear::LOW},
};
std::unordered_map<uint8_t, uint8_t> turn_indicator_type_ = {
{TurnIndicatorsReport::DISABLE, ApiTurnIndicator::DISABLE},
{TurnIndicatorsReport::ENABLE_LEFT, ApiTurnIndicator::LEFT},
{TurnIndicatorsReport::ENABLE_RIGHT, ApiTurnIndicator::RIGHT},
};
std::unordered_map<uint8_t, uint8_t> hazard_light_type_ = {
{HazardLightsReport::DISABLE, ApiHazardLight::DISABLE},
{HazardLightsReport::ENABLE, ApiHazardLight::ENABLE},
};
VehicleNode::VehicleNode(const rclcpp::NodeOptions & options) : Node("vehicle", options)
{
const auto adaptor = component_interface_utils::NodeAdaptor(this);
group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
adaptor.init_pub(pub_kinematics_);
adaptor.init_pub(pub_status_);
adaptor.init_sub(sub_kinematic_state_, this, &VehicleNode::kinematic_state);
adaptor.init_sub(sub_acceleration_, this, &VehicleNode::acceleration_status);
adaptor.init_sub(sub_steering_, this, &VehicleNode::steering_status);
adaptor.init_sub(sub_gear_state_, this, &VehicleNode::gear_status);
adaptor.init_sub(sub_turn_indicator_, this, &VehicleNode::turn_indicator_status);
adaptor.init_sub(sub_map_projector_info_, this, &VehicleNode::map_projector_info);
adaptor.init_sub(sub_hazard_light_, this, &VehicleNode::hazard_light_status);
adaptor.init_sub(sub_energy_level_, this, &VehicleNode::energy_status);
const auto rate = rclcpp::Rate(10);
timer_ = rclcpp::create_timer(this, get_clock(), rate.period(), [this]() { on_timer(); });
}
uint8_t VehicleNode::mapping(
std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value)
{
if (hash_map.find(input) == hash_map.end()) {
return default_value;
} else {
return hash_map[input];
}
}
void VehicleNode::kinematic_state(
const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
msg_ptr)
{
kinematic_state_msgs_ = msg_ptr;
}
void VehicleNode::acceleration_status(
const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
msg_ptr)
{
acceleration_msgs_ = msg_ptr;
}
void VehicleNode::steering_status(
const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
msg_ptr)
{
steering_status_msgs_ = msg_ptr;
}
void VehicleNode::gear_status(const GearReport::ConstSharedPtr msg_ptr)
{
gear_status_msgs_ = msg_ptr;
}
void VehicleNode::turn_indicator_status(const TurnIndicatorsReport::ConstSharedPtr msg_ptr)
{
turn_indicator_status_msgs_ = msg_ptr;
}
void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr msg_ptr)
{
hazard_light_status_msgs_ = msg_ptr;
}
void VehicleNode::energy_status(
const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr msg_ptr)
{
energy_status_msgs_ = msg_ptr;
}
void VehicleNode::map_projector_info(const MapProjectorInfo::ConstSharedPtr msg_ptr)
{
map_projector_info_ = msg_ptr;
}
void VehicleNode::publish_kinematics()
{
if (!kinematic_state_msgs_ || !acceleration_msgs_ || !map_projector_info_) return;
autoware_ad_api::vehicle::VehicleKinematics::Message vehicle_kinematics;
vehicle_kinematics.pose.header = kinematic_state_msgs_->header;
vehicle_kinematics.pose.pose = kinematic_state_msgs_->pose;
vehicle_kinematics.twist.header = kinematic_state_msgs_->header;
vehicle_kinematics.twist.header.frame_id = kinematic_state_msgs_->child_frame_id;
vehicle_kinematics.twist.twist = kinematic_state_msgs_->twist;
if (map_projector_info_->projector_type != MapProjectorInfo::LOCAL) {
const geographic_msgs::msg::GeoPoint projected_gps_point =
autoware::geography_utils::project_reverse(
kinematic_state_msgs_->pose.pose.position, *map_projector_info_);
vehicle_kinematics.geographic_pose.header = kinematic_state_msgs_->header;
vehicle_kinematics.geographic_pose.header.frame_id = "global";
vehicle_kinematics.geographic_pose.position.latitude = projected_gps_point.latitude;
vehicle_kinematics.geographic_pose.position.longitude = projected_gps_point.longitude;
vehicle_kinematics.geographic_pose.position.altitude =
autoware::geography_utils::convert_height(
projected_gps_point.altitude, projected_gps_point.latitude, projected_gps_point.longitude,
map_projector_info_->vertical_datum, MapProjectorInfo::WGS84);
} else {
vehicle_kinematics.geographic_pose.position.latitude = std::numeric_limits<double>::quiet_NaN();
vehicle_kinematics.geographic_pose.position.longitude =
std::numeric_limits<double>::quiet_NaN();
vehicle_kinematics.geographic_pose.position.altitude = std::numeric_limits<double>::quiet_NaN();
}
vehicle_kinematics.accel.header = acceleration_msgs_->header;
vehicle_kinematics.accel.accel = acceleration_msgs_->accel;
pub_kinematics_->publish(vehicle_kinematics);
}
void VehicleNode::publish_status()
{
if (
!steering_status_msgs_ || !gear_status_msgs_ || !turn_indicator_status_msgs_ ||
!hazard_light_status_msgs_)
return;
autoware_ad_api::vehicle::VehicleStatus::Message vehicle_status;
vehicle_status.stamp = now();
vehicle_status.steering_tire_angle = steering_status_msgs_->steering_tire_angle;
vehicle_status.gear.status = mapping(gear_type_, gear_status_msgs_->report, ApiGear::UNKNOWN);
vehicle_status.turn_indicators.status =
mapping(turn_indicator_type_, turn_indicator_status_msgs_->report, ApiTurnIndicator::UNKNOWN);
vehicle_status.hazard_lights.status =
mapping(hazard_light_type_, hazard_light_status_msgs_->report, ApiHazardLight::UNKNOWN);
pub_status_->publish(vehicle_status);
}
void VehicleNode::on_timer()
{
publish_kinematics();
publish_status();
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::VehicleNode)
master/src/Api/autoware_default_adapi/src/vehicle.hpp
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// Copyright 2023 TIER IV, Inc.
//
// 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.
#ifndef VEHICLE_HPP_
#define VEHICLE_HPP_
#include <autoware/component_interface_specs/localization.hpp>
#include <autoware/component_interface_specs/map.hpp>
#include <autoware/component_interface_specs/vehicle.hpp>
#include <autoware_ad_api_specs/vehicle.hpp>
#include <rclcpp/rclcpp.hpp>
#include <autoware_adapi_v1_msgs/msg/gear.hpp>
#include <autoware_adapi_v1_msgs/msg/hazard_lights.hpp>
#include <autoware_adapi_v1_msgs/msg/turn_indicators.hpp>
#include <unordered_map>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class VehicleNode : public rclcpp::Node
{
public:
explicit VehicleNode(const rclcpp::NodeOptions & options);
private:
rclcpp::CallbackGroup::SharedPtr group_cli_;
Pub<autoware_ad_api::vehicle::VehicleKinematics> pub_kinematics_;
Pub<autoware_ad_api::vehicle::VehicleStatus> pub_status_;
Sub<autoware::component_interface_specs::localization::KinematicState> sub_kinematic_state_;
Sub<autoware::component_interface_specs::localization::Acceleration> sub_acceleration_;
Sub<autoware::component_interface_specs::vehicle::SteeringStatus> sub_steering_;
Sub<autoware::component_interface_specs::vehicle::GearStatus> sub_gear_state_;
Sub<autoware::component_interface_specs::vehicle::TurnIndicatorStatus> sub_turn_indicator_;
Sub<autoware::component_interface_specs::vehicle::HazardLightStatus> sub_hazard_light_;
Sub<autoware::component_interface_specs::vehicle::EnergyStatus> sub_energy_level_;
Sub<autoware::component_interface_specs::map::MapProjectorInfo> sub_map_projector_info_;
rclcpp::TimerBase::SharedPtr timer_;
autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
kinematic_state_msgs_;
autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
acceleration_msgs_;
autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
steering_status_msgs_;
autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr
gear_status_msgs_;
autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr
turn_indicator_status_msgs_;
autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr
hazard_light_status_msgs_;
autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr
energy_status_msgs_;
autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr
map_projector_info_;
void kinematic_state(
const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
msg_ptr);
void acceleration_status(
const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
msg_ptr);
void steering_status(
const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
msg_ptr);
void gear_status(
const autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr
msg_ptr);
void turn_indicator_status(
const autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr
msg_ptr);
void map_projector_info(
const autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr
msg_ptr);
void hazard_light_status(
const autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr
msg_ptr);
void energy_status(
const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr
msg_ptr);
uint8_t mapping(
std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
void publish_kinematics();
void publish_status();
void on_timer();
};
} // namespace autoware::default_adapi
#endif // VEHICLE_HPP_
master/src/Api/autoware_default_adapi/src/vehicle_door.cpp
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// Copyright 2023 TIER IV, Inc.
//
// 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.
#include "vehicle_door.hpp"
#include "utils/topics.hpp"
namespace autoware::default_adapi
{
VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options)
: Node("vehicle_door", options)
{
const auto adaptor = component_interface_utils::NodeAdaptor(this);
group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
adaptor.relay_service(cli_command_, srv_command_, group_cli_, 3.0);
adaptor.relay_service(cli_layout_, srv_layout_, group_cli_, 3.0);
adaptor.init_pub(pub_status_);
adaptor.init_sub(sub_status_, this, &VehicleDoorNode::on_status);
}
void VehicleDoorNode::on_status(
autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg)
{
utils::notify(
pub_status_, status_, *msg,
utils::ignore_stamp<autoware::component_interface_specs::vehicle::DoorStatus::Message>);
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::VehicleDoorNode)
master/src/Api/autoware_default_adapi/src/vehicle_door.hpp
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// Copyright 2023 TIER IV, Inc.
//
// 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.
#ifndef VEHICLE_DOOR_HPP_
#define VEHICLE_DOOR_HPP_
#include <autoware/component_interface_specs/vehicle.hpp>
#include <autoware_ad_api_specs/vehicle.hpp>
#include <rclcpp/rclcpp.hpp>
#include <optional>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class VehicleDoorNode : public rclcpp::Node
{
public:
explicit VehicleDoorNode(const rclcpp::NodeOptions & options);
private:
void on_status(
autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg);
rclcpp::CallbackGroup::SharedPtr group_cli_;
Srv<autoware_ad_api::vehicle::DoorCommand> srv_command_;
Srv<autoware_ad_api::vehicle::DoorLayout> srv_layout_;
Pub<autoware_ad_api::vehicle::DoorStatus> pub_status_;
Cli<autoware::component_interface_specs::vehicle::DoorCommand> cli_command_;
Cli<autoware::component_interface_specs::vehicle::DoorLayout> cli_layout_;
Sub<autoware::component_interface_specs::vehicle::DoorStatus> sub_status_;
std::optional<autoware::component_interface_specs::vehicle::DoorStatus::Message> status_;
};
} // namespace autoware::default_adapi
#endif // VEHICLE_DOOR_HPP_
master/src/Api/autoware_default_adapi/src/vehicle_info.cpp
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// Copyright 2023 TIER IV, Inc.
//
// 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.
#include "vehicle_info.hpp"
#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
namespace
{
auto create_point(double x, double y)
{
geometry_msgs::msg::Point32 point;
point.x = x;
point.y = y;
point.z = 0.0;
return point;
}
} // namespace
namespace autoware::default_adapi
{
VehicleInfoNode::VehicleInfoNode(const rclcpp::NodeOptions & options)
: Node("vehicle_info", options)
{
const auto on_vehicle_dimensions = [this](auto, auto res) {
res->status.success = true;
res->dimensions = dimensions_;
};
const auto vehicle = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
dimensions_.wheel_radius = vehicle.wheel_radius_m;
dimensions_.wheel_width = vehicle.wheel_width_m;
dimensions_.wheel_base = vehicle.wheel_base_m;
dimensions_.wheel_tread = vehicle.wheel_tread_m;
dimensions_.front_overhang = vehicle.front_overhang_m;
dimensions_.rear_overhang = vehicle.rear_overhang_m;
dimensions_.left_overhang = vehicle.left_overhang_m;
dimensions_.right_overhang = vehicle.right_overhang_m;
dimensions_.height = vehicle.vehicle_height_m;
const auto l = (vehicle.wheel_tread_m / 2.0) + vehicle.left_overhang_m;
const auto r = (vehicle.wheel_tread_m / 2.0) + vehicle.right_overhang_m;
const auto b = vehicle.rear_overhang_m;
const auto f = vehicle.front_overhang_m + vehicle.wheel_base_m;
dimensions_.footprint.points.push_back(create_point(+f, +r));
dimensions_.footprint.points.push_back(create_point(+f, -l));
dimensions_.footprint.points.push_back(create_point(-b, -l));
dimensions_.footprint.points.push_back(create_point(-b, +r));
const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_srv(srv_dimensions_, on_vehicle_dimensions);
}
} // namespace autoware::default_adapi
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::VehicleInfoNode)
master/src/Api/autoware_default_adapi/src/vehicle_info.hpp
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// Copyright 2023 TIER IV, Inc.
//
// 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.
#ifndef VEHICLE_INFO_HPP_
#define VEHICLE_INFO_HPP_
#include <autoware_ad_api_specs/vehicle.hpp>
#include <rclcpp/rclcpp.hpp>
// This file should be included after messages.
#include "utils/types.hpp"
namespace autoware::default_adapi
{
class VehicleInfoNode : public rclcpp::Node
{
public:
explicit VehicleInfoNode(const rclcpp::NodeOptions & options);
private:
Srv<autoware_ad_api::vehicle::Dimensions> srv_dimensions_;
autoware_adapi_v1_msgs::msg::VehicleDimensions dimensions_;
};
} // namespace autoware::default_adapi
#endif // VEHICLE_INFO_HPP_
master/src/Api/autoware_default_adapi/test/main.test.py
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# Copyright 2022 TIER IV, Inc.
#
# 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 importlib.util
import unittest
from ament_index_python.packages import get_package_share_directory
import launch
import launch_testing.actions
import launch_testing.markers
import launch_testing.tools
import pytest
@pytest.mark.launch_test
@launch_testing.markers.keep_alive
def generate_test_description():
path = get_package_share_directory("autoware_default_adapi") + "/launch/default_adapi.launch.py"
specification = importlib.util.spec_from_file_location("launch_script", path)
launch_script = importlib.util.module_from_spec(specification)
specification.loader.exec_module(launch_script)
return launch.LaunchDescription(
[
*launch_script.generate_launch_description().describe_sub_entities(),
launch_testing.actions.ReadyToTest(),
]
)
class TestMain(unittest.TestCase):
def test_interface_version(self, launch_service, proc_info, proc_output):
prefix = get_package_share_directory("autoware_default_adapi")
target = prefix + "/test/node/interface_version.py"
action = launch.actions.ExecuteProcess(cmd=["python3", target])
with launch_testing.tools.launch_process(launch_service, action, proc_info, proc_output):
proc_info.assertWaitForStartup(process=action, timeout=1)
proc_info.assertWaitForShutdown(process=action, timeout=3)
launch_testing.asserts.assertExitCodes(proc_info, process=action)
master/src/Api/autoware_default_adapi/test/node/interface_version.py
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# Copyright 2022 TIER IV, Inc.
#
# 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 autoware_adapi_version_msgs.srv import InterfaceVersion
import rclpy
import rclpy.node
rclpy.init()
node = rclpy.node.Node("test_client")
client = node.create_client(InterfaceVersion, "/api/interface/version")
if not client.wait_for_service(timeout_sec=3.0):
exit(1)
request = InterfaceVersion.Request()
future = client.call_async(request)
rclpy.spin_until_future_complete(node, future)
response = future.result()
if response.major != 1:
exit(1)
if response.minor != 5:
exit(1)
if response.patch != 0:
exit(1)
rclpy.shutdown()
master/src/Api/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(ad_api_adaptors)
find_package(autoware_cmake REQUIRED)
autoware_package()
ament_auto_add_library(${PROJECT_NAME} SHARED
src/initial_pose_adaptor.cpp
src/routing_adaptor.cpp
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "ad_api_adaptors::InitialPoseAdaptor"
EXECUTABLE initial_pose_adaptor_node
EXECUTOR MultiThreadedExecutor
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "ad_api_adaptors::RoutingAdaptor"
EXECUTABLE routing_adaptor_node
EXECUTOR SingleThreadedExecutor
)
ament_auto_package(INSTALL_TO_SHARE config launch)
master/src/Api/default_ad_api_helpers/ad_api_adaptors/README.md
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# ad_api_adaptors
## initial_pose_adaptor
This node makes it easy to use the localization AD API from RViz.
When a initial pose topic is received, call the localization initialize API.
This node depends on the map height fitter library.
[See here for more details.](../../../map/autoware_map_height_fitter/README.md)
| Interface | Local Name | Global Name | Description |
| ------------ | ----------- | ---------------------------- | ----------------------------------------- |
| Subscription | initialpose | /initialpose | The pose for localization initialization. |
| Client | - | /api/localization/initialize | The localization initialize API. |
## routing_adaptor
This node makes it easy to use the routing AD API from RViz.
When a goal pose topic is received, reset the waypoints and call the API.
When a waypoint pose topic is received, append it to the end of the waypoints to call the API.
The clear API is called automatically before setting the route.
| Interface | Local Name | Global Name | Description |
| ------------ | ------------------ | ------------------------------------- | -------------------------------------------------- |
| Subscription | - | /api/routing/state | The state of the routing API. |
| Subscription | ~/input/fixed_goal | /planning/mission_planning/goal | The goal pose of route. Disable goal modification. |
| Subscription | ~/input/rough_goal | /rviz/routing/rough_goal | The goal pose of route. Enable goal modification. |
| Subscription | ~/input/reroute | /rviz/routing/reroute | The goal pose of reroute. |
| Subscription | ~/input/waypoint | /planning/mission_planning/checkpoint | The waypoint pose of route. |
| Client | - | /api/routing/clear_route | The route clear API. |
| Client | - | /api/routing/set_route_points | The route points set API. |
| Client | - | /api/routing/change_route_points | The route points change API. |
## parameters
{{ json_to_markdown("/system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json") }}
master/src/Api/default_ad_api_helpers/ad_api_adaptors/config/initial_pose.param.yaml
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/**:
ros__parameters:
# from initialpose (Rviz's 2DPoseEstimate)
initial_pose_particle_covariance:
[
4.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 4.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.01, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.01, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.01, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
]
master/src/Api/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml
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<launch>
<arg name="rviz_initial_pose_auto_fix_target" default="pointcloud_map"/>
<group>
<push-ros-namespace namespace="default_ad_api/helpers"/>
<node pkg="ad_api_adaptors" exec="initial_pose_adaptor_node">
<param from="$(find-pkg-share ad_api_adaptors)/config/initial_pose.param.yaml"/>
<param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
<param name="map_height_fitter.target" value="$(var rviz_initial_pose_auto_fix_target)"/>
<remap from="~/initialpose" to="/initialpose"/>
<remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
<remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
<remap from="~/vector_map" to="/map/vector_map"/>
</node>
<node pkg="ad_api_adaptors" exec="routing_adaptor_node">
<remap from="~/input/fixed_goal" to="/planning/mission_planning/goal"/>
<remap from="~/input/rough_goal" to="/rviz/routing/rough_goal"/>
<remap from="~/input/reroute" to="/rviz/routing/reroute"/>
<remap from="~/input/waypoint" to="/planning/mission_planning/checkpoint"/>
</node>
</group>
</launch>
master/src/Api/default_ad_api_helpers/ad_api_adaptors/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ad_api_adaptors</name>
<version>0.1.0</version>
<description>The ad_api_adaptors package</description>
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
<depend>autoware_ad_api_specs</depend>
<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_map_height_fitter</depend>
<depend>component_interface_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
master/src/Api/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "ad_api_adaptors parameter",
"type": "object",
"definitions": {
"ad_api_adaptors": {
"type": "object",
"properties": {
"initial_pose_particle_covariance": {
"type": "array",
"description": "initial_pose_particle_covariance",
"default": [
4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 1.0
]
}
},
"required": ["initial_pose_particle_covariance"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/initial_pose_particle_covariance"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
master/src/Api/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "initial_pose_adaptor.hpp"
#include <memory>
#include <string>
#include <vector>
namespace ad_api_adaptors
{
template <class ServiceT>
using Future = typename rclcpp::Client<ServiceT>::SharedFuture;
std::array<double, 36> get_covariance_parameter(rclcpp::Node * node, const std::string & name)
{
const auto vector = node->declare_parameter<std::vector<double>>(name);
if (vector.size() != 36) {
throw std::invalid_argument("The covariance parameter size is not 36.");
}
std::array<double, 36> array;
std::copy_n(vector.begin(), array.size(), array.begin());
return array;
}
InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options)
: Node("initial_pose_adaptor", options), fitter_(this)
{
rviz_particle_covariance_ = get_covariance_parameter(this, "initial_pose_particle_covariance");
sub_initial_pose_ = create_subscription<PoseWithCovarianceStamped>(
"~/initialpose", rclcpp::QoS(1),
std::bind(&InitialPoseAdaptor::on_initial_pose, this, std::placeholders::_1));
const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_cli(cli_initialize_);
}
void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg)
{
PoseWithCovarianceStamped pose = *msg;
const auto fitted = fitter_.fit(pose.pose.pose.position, pose.header.frame_id);
if (fitted) {
pose.pose.pose.position = fitted.value();
}
pose.pose.covariance = rviz_particle_covariance_;
const auto req = std::make_shared<Initialize::Service::Request>();
req->pose.push_back(pose);
cli_initialize_->async_send_request(req);
}
} // namespace ad_api_adaptors
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::InitialPoseAdaptor)
master/src/Api/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef INITIAL_POSE_ADAPTOR_HPP_
#define INITIAL_POSE_ADAPTOR_HPP_
#include <autoware/map_height_fitter/map_height_fitter.hpp>
#include <autoware_ad_api_specs/localization.hpp>
#include <component_interface_utils/rclcpp.hpp>
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
namespace ad_api_adaptors
{
class InitialPoseAdaptor : public rclcpp::Node
{
public:
explicit InitialPoseAdaptor(const rclcpp::NodeOptions & options);
private:
using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
using Initialize = autoware_ad_api::localization::Initialize;
rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr sub_initial_pose_;
component_interface_utils::Client<Initialize>::SharedPtr cli_initialize_;
std::array<double, 36> rviz_particle_covariance_;
autoware::map_height_fitter::MapHeightFitter fitter_;
void on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg);
};
} // namespace ad_api_adaptors
#endif // INITIAL_POSE_ADAPTOR_HPP_
master/src/Api/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#include "routing_adaptor.hpp"
#include <memory>
namespace ad_api_adaptors
{
RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options)
: Node("routing_adaptor", options)
{
using std::placeholders::_1;
sub_fixed_goal_ = create_subscription<PoseStamped>(
"~/input/fixed_goal", 3, std::bind(&RoutingAdaptor::on_fixed_goal, this, _1));
sub_rough_goal_ = create_subscription<PoseStamped>(
"~/input/rough_goal", 3, std::bind(&RoutingAdaptor::on_rough_goal, this, _1));
sub_reroute_ = create_subscription<PoseStamped>(
"~/input/reroute", 3, std::bind(&RoutingAdaptor::on_reroute, this, _1));
sub_waypoint_ = create_subscription<PoseStamped>(
"~/input/waypoint", 10, std::bind(&RoutingAdaptor::on_waypoint, this, _1));
const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_cli(cli_reroute_);
adaptor.init_cli(cli_route_);
adaptor.init_cli(cli_clear_);
adaptor.init_sub(
sub_state_, [this](const RouteState::Message::ConstSharedPtr msg) { state_ = msg->state; });
const auto rate = rclcpp::Rate(5.0);
timer_ = rclcpp::create_timer(
this, get_clock(), rate.period(), std::bind(&RoutingAdaptor::on_timer, this));
state_ = RouteState::Message::UNKNOWN;
route_ = std::make_shared<SetRoutePoints::Service::Request>();
}
void RoutingAdaptor::on_timer()
{
// Wait a moment to combine consecutive goals and checkpoints into a single request.
// This value is rate dependent and set the wait time for merging.
constexpr int delay_count = 3; // 0.4 seconds (rate * (value - 1))
if (0 < request_timing_control_ && request_timing_control_ < delay_count) {
++request_timing_control_;
}
if (request_timing_control_ != delay_count) {
return;
}
if (!calling_service_) {
if (state_ != RouteState::Message::UNSET) {
const auto request = std::make_shared<ClearRoute::Service::Request>();
calling_service_ = true;
cli_clear_->async_send_request(request, [this](auto) { calling_service_ = false; });
} else {
request_timing_control_ = 0;
calling_service_ = true;
cli_route_->async_send_request(route_, [this](auto) { calling_service_ = false; });
}
}
}
void RoutingAdaptor::on_fixed_goal(const PoseStamped::ConstSharedPtr pose)
{
request_timing_control_ = 1;
route_->header = pose->header;
route_->goal = pose->pose;
route_->waypoints.clear();
route_->option.allow_goal_modification = false;
}
void RoutingAdaptor::on_rough_goal(const PoseStamped::ConstSharedPtr pose)
{
request_timing_control_ = 1;
route_->header = pose->header;
route_->goal = pose->pose;
route_->waypoints.clear();
route_->option.allow_goal_modification = true;
}
void RoutingAdaptor::on_waypoint(const PoseStamped::ConstSharedPtr pose)
{
if (route_->header.frame_id != pose->header.frame_id) {
RCLCPP_ERROR_STREAM(get_logger(), "The waypoint frame does not match the goal.");
return;
}
request_timing_control_ = 1;
route_->waypoints.push_back(pose->pose);
}
void RoutingAdaptor::on_reroute(const PoseStamped::ConstSharedPtr pose)
{
const auto route = std::make_shared<SetRoutePoints::Service::Request>();
route->header = pose->header;
route->goal = pose->pose;
cli_reroute_->async_send_request(route);
}
} // namespace ad_api_adaptors
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::RoutingAdaptor)
master/src/Api/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
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// Copyright 2022 TIER IV, Inc.
//
// 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.
#ifndef ROUTING_ADAPTOR_HPP_
#define ROUTING_ADAPTOR_HPP_
#include <autoware_ad_api_specs/routing.hpp>
#include <component_interface_utils/rclcpp.hpp>
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <string>
namespace ad_api_adaptors
{
class RoutingAdaptor : public rclcpp::Node
{
public:
explicit RoutingAdaptor(const rclcpp::NodeOptions & options);
private:
using PoseStamped = geometry_msgs::msg::PoseStamped;
using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints;
using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints;
using ClearRoute = autoware_ad_api::routing::ClearRoute;
using RouteState = autoware_ad_api::routing::RouteState;
component_interface_utils::Client<ChangeRoutePoints>::SharedPtr cli_reroute_;
component_interface_utils::Client<SetRoutePoints>::SharedPtr cli_route_;
component_interface_utils::Client<ClearRoute>::SharedPtr cli_clear_;
component_interface_utils::Subscription<RouteState>::SharedPtr sub_state_;
rclcpp::Subscription<PoseStamped>::SharedPtr sub_fixed_goal_;
rclcpp::Subscription<PoseStamped>::SharedPtr sub_rough_goal_;
rclcpp::Subscription<PoseStamped>::SharedPtr sub_waypoint_;
rclcpp::Subscription<PoseStamped>::SharedPtr sub_reroute_;
rclcpp::TimerBase::SharedPtr timer_;
bool calling_service_ = false;
int request_timing_control_ = 0;
SetRoutePoints::Service::Request::SharedPtr route_;
RouteState::Message::_state_type state_;
void on_timer();
void on_fixed_goal(const PoseStamped::ConstSharedPtr pose);
void on_rough_goal(const PoseStamped::ConstSharedPtr pose);
void on_waypoint(const PoseStamped::ConstSharedPtr pose);
void on_reroute(const PoseStamped::ConstSharedPtr pose);
};
} // namespace ad_api_adaptors
#endif // ROUTING_ADAPTOR_HPP_
master/src/Api/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/__init__.py
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master/src/Api/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/planning_factors.py
Executable
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#!/usr/bin/env python3
from autoware_adapi_v1_msgs.msg import SteeringFactor
from autoware_adapi_v1_msgs.msg import SteeringFactorArray
from autoware_adapi_v1_msgs.msg import VelocityFactor
from autoware_adapi_v1_msgs.msg import VelocityFactorArray
from geometry_msgs.msg import Pose
import numpy
import rclpy
import rclpy.duration
import rclpy.node
import tf_transformations
from visualization_msgs.msg import Marker
from visualization_msgs.msg import MarkerArray
velocity_type_text = {
VelocityFactor.UNKNOWN: "unknown",
VelocityFactor.SURROUNDING_OBSTACLE: "surrounding obstacle",
VelocityFactor.ROUTE_OBSTACLE: "route obstacle",
VelocityFactor.INTERSECTION: "intersection",
VelocityFactor.CROSSWALK: "crosswalk",
VelocityFactor.REAR_CHECK: "rear check",
VelocityFactor.USER_DEFINED_DETECTION_AREA: "detection area",
VelocityFactor.NO_STOPPING_AREA: "no stopping area",
VelocityFactor.STOP_SIGN: "stop sign",
VelocityFactor.TRAFFIC_SIGNAL: "traffic signal",
VelocityFactor.V2I_GATE_CONTROL_ENTER: "v2i enter",
VelocityFactor.V2I_GATE_CONTROL_LEAVE: "v2i leave",
VelocityFactor.MERGE: "merge",
VelocityFactor.SIDEWALK: "sidewalk",
VelocityFactor.LANE_CHANGE: "lane change",
VelocityFactor.AVOIDANCE: "avoidance",
VelocityFactor.EMERGENCY_STOP_OPERATION: "emergency stop operation",
}
steering_type_text = {
SteeringFactor.INTERSECTION: "intersection",
SteeringFactor.LANE_CHANGE: "lane change",
SteeringFactor.AVOIDANCE_PATH_CHANGE: "avoidance change",
SteeringFactor.AVOIDANCE_PATH_RETURN: "avoidance return",
SteeringFactor.STATION: "station",
SteeringFactor.START_PLANNER: "start planner",
SteeringFactor.GOAL_PLANNER: "goal planner",
SteeringFactor.EMERGENCY_OPERATION: "emergency operation",
}
velocity_status_color = {
VelocityFactor.UNKNOWN: (1.0, 1.0, 1.0),
VelocityFactor.APPROACHING: (1.0, 0.0, 0.0),
VelocityFactor.STOPPED: (1.0, 1.0, 0.0),
}
steering_status_color = {
SteeringFactor.UNKNOWN: (1.0, 1.0, 1.0),
SteeringFactor.APPROACHING: (1.0, 0.0, 0.0),
SteeringFactor.TRYING: (1.0, 1.0, 0.0),
SteeringFactor.TURNING: (1.0, 1.0, 1.0),
}
class PlanningFactorVisualizer(rclpy.node.Node):
def __init__(self):
super().__init__("planning_factor_visualizer")
self.front_offset = self.declare_parameter("front_offset", 0.0).value
self.pub_velocity = self.create_publisher(MarkerArray, "/visualizer/velocity_factors", 1)
self.pub_steering = self.create_publisher(MarkerArray, "/visualizer/steering_factors", 1)
self.sub_velocity = self.create_subscription(VelocityFactorArray, "/api/planning/velocity_factors", self.on_velocity_factor, 1) # fmt: skip
self.sub_steering = self.create_subscription(SteeringFactorArray, "/api/planning/steering_factors", self.on_steering_factor, 1) # fmt: skip
def on_velocity_factor(self, msg):
markers = MarkerArray()
for index, factor in enumerate(msg.factors):
color = velocity_status_color[factor.status]
text = velocity_type_text[factor.type]
markers.markers.append(self.create_wall(index, msg.header, factor.pose, color))
markers.markers.append(self.create_text(index, msg.header, factor.pose, text))
self.pub_velocity.publish(markers)
def on_steering_factor(self, msg):
markers = MarkerArray()
for index, factor in enumerate(msg.factors):
index1 = index * 2 + 0
index2 = index * 2 + 1
color = steering_status_color[factor.status]
text = steering_type_text[factor.type]
markers.markers.append(self.create_wall(index1, msg.header, factor.pose[0], color))
markers.markers.append(self.create_wall(index2, msg.header, factor.pose[1], color))
markers.markers.append(self.create_text(index1, msg.header, factor.pose[0], text))
markers.markers.append(self.create_text(index2, msg.header, factor.pose[1], text))
self.pub_steering.publish(markers)
def offset_pose(self, pose):
q = pose.orientation
q = numpy.array([q.x, q.y, q.z, q.w])
p = numpy.array([self.front_offset, 0, 0, 1])
r = tf_transformations.quaternion_matrix(q)
x = numpy.dot(r, p)
result = Pose()
result.position.x = pose.position.x + x[0]
result.position.y = pose.position.y + x[1]
result.position.z = pose.position.z + x[2]
result.orientation = pose.orientation
return result
def create_wall(self, index, header, pose, color):
pose = self.offset_pose(pose)
marker = Marker()
marker.ns = "wall"
marker.id = index
marker.lifetime = rclpy.duration.Duration(nanoseconds=0.3 * 1e9).to_msg()
marker.header = header
marker.action = Marker.ADD
marker.type = Marker.CUBE
marker.pose.position.x = pose.position.x
marker.pose.position.y = pose.position.y
marker.pose.position.z = pose.position.z + 1.0
marker.pose.orientation = pose.orientation
marker.scale.x = 0.1
marker.scale.y = 5.0
marker.scale.z = 2.0
marker.color.a = 0.7
marker.color.r = color[0]
marker.color.g = color[1]
marker.color.b = color[2]
return marker
def create_text(self, index, header, pose, text):
pose = self.offset_pose(pose)
marker = Marker()
marker.ns = "type"
marker.id = index
marker.lifetime = rclpy.duration.Duration(nanoseconds=0.3 * 1e9).to_msg()
marker.header = header
marker.action = Marker.ADD
marker.type = Marker.TEXT_VIEW_FACING
marker.text = text
marker.pose.position.x = pose.position.x
marker.pose.position.y = pose.position.y
marker.pose.position.z = pose.position.z + 2.0
marker.pose.orientation = pose.orientation
marker.scale.z = 1.0
marker.color.a = 1.0
marker.color.r = 1.0
marker.color.g = 1.0
marker.color.b = 1.0
return marker
def main(args=None):
try:
rclpy.init(args=args)
rclpy.spin(PlanningFactorVisualizer())
rclpy.shutdown()
except KeyboardInterrupt:
pass
if __name__ == "__main__":
main()
master/src/Api/default_ad_api_helpers/ad_api_visualizers/launch/ad_api_visualizers.launch.xml
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<launch>
<node pkg="ad_api_visualizers" name="planning_factors" exec="planning_factors">
<param name="front_offset" value="0.0"/>
</node>
</launch>
master/src/Api/default_ad_api_helpers/ad_api_visualizers/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ad_api_visualizers</name>
<version>0.1.0</version>
<description>The ad_api_visualizers package</description>
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
<license>Apache License 2.0</license>
<exec_depend>autoware_adapi_v1_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>rclpy</exec_depend>
<exec_depend>tf_transformations</exec_depend>
<exec_depend>visualization_msgs</exec_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

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