feat(path_generator): add path_generator package #138

mitukou1109 · 2024-12-23T08:41:45Z

Description

This PR adds path_generator package, a simplified alternative of behavior_path_planner.

How was this PR tested?

Psim on a lanelet2 map with waypoints

Screencast.from.2024.11.29.16.11.24.webm

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2024-12-23T08:41:55Z

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All required CI checks pass before marking the PR ready for review.

youtalk

Since it’s a porting task, I’m keeping the review to a minimum.

planning/autoware_path_generator/package.xml

planning/autoware_path_generator/src/node.hpp

planning/autoware_path_generator/README.md

youtalk

Thank you for your revision. LGTM

kosuke55 · 2025-01-14T05:21:51Z

@takayuki5168
CI failed

updated cache in /github/home/.ros/rosdep/sources.cache
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
autoware_path_generator: Cannot locate rosdep definition for [tier4_planning_msgs]

can we use tier4 msgs in core?

takayuki5168 · 2025-01-14T05:27:13Z

@kosuke55
In principle, we cannot use tier4's msgs in autoware.core.
The CI failure is fine for now since the AWE team is working on porting some of tier4's msgs to autoware's msgs in parallel.

youtalk

PathWithLaneId has been ported. Please use it instead.
autowarefoundation/autoware_internal_msgs#42

youtalk · 2025-01-15T01:11:32Z

planning/autoware_path_generator/package.xml

+  <depend>generate_parameter_library</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>tier4_planning_msgs</depend>


Suggested change

<depend>tier4_planning_msgs</depend>

<depend>autoware_internal_planning_msgs</depend>

Please make the same changes to the other sections as well.

The package uses autoware_trajectory internally, and it depends on tier4_planning_msgs::msg::PathPointWithLaneId. Should I ask the maintainer to migrate to autoware_internal_planning_msgs?

@mitsudome-r It seems that the autoware_motion_utils and autoware_trajectory packages also need to be ported, but is any work being done on them somewhere?

I found #171.

youtalk · 2025-01-23T05:52:25Z

planning/autoware_path_generator/include/autoware/path_generator/utils.hpp

+
+#include "autoware/path_generator/common_structs.hpp"
+
+#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>


Suggested change

#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>

#include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>

youtalk · 2025-01-23T05:52:54Z

planning/autoware_path_generator/include/autoware/path_generator/utils.hpp

+using tier4_planning_msgs::msg::PathPointWithLaneId;
+using tier4_planning_msgs::msg::PathWithLaneId;


Suggested change

using tier4_planning_msgs::msg::PathPointWithLaneId;

using tier4_planning_msgs::msg::PathWithLaneId;

using autoware_internal_planning_msgs::msg::PathPointWithLaneId;

using autoware_internal_planning_msgs::msg::PathWithLaneId;

youtalk · 2025-01-23T06:05:15Z

planning/autoware_path_generator/package.xml

+  <depend>generate_parameter_library</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>tier4_planning_msgs</depend>


@mitsudome-r It seems that the autoware_motion_utils and autoware_trajectory packages also need to be ported, but is any work being done on them somewhere?

youtalk · 2025-01-23T06:20:11Z

planning/autoware_path_generator/package.xml

+  <depend>generate_parameter_library</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>tier4_planning_msgs</depend>


I found #171.

youtalk · 2025-01-24T03:36:11Z

@mitukou1109 The autoware_internal_msgs and autoware_utils are now ready to use in this PR. Please revise it.

mitukou1109 · 2025-01-27T01:59:01Z

It seems autoware_trajectory still does not support autoware_internal_planning_msgs::msg::PathWithLaneId, so the build won't pass.

mitukou1109 · 2025-01-27T03:06:00Z

Plus, it needs #170 to be merged due to its dependence on autoware_vehicle_info_utils.

sasakisasaki · 2025-02-10T07:01:42Z

@mitukou1109 (CC: @mitsudome-r @kosuke55)

Thank you for working on adding features! Sorry for making you wait for a while. Let me share the current situation.

Currently we are working on resolving package dependencies.

What we doing/found:

Checking dependency in autoware_trajectory
Found the autoware_trajectory has dependencies for autoware_motion_utils and it also has another dependency to autoware_interpolation
Thus, with @mitsudome-r , we are still doing dependency analysis not to miss the necessary packages to be ported

We'll continuously put the update here not to miss the ongoing updates. Again, thank you so much for your contribution!

kosuke55 · 2025-02-11T05:19:55Z

planning/autoware_path_generator/include/autoware/path_generator/utils.hpp

+std::optional<lanelet::ConstLanelets> get_lanelets_within_route(
+  const lanelet::ConstLanelet & lanelet, const PlannerData & planner_data,
+  const geometry_msgs::msg::Pose & current_pose, const double backward_distance,
+  const double forward_distance);
+
+std::optional<lanelet::ConstLanelets> get_lanelets_within_route_up_to(
+  const lanelet::ConstLanelet & lanelet, const PlannerData & planner_data, const double distance);
+
+std::optional<lanelet::ConstLanelets> get_lanelets_within_route_after(
+  const lanelet::ConstLanelet & lanelet, const PlannerData & planner_data, const double distance);
+
+std::optional<lanelet::ConstLanelet> get_previous_lanelet_within_route(
+  const lanelet::ConstLanelet & lanelet, const PlannerData & planner_data);
+
+std::optional<lanelet::ConstLanelet> get_next_lanelet_within_route(
+  const lanelet::ConstLanelet & lanelet, const PlannerData & planner_data);
+
+std::vector<std::pair<lanelet::ConstPoints3d, std::pair<double, double>>> get_waypoint_groups(
+  const lanelet::LaneletSequence & lanelet_sequence, const lanelet::LaneletMap & lanelet_map,
+  const double group_separation_threshold, const double interval_margin_ratio);
+
+std::optional<std::vector<geometry_msgs::msg::Point>> get_path_bound(
+  const lanelet::CompoundLineString2d & lanelet_bound,
+  const lanelet::CompoundLineString2d & lanelet_centerline, const double s_start,
+  const double s_end);


@mitukou1109
could you add doxygen comment? (at least @brief, @param, @return)

Signed-off-by: mitukou1109 <[email protected]>

Co-authored-by: Yutaka Kondo <[email protected]> Signed-off-by: mitukou1109 <[email protected]>

Signed-off-by: mitukou1109 <[email protected]>

sasakisasaki · 2025-02-13T07:54:45Z

Now we are getting ready for porting the autoware_trajectory. After this, we'll be able to merge this PR!

takayuki5168 added the run:deploy-docs label Dec 23, 2024

takayuki5168 self-assigned this Dec 23, 2024

takayuki5168 added the run:build-and-test-differential label Dec 24, 2024

takayuki5168 mentioned this pull request Jan 7, 2025

feat(path_generator): add path_generator package autowarefoundation/autoware.universe#9216

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youtalk reviewed Jan 8, 2025

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mitukou1109 force-pushed the feat/path_generator branch from b3c36b5 to e3b27e6 Compare January 9, 2025 08:42

youtalk approved these changes Jan 9, 2025

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chore(build_depends.repos): append autoware_internal_msgs #167

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mitukou1109 force-pushed the feat/path_generator branch from c44202b to 427fb8c Compare January 27, 2025 01:53

mitukou1109 force-pushed the feat/path_generator branch from 93f11f2 to e5d8e89 Compare January 27, 2025 02:10

mitukou1109 force-pushed the feat/path_generator branch 2 times, most recently from 4d0f7b8 to 538e248 Compare February 7, 2025 07:10

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kosuke55 mentioned this pull request Feb 11, 2025

feat(path_generator): add path cut feature mitukou1109/autoware.core#2

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kosuke55 mentioned this pull request Feb 11, 2025

chore(autoware_trajectory): remove unnecessary tier4_planing_msgs dependency autowarefoundation/autoware.universe#10093

Merged

add path_generator package

24a2b99

Signed-off-by: mitukou1109 <[email protected]>

mitukou1109 and others added 16 commits February 13, 2025 14:40

fix spell check error

d0e52b4

Signed-off-by: mitukou1109 <[email protected]>

include necessary headers

4d7cf10

Signed-off-by: mitukou1109 <[email protected]>

change package version to 0.0.0

7cdc93a

Co-authored-by: Yutaka Kondo <[email protected]> Signed-off-by: mitukou1109 <[email protected]>

fix include guard name

448de8a

Co-authored-by: Yutaka Kondo <[email protected]> Signed-off-by: mitukou1109 <[email protected]>

replace flowchart uml with pre-generated image

b35656f

Co-authored-by: Yutaka Kondo <[email protected]> Signed-off-by: mitukou1109 <[email protected]>

style(pre-commit): autofix

49a2d62

Signed-off-by: mitukou1109 <[email protected]>

replace tier4_planning_msgs with autoware_internal_planning_msgs

0345f91

Signed-off-by: mitukou1109 <[email protected]>

style(pre-commit): autofix

7fd1308

Signed-off-by: mitukou1109 <[email protected]>

use LaneletSequence instead of ConstLanelets

85b52d7

Signed-off-by: mitukou1109 <[email protected]>

set orientation to path points

2f89285

Signed-off-by: mitukou1109 <[email protected]>

crop path bound to fit trajectory

5cee5a9

Signed-off-by: mitukou1109 <[email protected]>

offset path bound

98f4d7d

Signed-off-by: mitukou1109 <[email protected]>

no need to make return value optional

8dc0139

Signed-off-by: mitukou1109 <[email protected]>

address deprecation warning

c2cc0bf

Signed-off-by: mitukou1109 <[email protected]>

add doxygen comments

3744ccc

Signed-off-by: mitukou1109 <[email protected]>

support multiple previous/next lanelets

3ea23c5

Signed-off-by: mitukou1109 <[email protected]>

mitukou1109 force-pushed the feat/path_generator branch from 852bff1 to 3ea23c5 Compare February 13, 2025 05:46

This was referenced Feb 13, 2025

feat(autoware_trajectory)!: port to autoware.core/common autowarefoundation/autoware.universe#10113

Merged

feat: porting autoware_trajectory from autoware.universe to autoware.core #186

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sasakisasaki mentioned this pull request Feb 13, 2025

feat: porting autoware_trajectory from autoware.universe to autoware.core #188

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feat(path_generator): add path_generator package #138

feat(path_generator): add path_generator package #138

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	<depend>tier4_planning_msgs</depend>
	<depend>autoware_internal_planning_msgs</depend>


		#include "autoware/path_generator/common_structs.hpp"

		#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>

	#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
	#include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>

		using tier4_planning_msgs::msg::PathPointWithLaneId;
		using tier4_planning_msgs::msg::PathWithLaneId;

feat(path_generator): add path_generator package #138

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mitukou1109 commented Dec 23, 2024

Description

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How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

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youtalk commented Jan 24, 2025

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sasakisasaki commented Feb 10, 2025

What we doing/found:

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