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.

modified in replace tier4_planning_msgs with autoware_internal_planning_msgs

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>

modified in replace tier4_planning_msgs with autoware_internal_planning_msgs

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;

modified in replace tier4_planning_msgs with autoware_internal_planning_msgs

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!

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

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

kosuke55 · 2025-02-23T09:38:51Z

I rebased on origin/main to include vehicle_info_utils. (sorry to make reviews outdated
#183

Signed-off-by: kosuke55 <[email protected]>

codecov · 2025-02-23T14:25:51Z

Codecov Report

Attention: Patch coverage is 0% with 279 lines in your changes missing coverage. Please review.

Project coverage is 0.00%. Comparing base (4cb18f5) to head (b80461a).
Report is 44 commits behind head on main.

Files with missing lines	Patch %	Lines
planning/autoware_path_generator/src/node.cpp	0.00%	181 Missing ⚠️
planning/autoware_path_generator/src/utils.cpp	0.00%	98 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #138       +/-   ##
==========================================
- Coverage   78.75%   0.00%   -78.76%     
==========================================
  Files          11      86       +75     
  Lines         193    8564     +8371     
  Branches       73     856      +783     
==========================================
- Hits          152       0      -152     
- Misses         11    8564     +8553     
+ Partials       30       0       -30

Flag	Coverage Δ
differential	`0.00% <0.00%> (?)`
total	`?`

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

kosuke55 · 2025-02-23T14:47:04Z

works well with

todo : need implement additional features in other PRs

smooth goal connection
turn signal
path cut

$ ros2 node info /planning/scenario_planning/lane_driving/behavior_planning/path_generator
/planning/scenario_planning/lane_driving/behavior_planning/path_generator
  Subscribers:
    /localization/kinematic_state: nav_msgs/msg/Odometry
    /map/vector_map: autoware_map_msgs/msg/LaneletMapBin
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /planning/mission_planning/route: autoware_planning_msgs/msg/LaneletRoute
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id: autoware_internal_planning_msgs/msg/PathWithLaneId
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /planning/scenario_planning/lane_driving/behavior_planning/path_generator/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /planning/scenario_planning/lane_driving/behavior_planning/path_generator/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /planning/scenario_planning/lane_driving/behavior_planning/path_generator/get_parameters: rcl_interfaces/srv/GetParameters
    /planning/scenario_planning/lane_driving/behavior_planning/path_generator/list_parameters: rcl_interfaces/srv/ListParameters
    /planning/scenario_planning/lane_driving/behavior_planning/path_generator/set_parameters: rcl_interfaces/srv/SetParameters
    /planning/scenario_planning/lane_driving/behavior_planning/path_generator/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically

* add tests Signed-off-by: mitukou1109 <[email protected]> * adapt test to new test manager Signed-off-by: mitukou1109 <[email protected]> * migrate to autoware_internal_planning_msgs Signed-off-by: mitukou1109 <[email protected]> * use intersection map for unit tests Signed-off-by: mitukou1109 <[email protected]> --------- Signed-off-by: mitukou1109 <[email protected]>

kosuke55 · 2025-02-23T14:54:10Z

~~added unit test by mitukou1109#1~~

reverted because autoware_test_utils has not been ported

kosuke55

LGTM! thanks a lot!

Signed-off-by: kosuke55 <[email protected]>

This reverts commit 9b3ae3e. Revert "fix pre-commit" This reverts commit 6a3c531. Revert "test(path_generator): add tests (#1)" This reverts commit 7773976.

kosuke55 · 2025-02-23T15:17:53Z

~~added unit test by mitukou1109#1~~

unit test require to port autoware_test_utils to core. so I reverted unit test commits

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
autoware_path_generator: Cannot locate rosdep definition for [autoware_test_utils]

unit test branch is here, will merge after porting ↑
https://github.com/tier4/autoware.core/tree/test/path_generator

kosuke55

CI passed LGTM again!

kosuke55 · 2025-02-23T15:24:56Z

@youtalk cloud you check again?

youtalk

LGTM finally! Great work.

kosuke55 · 2025-02-24T04:11:47Z

evaluator check is also ok, I will merge cc @mitsudome-r
https://evaluation.tier4.jp/evaluation/reports/70454f9f-2e6e-5b1c-8487-47c22a8363d8?project_id=prd_jt&state=failed

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takayuki5168 mentioned this pull request Jan 7, 2025

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

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

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

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

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

mitukou1109 added 9 commits February 23, 2025 18:30

set orientation to path points

da2aa02

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

crop path bound to fit trajectory

55bd436

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

offset path bound

fc9577d

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

no need to make return value optional

705370d

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

address deprecation warning

3282827

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

add doxygen comments

52f70bb

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

support multiple previous/next lanelets

25da06b

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

fix path bound cut issue

7ddf34f

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

group parameters

e118a66

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

kosuke55 force-pushed the feat/path_generator branch from 2b8ba7f to e118a66 Compare February 23, 2025 09:30

use autoware_utils

114f927

Signed-off-by: kosuke55 <[email protected]>

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kosuke55 added 3 commits February 24, 2025 00:02

fix pre-commit

6a3c531

Signed-off-by: kosuke55 <[email protected]>

fix pre-commit

9b3ae3e

Signed-off-by: kosuke55 <[email protected]>

Revert "fix pre-commit"

b80461a

This reverts commit 9b3ae3e. Revert "fix pre-commit" This reverts commit 6a3c531. Revert "test(path_generator): add tests (#1)" This reverts commit 7773976.

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test(path_generator): add tests mitukou1109/autoware.core#1

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kosuke55 merged commit d3f360f into autowarefoundation:main Feb 24, 2025
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test(path_generator): add tests #215

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mitukou1109 deleted the feat/path_generator branch March 12, 2025 04:59

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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

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

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What we doing/found:

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