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feat(factors_panel, tier4_state_rviz_plugin): check abrupt deceleration #1674

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merged 2 commits into from
Dec 2, 2024
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feat(factors_panel, tier4_state_rviz_plugin): check abrupt deceleration #1674

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4982d90
fix(factors_panel): sort by distance to stop/decel or point where it …
satoshi-ota Nov 18, 2024
365efeb
feat(tier4_state_rviz_plugin): check for abrupt deceleration (#9474)
mitukou1109 Dec 2, 2024
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1 change: 1 addition & 0 deletions common/tier4_state_rviz_plugin/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_motion_utils</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>libqt5-core</depend>
<depend>libqt5-gui</depend>
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17 changes: 15 additions & 2 deletions common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp
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Expand Up @@ -17,18 +17,19 @@
#ifndef VELOCITY_STEERING_FACTORS_PANEL_HPP_
#define VELOCITY_STEERING_FACTORS_PANEL_HPP_

#include <QDoubleSpinBox>
#include <QGroupBox>
#include <QLabel>
#include <QLayout>
#include <QPushButton>
#include <QSpinBox>
#include <QTableWidget>
#include <rclcpp/rclcpp.hpp>
#include <rviz_common/panel.hpp>

#include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
#include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
#include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>

#include <memory>

Expand All @@ -49,6 +50,11 @@ class VelocitySteeringFactorsPanel : public rviz_common::Panel
void onInitialize() override;

protected:
static constexpr double JERK_DEFAULT = 1.0;
static constexpr double DECEL_LIMIT_DEFAULT = 1.0;

static constexpr QColor COLOR_FREAK_PINK = {255, 0, 108};

// Layout
QGroupBox * makeVelocityFactorsGroup();
QGroupBox * makeSteeringFactorsGroup();
Expand All @@ -58,7 +64,14 @@ class VelocitySteeringFactorsPanel : public rviz_common::Panel
// Planning
QTableWidget * velocity_factors_table_{nullptr};
QTableWidget * steering_factors_table_{nullptr};
QDoubleSpinBox * jerk_input_{nullptr};
QDoubleSpinBox * decel_limit_input_{nullptr};

nav_msgs::msg::Odometry::ConstSharedPtr kinematic_state_;
geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr acceleration_;

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_kinematic_state_;
rclcpp::Subscription<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr sub_acceleration_;
rclcpp::Subscription<VelocityFactorArray>::SharedPtr sub_velocity_factors_;
rclcpp::Subscription<SteeringFactorArray>::SharedPtr sub_steering_factors_;

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79 changes: 73 additions & 6 deletions common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include <QHeaderView>
#include <QString>
#include <QVBoxLayout>
#include <autoware/motion_utils/distance/distance.hpp>
#include <rviz_common/display_context.hpp>

#include <memory>
Expand All @@ -46,15 +47,36 @@ QGroupBox * VelocitySteeringFactorsPanel::makeVelocityFactorsGroup()
auto vertical_header = new QHeaderView(Qt::Vertical);
vertical_header->hide();
auto horizontal_header = new QHeaderView(Qt::Horizontal);
horizontal_header->setSectionResizeMode(QHeaderView::Stretch);
horizontal_header->setSectionResizeMode(QHeaderView::ResizeToContents);
horizontal_header->setStretchLastSection(true);

auto header_labels = QStringList({"Type", "Status", "Distance [m]", "Detail"});
velocity_factors_table_ = new QTableWidget();
velocity_factors_table_->setColumnCount(header_labels.size());
velocity_factors_table_->setHorizontalHeaderLabels(header_labels);
velocity_factors_table_->setVerticalHeader(vertical_header);
velocity_factors_table_->setHorizontalHeader(horizontal_header);
grid->addWidget(velocity_factors_table_, 0, 0);
grid->addWidget(velocity_factors_table_, 0, 0, 4, 1);

auto * jerk_label = new QLabel("Jerk");
grid->addWidget(jerk_label, 0, 1);

jerk_input_ = new QDoubleSpinBox;
jerk_input_->setMinimum(0.0);
jerk_input_->setValue(JERK_DEFAULT);
jerk_input_->setSingleStep(0.1);
jerk_input_->setSuffix(" [m/s\u00B3]");
grid->addWidget(jerk_input_, 1, 1);

auto * decel_limit_label = new QLabel("Decel limit");
grid->addWidget(decel_limit_label, 2, 1);

decel_limit_input_ = new QDoubleSpinBox;
decel_limit_input_->setMinimum(0.0);
decel_limit_input_->setValue(DECEL_LIMIT_DEFAULT);
decel_limit_input_->setSingleStep(0.1);
decel_limit_input_->setSuffix(" [m/s\u00B2]");
grid->addWidget(decel_limit_input_, 3, 1);

group->setLayout(grid);
return group;
Expand Down Expand Up @@ -90,6 +112,17 @@ void VelocitySteeringFactorsPanel::onInitialize()
raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();

// Planning
sub_kinematic_state_ = raw_node_->create_subscription<nav_msgs::msg::Odometry>(
"/localization/kinematic_state", 10,
[this](const nav_msgs::msg::Odometry::ConstSharedPtr msg) { kinematic_state_ = msg; });

sub_acceleration_ =
raw_node_->create_subscription<geometry_msgs::msg::AccelWithCovarianceStamped>(
"/localization/acceleration", 10,
[this](const geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr msg) {
acceleration_ = msg;
});

sub_velocity_factors_ = raw_node_->create_subscription<VelocityFactorArray>(
"/api/planning/velocity_factors", 10,
std::bind(&VelocitySteeringFactorsPanel::onVelocityFactors, this, _1));
Expand All @@ -104,8 +137,15 @@ void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray::
velocity_factors_table_->clearContents();
velocity_factors_table_->setRowCount(msg->factors.size());

for (std::size_t i = 0; i < msg->factors.size(); i++) {
const auto & e = msg->factors.at(i);
auto sorted = *msg;

// sort by distance to the decel/stop point.
std::sort(sorted.factors.begin(), sorted.factors.end(), [](const auto & a, const auto & b) {
return a.distance < b.distance;
});

for (std::size_t i = 0; i < sorted.factors.size(); i++) {
const auto & e = sorted.factors.at(i);

// behavior
{
Expand Down Expand Up @@ -148,6 +188,26 @@ void VelocitySteeringFactorsPanel::onVelocityFactors(const VelocityFactorArray::
label->setAlignment(Qt::AlignCenter);
velocity_factors_table_->setCellWidget(i, 3, label);
}

const auto row_background = [&]() -> QBrush {
if (!kinematic_state_ || !acceleration_) {
return {};
}
const auto & current_vel = kinematic_state_->twist.twist.linear.x;
const auto & current_acc = acceleration_->accel.accel.linear.x;
const auto acc_min = -decel_limit_input_->value();
const auto jerk_acc = jerk_input_->value();
const auto decel_dist = autoware::motion_utils::calcDecelDistWithJerkAndAccConstraints(
current_vel, 0., current_acc, acc_min, jerk_acc, -jerk_acc);
if (decel_dist > e.distance && e.distance >= 0 && e.status == VelocityFactor::APPROACHING) {
return COLOR_FREAK_PINK;
}
return {};
}();
for (int j = 0; j < velocity_factors_table_->columnCount(); j++) {
velocity_factors_table_->setItem(i, j, new QTableWidgetItem);
velocity_factors_table_->item(i, j)->setBackground(row_background);
}
}
velocity_factors_table_->update();
}
Expand All @@ -157,8 +217,15 @@ void VelocitySteeringFactorsPanel::onSteeringFactors(const SteeringFactorArray::
steering_factors_table_->clearContents();
steering_factors_table_->setRowCount(msg->factors.size());

for (std::size_t i = 0; i < msg->factors.size(); i++) {
const auto & e = msg->factors.at(i);
auto sorted = *msg;

// sort by distance to the point where it starts moving the steering.
std::sort(sorted.factors.begin(), sorted.factors.end(), [](const auto & a, const auto & b) {
return a.distance.front() < b.distance.front();
});

for (std::size_t i = 0; i < sorted.factors.size(); i++) {
const auto & e = sorted.factors.at(i);

// behavior
{
Expand Down
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