From 82a55238e52c58016c512553f6de851a6cb8a12a Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Wed, 3 Aug 2022 22:20:22 +0900 Subject: [PATCH 01/54] feat: move lanelet2_extension from autoware.universe (#90) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * feat: add map packages (#8) * release v0.4.0 * add resolution param in lanelet2_extension (#760) * Fix/extend drivable area beyond goal (#781) * update llt2 extention query func Signed-off-by: Kosuke Murakami * extend drivable area over goal point Signed-off-by: Kosuke Murakami * apply clang Signed-off-by: Kosuke Murakami * update get preeceeding func Signed-off-by: Kosuke Murakami * update preceeding func in lanechange Signed-off-by: Kosuke Murakami * update comment Signed-off-by: Kosuke Murakami * Fix intersection preceeding lane query (#807) * modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences() Signed-off-by: mitsudome-r * update comment Signed-off-by: mitsudome-r * Install executables in lanelet2_map_preprocessor (#834) Signed-off-by: mitsudome-r * remove ROS1 packages temporarily Signed-off-by: mitsudome-r * Revert "remove ROS1 packages temporarily" This reverts commit 3290a8b9e92c9eae05d9159c8b9fd56ca8935c01. Signed-off-by: mitsudome-r * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r * Rename launch files to launch.xml (#28) * port map_tf_generator (#32) * port map_tf_generator Signed-off-by: Takamasa Horibe * add missing dependency Signed-off-by: Takamasa Horibe * fix pointor, tf_broadcaster, add compile option Signed-off-by: Takamasa Horibe * use ament_auto Signed-off-by: Takamasa Horibe * Port lanelet2 extension (#36) * remove COLCON_IGNORE Signed-off-by: mitsudome-r * port to ROS2 Signed-off-by: mitsudome-r * minor fix Signed-off-by: mitsudome-r * fix CI Signed-off-by: mitsudome-r * remove unnecessary semi-colon Signed-off-by: mitsudome-r * fix library to executable for lanelet2_extension_sample and autoware_lanelet2_validation Signed-off-by: mitsudome-r * fix usage for ROS2 Signed-off-by: mitsudome-r * fix usage message and parameter declaration Signed-off-by: mitsudome-r * fix getting map_file parameter Signed-off-by: mitsudome-r * Port map loader (#44) * port map_loader to ROS2 Signed-off-by: mitsudome-r * fix unintended change Signed-off-by: mitsudome-r * Update map/map_loader/CMakeLists.txt Co-authored-by: Takamasa Horibe Co-authored-by: Takamasa Horibe * Add geometry2 to repos (#76) * add geometry2 package temporarily until new release Signed-off-by: mitsudome-r * trigger-ci Signed-off-by: mitsudome-r * add tf2 dependency to the packages that use tf2_geometry_msgs Signed-off-by: mitsudome-r * Revert "Add geometry2 to repos (#76)" (#96) * Revert "Add geometry2 to repos (#76)" This reverts commit 7dbe25ed5ff7d5f413fda567dcc77a70c79a7826. * Re-add tf2 dependencies * Revert "Re-add tf2 dependencies" This reverts commit e23b0c8b0826cf9518924d33349f9de34b4975df. * Debug CI pipeline * Revert "Debug CI pipeline" This reverts commit 58f1eba550360d82c08230552abfb64b33b23e0f. * Explicitly install known versions of the geometry packages * No need to skip tf2 packages anymore Co-authored-by: Esteve Fernandez * Rename h files to hpp (#142) * Change includes * Rename files * Adjustments to make things compile * Other packages * Adjust copyright notice on 532 out of 699 source files (#143) * Use quotes for includes where appropriate (#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Run uncrustify on the entire Pilot.Auto codebase (#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs * fixing trasient_local in ROS2 packages (#160) * added linters to lanelet1_extension (#170) * adding linters to map_loader (#171) * adding linters to map_tf_generator (#172) * apply env_var to use_sim_time (#222) * Ros2 v0.8.0 map loader and lanelet2 extension (#279) * Ros2 v0.8 fix typo of "preceding" (#323) * Fix typo of getPrecedingLaneletSequences * Fix comment * Fix rviz2 low FPS (#390) * add nullptr check when publish concatenate data (#369) * Add warning msg when concat pointcloud is not published (#388) Signed-off-by: Kenji Miyake * Change lineString2Marker Signed-off-by: Takagi, Isamu * Change trafficLight2TriangleMarker Signed-off-by: Takagi, Isamu * Change laneletDirectionAsMarker Signed-off-by: Takagi, Isamu * Remove debug code Signed-off-by: Takagi, Isamu * Fix linter problems Signed-off-by: Takagi, Isamu Co-authored-by: Taichi Higashide Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * [map_loader] modify colors for lane markers for better visualization (#398) Signed-off-by: mitsudome-r * fix empty marker (#423) * Fix typo in map module (#437) * add license (#443) Signed-off-by: Kosuke Murakami * avoid pushing empty marker (#441) * avoid pushing empty marker * size0 -> empty * add use_sim-time option (#454) * Sync public repo (#1228) * [simple_planning_simulator] add readme (#424) * add readme of simple_planning_simulator Signed-off-by: Takamasa Horibe * Update simulator/simple_planning_simulator/README.md * set transit_margin_time to intersect. planner (#460) * Fix pose2twist (#462) Signed-off-by: Takagi, Isamu * Ros2 vehicle info param server (#447) * add vehicle_info_param_server * update vehicle info * apply format * fix bug * skip unnecessary search * delete vehicle param file * fix bug * Ros2 fix topic name part2 (#425) * Fix topic name of traffic_light_classifier Signed-off-by: Takagi, Isamu * Fix topic name of traffic_light_visualization Signed-off-by: Takagi, Isamu * Fix topic name of traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu * Fix topic name of traffic_light_map_based_detector Signed-off-by: Takagi, Isamu * Fix lint traffic_light_recognition Signed-off-by: Takagi, Isamu * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu * Fix issues in hdd_reader (#466) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct * fix: re-construct laneletMapLayer for reindex RTree (#463) * Rviz overlay render fix (#461) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski * super class now back to MFD Signed-off-by: Adam Dabrowski * uncrustified Signed-off-by: Adam Dabrowski * acquire data in mutex Signed-off-by: Adam Dabrowski * back to RTD as superclass Signed-off-by: Adam Dabrowski * Rviz overlay render in update (#465) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski * super class now back to MFD Signed-off-by: Adam Dabrowski * uncrustified Signed-off-by: Adam Dabrowski * acquire data in mutex Signed-off-by: Adam Dabrowski * removed unnecessary includes and some dead code Signed-off-by: Adam Dabrowski * Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass Signed-off-by: Adam Dabrowski * restored RTD superclass Signed-off-by: Adam Dabrowski Co-authored-by: Takamasa Horibe Co-authored-by: tkimura4 Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kazuki Miyahara Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski * Revert "fix: re-construct laneletMapLayer for reindex RTree (#463)" (#1229) This reverts commit d2ecdfe4c58cb4544c9a3ee84947b36b7ee54421. * add pcd file check (#1232) * add pcd file check * add space * add & * use namespace * Unify Apache-2.0 license name (#1242) * Remove use_sim_time for set_parameter (#1260) Signed-off-by: wep21 * Map components (#1311) * Make pointcloud map loader component Signed-off-by: wep21 * Make lanelet2 map loader component Signed-off-by: wep21 * Make map tf generator component Signed-off-by: wep21 * Apply lint Signed-off-by: wep21 * Rename parameter for lanelet2 map path Signed-off-by: wep21 * Fix license Signed-off-by: wep21 * Add comment for filesystem Signed-off-by: wep21 * Fix variable name for glob Signed-off-by: wep21 * Fix dependency for query (#1519) * Fix a small bug (#1644) * Fix minor flaws detected by Clang-Tidy (#1647) - misc-throw-by-value-catch-by-reference - cppcoreguidelines-init-variables - readability-isolate-declaration * Add pre-commit (#1560) * add pre-commit * add pre-commit-config * add additional settings for private repository * use default pre-commit-config * update pre-commit setting * Ignore whitespace for line breaks in markdown * Update .github/workflows/pre-commit.yml Co-authored-by: Kazuki Miyahara * exclude svg * remove pretty-format-json * add double-quote-string-fixer * consider COLCON_IGNORE file when seaching modified package * format file * pre-commit fixes * Update pre-commit.yml * Update .pre-commit-config.yaml Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Porting traffic light viz (#1284) * Feature/traffic light viz (#1001) * add tl map viz * bug fix * update map visualizer * add launch * add install in cmake * remove unused file * fix build error * Fix lint Signed-off-by: wep21 * Fix typo Signed-off-by: wep21 * Fix topic name and qos Signed-off-by: wep21 * Replace deprecated duration api Signed-off-by: wep21 Co-authored-by: Yukihiro Saito Co-authored-by: wep21 * Add markdownlint and prettier (#1661) * Add markdownlint and prettier Signed-off-by: Kenji Miyake * Ignore .param.yaml Signed-off-by: Kenji Miyake * Apply format Signed-off-by: Kenji Miyake * Feature/compare elevation map (#1488) * suppress warnings for declare parameters (#1724) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor * fix for dummy diag publisher * fix for remote cmd converter * fix for vehicle_info_util * fix for multi object tracker * fix for freespace planner * fix for autoware_error_monitor * add Werror for multi object tracker * fix for multi object tracker * add Werror for liraffic light ssd fine detector * add Werror for topic state monitor * add Werror * add Werror * add Werror * add Werror * fix style * suppress warnings for map (#1773) * add compile option * fix error * add compile option * add maybe unused * fix sign-compare * delete unused * add parentheses * fix for uncrusify * Fix typo * use U * use U Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Fix clang warnings (#1859) * Fix -Wreturn-std-move Signed-off-by: Kenji Miyake * Fix -Wunused-private-field Signed-off-by: Kenji Miyake * Ignore -Wnonportable-include-path for mussp Signed-off-by: Kenji Miyake * Fix -Wunused-const-variable Signed-off-by: Kenji Miyake * Fix "can not be used when making a shared object" Signed-off-by: Kenji Miyake * Sync v1.3.0 (#1909) * Add elevation_map to autoware_state_monitor (#1907) Signed-off-by: kosuke55 * Disable saving elevation map temporarily (#1906) Signed-off-by: kosuke55 * Fix typos in README of map_loader (#1923) * Fix typos in README of map_loader * Apply Prettier * fix some typos (#1941) * fix some typos * fix typo * Fix typo Signed-off-by: Kenji Miyake Co-authored-by: Kenji Miyake * Add autoware api (#1979) * Invoke code formatter at pre-commit (#1935) * Run ament_uncrustify at pre-commit * Reformat existing files * Fix copyright and cpplint errors Signed-off-by: Kenji Miyake Co-authored-by: Kenji Miyake * Save elevation_map with pcd md5sum (#1988) * Save elevation_map with pcd md5sum Signed-off-by: kosuke55 * Update sample launch * Fix cpplint * Use hash-library instead of openssl * Use call by reference * Apply format * Set CMAKE_CXX_STANDARD 17 * Save input_pcd.json and shorten directory name when loading multiple pcd * Remove erasing last _ * Modify concatenating file path * Apply Format * Add hash_library_vendor to build_depends.repos * Modify include way * Change function and variable names * Use return * Remove unnecessary input variable * Use unique_ptr * Rename digestMd5 to digest_md5 * Modify variable name * Remove file.close() * Use hash of json * Read hash of json directory * Add newline to package.xml * Add isPcdFile * Fix pre-commit * Use icPcdFile when giving file of pcd * Feature/add virtual traffic light planner (#1588) * Fix deprecated constant of transient local (#1994) Signed-off-by: Takagi, Isamu * Fix lint errors in lanelet2_extension (#2028) Signed-off-by: Kenji Miyake * add sort-package-xml hook in pre-commit (#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * Revert "[map_loader] modify colors for lane markers for better visualization (#398)" (#2063) This reverts commit 046dc9a770bf03fb8813ddf6aa1b2f05e9357b67. * Fix elevation_map_loader downsample (#2055) * Add elevation_map data dir (#2093) * Minor fixes of map_loader's README (#2116) * Minor fixes of map_loader's README * Fix map_loader run command Co-authored-by: kosuke55 * Fix elevation_map hash due to mutiple slashes of pcd path (#2192) * Fix elevation_map hash due to mutiple slashes of pcd path * Use filesystem lexically_normal * Fix broken links of images on lanelet2_extension docs (#2206) * Add lanelet XML API (#2262) * show traffic light id marker (#1554) (#1678) * show traffic light id * fix typo Co-authored-by: satoshi-ota Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota * Feature/porting behavior path planner (#1645) * Add behavior path planner pkg with Lane Change (#1525) * add lanelet extension funcs Signed-off-by: Takamasa Horibe * add planning msgs for FOA Signed-off-by: Takamasa Horibe * add behavior_path_planner pkg Signed-off-by: Takamasa Horibe * apply clang format Signed-off-by: Takamasa Horibe * add error handling for config load failure Signed-off-by: Takamasa Horibe * replace word: foa with remote control Signed-off-by: Takamasa Horibe * add readme Signed-off-by: Takamasa Horibe * use pointer for return value of path Signed-off-by: Takamasa Horibe * fix hz Signed-off-by: Takamasa Horibe * remove debug print Signed-off-by: Takamasa Horibe * remove shide-shift & avoidance related files Signed-off-by: Takamasa Horibe * Clip path by goal * add build depend for behavior tree cpp Signed-off-by: Takamasa Horibe * temporally disable lint test in lanelet2_extension Signed-off-by: Takamasa Horibe Co-authored-by: rej55 * Add avoidance module in behavior_path_planner (#1528) * Revert "remove shide-shift & avoidance related files" This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2. * refactor findNewShiftPoint func Signed-off-by: Takamasa Horibe * remove duplicated decleration Signed-off-by: Takamasa Horibe * fix barkward length issue - add clipPathLenght func in avoidance Signed-off-by: Takamasa Horibe * refactor: - translate english - minor modification for traffic distance Signed-off-by: Takamasa Horibe * support debug marker in behavior_path_planner Signed-off-by: Takamasa Horibe * clean up side shift module Signed-off-by: Takamasa Horibe * change topic name Signed-off-by: Takamasa Horibe * remove japanese Signed-off-by: Takamasa Horibe * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp Co-authored-by: Yukihiro Saito * fix typo Signed-off-by: Takamasa Horibe * remove unused var Signed-off-by: Takamasa Horibe * adress reviewer comments: - add const for variables - add comment - fix typo Signed-off-by: Takamasa Horibe * fix typo Signed-off-by: Takamasa Horibe Co-authored-by: Yukihiro Saito * Replace behavior_path utilities with autoware_utils (#1532) * replace calcDistance Signed-off-by: Takamasa Horibe * replace arange Signed-off-by: Takamasa Horibe * replave convertToEigenPt with autoware_utils::fromMsg Signed-off-by: Takamasa Horibe * replace normalizeRadian Signed-off-by: Takamasa Horibe * cosmetic change Signed-off-by: Takamasa Horibe * import #1526 into behavior path planner (#1531) Signed-off-by: Takamasa Horibe * Fix/behavior path empty path output guard (#1536) * add guard Signed-off-by: Takamasa Horibe * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp * fix lateral jerk calculation (#1549) Signed-off-by: Takamasa Horibe * fix: error handling on exception in behavior_path_planner (#1551) Signed-off-by: Takamasa Horibe * Fix ignore too steep avoidance path (#1550) * ignore too steep path Signed-off-by: Takamasa Horibe * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp * parametrize lateral jerk limit Signed-off-by: Takamasa Horibe * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp Co-authored-by: tkimura4 Co-authored-by: tkimura4 * use offsetNoThrow and add error log (#1615) Signed-off-by: Takamasa Horibe * Ignore object ahead goal for avoidance (#1618) * Ignore object ahead goal for avoidance * Add flag * Fix position of definition of goal_pose * Fix arclength calculation * Fix position of definition of goal_pose * fix intersection stop line (#1636) * fix intersection stop line * fix typo * add document (#1635) Signed-off-by: Takamasa Horibe * Port behavior path planner to ros2 Signed-off-by: wep21 * Apply lint Signed-off-by: wep21 * Fix typo Signed-off-by: wep21 * Fix map qos Signed-off-by: wep21 * debug slope calculation in behavior (#1566) * update * update * revert change of autoware_utils * define getPose in behavior_path_planner * update * update * update * update * interpolate z in obstacle_avoidance_planner * update velocity controller * fix detection area and scene * Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp Co-authored-by: tkimura4 * update comment in velocity controller * remove debug print * update Co-authored-by: tkimura4 * Address review: Fix config file name Signed-off-by: wep21 * pre-commit fixes Signed-off-by: wep21 * Fix redeclaring parameters Signed-off-by: wep21 * Add missing tf2 geometry function Signed-off-by: wep21 * Apply lint Signed-off-by: wep21 * Fix rclcpp Time initialization Signed-off-by: wep21 * Use now() instead of msg stamp Signed-off-by: wep21 * Use throttle output in getExpandedLanelet Signed-off-by: wep21 * Add missing const Signed-off-by: wep21 * Fix lint Signed-off-by: wep21 Co-authored-by: Takamasa Horibe Co-authored-by: rej55 Co-authored-by: Yukihiro Saito Co-authored-by: tkimura4 Co-authored-by: Takayuki Murooka * change type of traffic light marker (SPHERE_LIST->SPHERE) (#1789) * fix alpha (#1797) * Feature/improve intersection detection area (#1958) * exclude ego_lanes from detection_area * add empty handling * remove unused function * Fix for uncrustify Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Apply format (#1999) Signed-off-by: Kenji Miyake Fix cpplint Signed-off-by: Kenji Miyake * Feature/expand drivable area (#1812) * check if ego lane has adjacent lane or not * expand drivable area by using lanelet * remove unnecessary operator * use extra drivable area * fix variable names * fix indent * get polygon by id * fix variable name * remove redundant logic * update area name * disable expand by default Co-authored-by: satoshi-ota * add shoulder road lanelets (#2121) * add shoulder lanelets * Update map/lanelet2_extension/lib/query.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Update map/lanelet2_extension/lib/visualization.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Update map/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Update map/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Update map/lanelet2_extension/lib/visualization.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Feature/no stopping area reg element (#2144) * add no stopping area to ll2 * add no stopping area visualization * add no stopping area marker to RVIZ * make no stopping area stop line as optional * Update map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tkimura4 * Add document for new map format (#1778) * add roadside lane doc * fix typo * fix typo * fix typo * fix typo * Add markdown lint * add reason for new subtype definition * fix typo Co-authored-by: kyoichi * Change formatter to clang-format and black (#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake * Apply Black Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Add COLCON_IGNORE (#500) Signed-off-by: Kenji Miyake * port lanelet2_extension (#483) * port with auto_msgs * remove COLCON_IGNORE Co-authored-by: Takayuki Murooka * port map loader (#508) * remove COLCON_IGNORE in system_packages and map_tf_generator (#532) * add readme (#561) * fix old description Co-authored-by: mitsudome-r Co-authored-by: Taichi Higashide Co-authored-by: Kosuke Murakami Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Nikolai Morin Co-authored-by: Takamasa Horibe Co-authored-by: Esteve Fernandez Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: isamu-takagi <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kazuki Miyahara Co-authored-by: tkimura4 Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit Co-authored-by: Yukihiro Saito Co-authored-by: wep21 Co-authored-by: Kosuke Takeuchi Co-authored-by: Hiroki OTA Co-authored-by: Kenji Miyake Co-authored-by: Takeshi Ishita Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota Co-authored-by: rej55 Co-authored-by: Takayuki Murooka Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> Co-authored-by: kyoichi Co-authored-by: Takayuki Murooka Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> * fix: fix isInLanelet (#770) (#151) Signed-off-by: wep21 Co-authored-by: Fumiya Watanabe * fix: fix angle diff calculation of mission_planner (#772) (#152) Signed-off-by: wep21 Co-authored-by: Takayuki Murooka Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix(lanelet2_extension): add guard for inner product (#256) * fix: add guard for inner product Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * ci(pre-commit): autofix Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * fix: delete unnecessary comments Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * Update map/lanelet2_extension/lib/query.cpp Co-authored-by: Hiroki OTA Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * delete equal in comparison operator Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * fix: use normilized radian for calculation of angle difference Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA * fix(lanelet2_extension): fix getAngleDifference (#264) * chore(query): update and add gtest Signed-off-by: tanaka3 * ci(pre-commit): autofix * chore(query): add deprecated attribute to getAngleDifference Signed-off-by: tanaka3 * chore(query): deprecated as comment to avoid clang errror Signed-off-by: tanaka3 * Revert "chore(query): deprecated as comment to avoid clang errror" This reverts commit 28cc95d75ae55ddeef3813c91c18f0a02b95a41d. Signed-off-by: tanaka3 * Revert "chore(query): add deprecated attribute to getAngleDifference" This reverts commit 3b56ce7a91d76a029eadc190b224a295c01eb02f. Signed-off-by: tanaka3 * Revert "ci(pre-commit): autofix" This reverts commit 61e05c4718eef343f8ba198fe46e501048e0b784. Signed-off-by: tanaka3 * Revert "chore(query): update and add gtest" This reverts commit 027c4cf53883c233f28da75c633e53278ce2a1ca. Signed-off-by: tanaka3 * fix(lanelet2_extension): fix getAngleDifference Signed-off-by: tanaka3 * fix(lanelet2_extension): ref value Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: tanaka3 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * feat(lanelet2_extension,map_loader): add guard_rail wall fence as lanelet tag (#478) * feat(lanelet2_extension): add guard_rails fence wall as lanelet tag Signed-off-by: tanaka3 * feat(map_loader): add visualization for partion lanelet Signed-off-by: tanaka3 * fix(tier4_autoware_utils): modify build error in rolling (#720) * fix(tier4_autoware_utils): modify build error in rolling Signed-off-by: wep21 * fix(lanelet2_extension): add target compile definition for geometry2 Signed-off-by: wep21 * fix(ekf_localizer): add target compile definition for geometry2 Signed-off-by: wep21 * fix(freespace_planning_algorithms): add target compile definition for geometry2 Signed-off-by: wep21 * fix(interpolation): add target compile definition for geometry2 Signed-off-by: wep21 * fix(freespace_planner): add target compile definition for geometry2 Signed-off-by: wep21 * fix(lane_departure_checker): add target compile definition for geometry2 Signed-off-by: wep21 * fix(map_based_prediction): add target compile definition for geometry2 Signed-off-by: wep21 * fix(ground_segmentation): add target compile definition for geometry2 Signed-off-by: wep21 * fix(motion_velocity_smoother): add target compile definition for geometry2 Signed-off-by: wep21 * fix(multi_object_tracker): add target compile definition for geometry2 Signed-off-by: wep21 * fix(trajectory_follower): add target compile definition for geometry2 Signed-off-by: wep21 * fix(control_performance_analysis): add target compile definition for geometry2 Signed-off-by: wep21 * fix(detected_object_validation): add target compile definition for geometry2 Signed-off-by: wep21 * fix(goal_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 * fix(ndt_scan_matcher): add target compile definition for geometry2 Signed-off-by: wep21 * fix(route_handler): add target compile definition for geometry2 Signed-off-by: wep21 * fix(behavior_path_planner): add target compile definition for geometry2 Signed-off-by: wep21 * fix(mission_planner): add target compile definition for geometry2 Signed-off-by: wep21 * fix(obstacle_avoidance_planner): add target compile definition for geometry2 Signed-off-by: wep21 * fix(obstacle_stop_planner): add target compile definition for geometry2 Signed-off-by: wep21 * fix(obstacle_collision_checker): add target compile definition for geometry2 Signed-off-by: wep21 * fix(shape_estimation): add target compile definition for geometry2 Signed-off-by: wep21 * fix(behavior_velocity_planner): add target compile definition for geometry2 Signed-off-by: wep21 * fix(path_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 * fix(detection_by_tracker): add target compile definition for geometry2 Signed-off-by: wep21 * fix(surround_obstacle_checker): add target compile definition for geometry2 Signed-off-by: wep21 * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 Signed-off-by: wep21 * fix(tier4_debug_tools): add target compile definition for geometry2 Signed-off-by: wep21 * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 Signed-off-by: wep21 * fix(pure_pursuit): add target compile definition for geometry2 Signed-off-by: wep21 * fix(trajectory_follower_nodes): add target compile definition for geometry2 Signed-off-by: wep21 * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 Signed-off-by: wep21 * fix(traffic_light_map_based_detector): add target compile definition for geometry2 Signed-off-by: wep21 * fix(planning_error_monitor): add target compile definition for geometry2 Signed-off-by: wep21 * fix(planning_evaluator): add target compile definition for geometry2 Signed-off-by: wep21 * fix(lidar_centerpoint): add target compile definition for geometry2 Signed-off-by: wep21 * style: fix format of package.xml (#844) Signed-off-by: Kenji Miyake * chore: remove bad chars (#845) Signed-off-by: Kenji Miyake * refactor: use autoware cmake (#849) * remove autoware_auto_cmake Signed-off-by: Kenji Miyake * add build_depend of autoware_cmake Signed-off-by: Kenji Miyake * use autoware_cmake in CMakeLists.txt Signed-off-by: Kenji Miyake * fix bugs Signed-off-by: Kenji Miyake * fix cmake lint errors Signed-off-by: Kenji Miyake * refactor: simplify Rolling support (#854) Signed-off-by: Kenji Miyake * chore: upgrade cmake_minimum_required to 3.14 (#856) Signed-off-by: Kenji Miyake * feat: isolate gtests in all packages (#693) Signed-off-by: Maxime CLEMENT * feat(behavior_path_planner): weakened noise filtering of drivable area (#838) * feat(behavior_path_planner): Weakened noise filtering of drivable area Signed-off-by: Takayuki Murooka * fix lanelet's longitudinal disconnection Signed-off-by: Takayuki Murooka * add comments of erode/dilate process Signed-off-by: Takayuki Murooka * feat: visualize lane boundaries (#923) * feat: visualize lane boundaries * fix: start_bound * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(map_loader): visualize center line by points (#931) * feat: visualize center line points * fix: delete space * feat: visualize center line by arrow * revert insertMarkerArray * fix: delete space * fix(lanelet2_extension): fix low FPS when visualizing center_line_arrows at a large map (#1032) * fix(lanelet2_extension): fix low FPS when visualizing center_line_arrows at a large map Signed-off-by: h-ohta * fix: fix size * feat: change arrow size * fix(lanelet2_extension): remove unnecessary error message (#1043) Signed-off-by: Takayuki Murooka * feat(intersection): add conflicting area with margin debug (#1021) * add detection area margin debug Signed-off-by: 1222-takeshi * extention lanelet in intersection function * feat: add conflicting area with margin Signed-off-by: 1222-takeshi * fix(intersection_module): remove unnecessary comment Signed-off-by: 1222-takeshi * fix check collision Signed-off-by: 1222-takeshi * fix(intersection_module): remove unnecessary diff Signed-off-by: 1222-takeshi * ci(pre-commit): autofix * fix(intersection_module): fix expand lane only right bound Signed-off-by: 1222-takeshi * fix(intersection_module): remove calc of detection area to object distance Signed-off-by: 1222-takeshi * ci(pre-commit): autofix * fix(intersection_module): split lane extentions Signed-off-by: 1222-takeshi * ci(pre-commit): autofix * refactor: lanelet::utils::resamplePoints -> resamplePoints Signed-off-by: 1222-takeshi * feat: add right and left margin parameter Signed-off-by: 1222-takeshi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix: is_in_parking_lot check method (#992) Signed-off-by: NorahXiong * fix(behavior_velocity_planner): use only forward path for launching module (#1028) * fix(behavior_velocity_planner): use only foward path for launching module Signed-off-by: kosuke55 * Make functions common Signed-off-by: kosuke55 * Fix precommit include_what_you_use Signed-off-by: kosuke55 * Move functions to utils Signed-off-by: kosuke55 * feat(lanelet2_extension): add route checker (#1149) * feat(lanelet2_extension): add route checker Signed-off-by: Shumpei Wakabayashi * chore: move pkg from tier4_autoware_utils to lanelet2_extension Signed-off-by: Shumpei Wakabayashi * fix: test Signed-off-by: Shumpei Wakabayashi * ci(pre-commit): autofix * chore: add comment Signed-off-by: Shumpei Wakabayashi * ci(pre-commit): autofix * chore: rm unused pkg Signed-off-by: Shumpei Wakabayashi * Update map/lanelet2_extension/test/src/test_route_checker.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update map/lanelet2_extension/test/src/test_route_checker.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: update code style Signed-off-by: Shumpei Wakabayashi * ci(pre-commit): autofix * fix: change interface Signed-off-by: Shumpei Wakabayashi * ci(pre-commit): autofix * fix: change style Signed-off-by: Shumpei Wakabayashi * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * docs(lanelet2_extention): add route cheker and update launching args (#1205) * docs(lanelet2_extention): update lanelet2 validation Signed-off-by: Shumpei Wakabayashi * docs(lanelet2_extention): add route checker Signed-off-by: Shumpei Wakabayashi * docs: update README Signed-off-by: Kenji Miyake * refactor Signed-off-by: Kenji Miyake * fix Clang-Tidy warnings Signed-off-by: Kenji Miyake * apply diff Signed-off-by: Kenji Miyake * add NOLINT Signed-off-by: Kenji Miyake * remove autoware_auto_msgs from reverse_depends/build_depends.repos Signed-off-by: Kenji Miyake * remove reverse_depends/map/lanelet2_extension Signed-off-by: Kenji Miyake * fix typo * use Humble for clang-tidy-differential Signed-off-by: Kenji Miyake * fix clang-tidy warnings Signed-off-by: Kenji Miyake * fix clang-tidy warnings Signed-off-by: Kenji Miyake * fix for cpplint Signed-off-by: Kenji Miyake * apply autowarefoundation/autoware.universe#1506 Signed-off-by: Kenji Miyake Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: mitsudome-r Co-authored-by: Taichi Higashide Co-authored-by: Kosuke Murakami Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Nikolai Morin Co-authored-by: Takamasa Horibe Co-authored-by: Esteve Fernandez Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: isamu-takagi <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kazuki Miyahara Co-authored-by: tkimura4 Co-authored-by: Makoto Tokunaga Co-authored-by: Adam Dąbrowski Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit Co-authored-by: Yukihiro Saito Co-authored-by: wep21 Co-authored-by: Kosuke Takeuchi Co-authored-by: Hiroki OTA Co-authored-by: Takeshi Ishita Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: satoshi-ota Co-authored-by: rej55 Co-authored-by: Takayuki Murooka Co-authored-by: Sugatyon <32741405+Sugatyon@users.noreply.github.com> Co-authored-by: kyoichi Co-authored-by: Takayuki Murooka Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: kyoichi-sugahara <81.s.kyo.19@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> --- lanelet2_extension/CMakeLists.txt | 80 ++ lanelet2_extension/README.md | 93 ++ lanelet2_extension/docs/detection_area.png | Bin 0 -> 37318 bytes .../docs/extra_lanelet_subtypes.md | 45 + .../docs/extra_regulatory_elements.md | 63 + .../docs/lanelet2_format_extension.md | 186 +++ lanelet2_extension/docs/light_bulbs.png | Bin 0 -> 92100 bytes lanelet2_extension/docs/pedestrian_lane.svg | 1 + lanelet2_extension/docs/road_mark.png | Bin 0 -> 22300 bytes lanelet2_extension/docs/road_shoulder.svg | 1 + lanelet2_extension/docs/traffic_light.png | Bin 0 -> 111053 bytes .../docs/traffic_light_regulatory_element.png | Bin 0 -> 116862 bytes lanelet2_extension/docs/turn_direction.png | Bin 0 -> 67105 bytes .../io/autoware_osm_parser.hpp | 63 + .../projection/mgrs_projector.hpp | 116 ++ .../autoware_traffic_light.hpp | 90 ++ .../regulatory_elements/detection_area.hpp | 96 ++ .../regulatory_elements/no_stopping_area.hpp | 94 ++ .../regulatory_elements/road_marking.hpp | 72 + .../virtual_traffic_light.hpp | 82 ++ .../utility/message_conversion.hpp | 98 ++ .../lanelet2_extension/utility/query.hpp | 262 ++++ .../utility/route_checker.hpp | 36 + .../lanelet2_extension/utility/utilities.hpp | 91 ++ .../visualization/visualization.hpp | 277 ++++ .../lib/autoware_osm_parser.cpp | 90 ++ .../lib/autoware_traffic_light.cpp | 146 ++ lanelet2_extension/lib/detection_area.cpp | 154 ++ lanelet2_extension/lib/message_conversion.cpp | 192 +++ lanelet2_extension/lib/mgrs_projector.cpp | 130 ++ lanelet2_extension/lib/no_stopping_area.cpp | 154 ++ lanelet2_extension/lib/query.cpp | 884 ++++++++++++ lanelet2_extension/lib/road_marking.cpp | 77 + lanelet2_extension/lib/route_checker.cpp | 46 + lanelet2_extension/lib/utilities.cpp | 729 ++++++++++ .../lib/virtual_traffic_light.cpp | 65 + lanelet2_extension/lib/visualization.cpp | 1268 +++++++++++++++++ lanelet2_extension/package.xml | 37 + lanelet2_extension/src/sample_code.cpp | 125 ++ lanelet2_extension/src/validation.cpp | 179 +++ .../test/src/test_message_conversion.cpp | 174 +++ .../test/src/test_projector.cpp | 87 ++ lanelet2_extension/test/src/test_query.cpp | 147 ++ .../test/src/test_regulatory_elements.cpp | 145 ++ .../test/src/test_route_checker.cpp | 99 ++ .../test/src/test_utilities.cpp | 123 ++ 46 files changed, 6897 insertions(+) create mode 100644 lanelet2_extension/CMakeLists.txt create mode 100644 lanelet2_extension/README.md create mode 100644 lanelet2_extension/docs/detection_area.png create mode 100644 lanelet2_extension/docs/extra_lanelet_subtypes.md create mode 100644 lanelet2_extension/docs/extra_regulatory_elements.md create mode 100644 lanelet2_extension/docs/lanelet2_format_extension.md create mode 100644 lanelet2_extension/docs/light_bulbs.png create mode 100644 lanelet2_extension/docs/pedestrian_lane.svg create mode 100644 lanelet2_extension/docs/road_mark.png create mode 100644 lanelet2_extension/docs/road_shoulder.svg create mode 100644 lanelet2_extension/docs/traffic_light.png create mode 100644 lanelet2_extension/docs/traffic_light_regulatory_element.png create mode 100644 lanelet2_extension/docs/turn_direction.png create mode 100644 lanelet2_extension/include/lanelet2_extension/io/autoware_osm_parser.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/projection/mgrs_projector.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/utility/message_conversion.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/utility/query.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp create mode 100644 lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp create mode 100644 lanelet2_extension/lib/autoware_osm_parser.cpp create mode 100644 lanelet2_extension/lib/autoware_traffic_light.cpp create mode 100644 lanelet2_extension/lib/detection_area.cpp create mode 100644 lanelet2_extension/lib/message_conversion.cpp create mode 100644 lanelet2_extension/lib/mgrs_projector.cpp create mode 100644 lanelet2_extension/lib/no_stopping_area.cpp create mode 100644 lanelet2_extension/lib/query.cpp create mode 100644 lanelet2_extension/lib/road_marking.cpp create mode 100644 lanelet2_extension/lib/route_checker.cpp create mode 100644 lanelet2_extension/lib/utilities.cpp create mode 100644 lanelet2_extension/lib/virtual_traffic_light.cpp create mode 100644 lanelet2_extension/lib/visualization.cpp create mode 100644 lanelet2_extension/package.xml create mode 100644 lanelet2_extension/src/sample_code.cpp create mode 100644 lanelet2_extension/src/validation.cpp create mode 100644 lanelet2_extension/test/src/test_message_conversion.cpp create mode 100644 lanelet2_extension/test/src/test_projector.cpp create mode 100644 lanelet2_extension/test/src/test_query.cpp create mode 100644 lanelet2_extension/test/src/test_regulatory_elements.cpp create mode 100644 lanelet2_extension/test/src/test_route_checker.cpp create mode 100644 lanelet2_extension/test/src/test_utilities.cpp diff --git a/lanelet2_extension/CMakeLists.txt b/lanelet2_extension/CMakeLists.txt new file mode 100644 index 0000000..a0db7fe --- /dev/null +++ b/lanelet2_extension/CMakeLists.txt @@ -0,0 +1,80 @@ +cmake_minimum_required(VERSION 3.14) +project(lanelet2_extension) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(PkgConfig) +find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h + PATH_SUFFIXES GeographicLib +) +set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR}) + +find_library(GeographicLib_LIBRARIES + NAMES Geographic +) + +find_library(PUGIXML_LIBRARIES + NAMES pugixml +) + +find_path(PUGIXML_INCLUDE_DIRS + NAMES pugixml.hpp + PATH_SUFFIXES pugixml +) + +include_directories( + ${GeographicLib_INCLUDE_DIRS} + ${PUGIXML_INCLUDE_DIRS} +) + +add_definitions(${GeographicLib_DEFINITIONS}) + +ament_auto_add_library(lanelet2_extension_lib SHARED + lib/autoware_osm_parser.cpp + lib/autoware_traffic_light.cpp + lib/detection_area.cpp + lib/no_stopping_area.cpp + lib/message_conversion.cpp + lib/mgrs_projector.cpp + lib/query.cpp + lib/road_marking.cpp + lib/utilities.cpp + lib/virtual_traffic_light.cpp + lib/visualization.cpp + lib/route_checker.cpp +) +target_link_libraries(lanelet2_extension_lib + ${GeographicLib_LIBRARIES} +) + +ament_auto_add_executable(lanelet2_extension_sample src/sample_code.cpp) +add_dependencies(lanelet2_extension_sample lanelet2_extension_lib) +target_link_libraries(lanelet2_extension_sample + lanelet2_extension_lib +) + +ament_auto_add_executable(autoware_lanelet2_validation src/validation.cpp) +add_dependencies(autoware_lanelet2_validation lanelet2_extension_lib) +target_link_libraries(autoware_lanelet2_validation + ${catkin_LIBRARIES} + ${PUGIXML_LIBRARIES} + lanelet2_extension_lib +) + +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(message_conversion-test test/src/test_message_conversion.cpp) + target_link_libraries(message_conversion-test lanelet2_extension_lib) + ament_add_ros_isolated_gtest(projector-test test/src/test_projector.cpp) + target_link_libraries(projector-test lanelet2_extension_lib) + ament_add_ros_isolated_gtest(query-test test/src/test_query.cpp) + target_link_libraries(query-test lanelet2_extension_lib) + ament_add_ros_isolated_gtest(regulatory_elements-test test/src/test_regulatory_elements.cpp) + target_link_libraries(regulatory_elements-test lanelet2_extension_lib) + ament_add_ros_isolated_gtest(utilities-test test/src/test_utilities.cpp) + target_link_libraries(utilities-test lanelet2_extension_lib) + ament_add_ros_isolated_gtest(route-test test/src/test_route_checker.cpp) + target_link_libraries(route-test lanelet2_extension_lib) +endif() + +ament_auto_package() diff --git a/lanelet2_extension/README.md b/lanelet2_extension/README.md new file mode 100644 index 0000000..af88db6 --- /dev/null +++ b/lanelet2_extension/README.md @@ -0,0 +1,93 @@ +# lanelet2_extension package + +This package contains external library for Lanelet2 and is meant to ease the use of Lanelet2 in Autoware. + +## Lanelet Format for Autoware + +Autoware uses extended Lanelet2 Format for Autoware, which means you need to add some tags to default OSM file if you want to fully use Lanelet2 maps. For details about custom tags, please refer to this [document](./docs/lanelet2_format_extension.md). + +## Code API + +### IO + +#### Autoware OSM Parser + +Autoware Lanelet2 Format uses .osm extension as original Lanelet2. +However, there are some custom tags that is used by the parser. + +Currently, this includes: + +- overwriting x,y values with `local_x` and `local_y` tags. +- reading `` tag which contains information about map format version and map version. + +The parser is registered as "autoware_osm_handler" as lanelet parser + +### Projection + +#### MGRS Projector + +MGRS projector projects latitude longitude into MGRS Coordinates. + +### Regulatory Elements + +#### Autoware Traffic Light + +Autoware Traffic Light class allows you to retrieve information about traffic lights. +Autoware Traffic Light class contains following members: + +- traffic light shape +- light bulbs information of traffic lights +- stopline associated to traffic light + +### Utility + +#### Message Conversion + +This contains functions to convert lanelet map objects into ROS messages. +Currently it contains following conversions: + +- lanelet::LaneletMapPtr to/from autoware_auto_mapping_msgs::msg::HADMapBin +- lanelet::Point3d to geometry_msgs::Point +- lanelet::Point2d to geometry_msgs::Point +- lanelet::BasicPoint3d to geometry_msgs::Point + +#### Query + +This module contains functions to retrieve various information from maps. +e.g. crosswalks, trafficlights, stoplines + +#### Utilities + +This module contains other useful functions related to Lanelet. +e.g. matching waypoint with lanelets + +#### Route Checker + +This module contains a function to check the loading route is valid or not. +If it is invalid, puts warning without dying. +The case valid is when the route is created on the same map as the current one. + +### Visualization + +Visualization contains functions to convert lanelet objects into visualization marker messages. +Currently it contains following conversions: + +- lanelet::Lanelet to Triangle Markers +- lanelet::LineString to LineStrip Markers +- TrafficLights to Triangle Markers + +## Nodes + +### lanelet2_extension_sample + +Code for this explains how this lanelet2_extension library is used. +The executable is not meant to do anything. + +### autoware_lanelet2_extension + +This node checks if an .osm file follows the Autoware version of Lanelet2 format. +You can check by running: + +```sh +ros2 run lanelet2_extension autoware_lanelet2_validation --ros-args -p map_file:= +``` diff --git a/lanelet2_extension/docs/detection_area.png b/lanelet2_extension/docs/detection_area.png new file mode 100644 index 0000000000000000000000000000000000000000..0ae10872cb01f95427814425bf1c734ad6ca591d GIT binary patch literal 37318 zcmb@tWmsHYw=D=ExVyUt3+@m!!QBdX3-0a^0>L#{5-hl+fZ*=#?ozk}57xWh_dB=G z^K_r?ANTU7pjf;1UTe)c<``qHidI#AkB&lu0s{ksF84uN9R}tV2nGf=2MGaqXUJ&P z4|sX)CMlPHdm)@B#yeRPeBHGwk_L0bZ^wSbU~yUX~AB)=o0&DX2{5(d)OsJxBRUBr8FrX`yP0!12~# 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Subtype explains what the type of roadside it represents. If there is an area outside of this roadside lane that is open to traffic, such as a sidewalk or bike lane, select the road_shoulder subtype. + +![Road shoulder](road_shoulder.svg) + +Sample road shoulder in .osm format is shown below: + +```xml + + + + + + + + + +``` + +### Pedestrian lane subtype + +- refers: lanelet with subtype attribute. Subtype explains what the type of roadside it represents. If there are no passable areas outside of this roadside lane, select the pedestrian_lane subtype. + +![Pedestrian lane](pedestrian_lane.svg) + +Sample pedestrian lane in .osm format is shown below: + +```xml + + + + + + + + + +``` diff --git a/lanelet2_extension/docs/extra_regulatory_elements.md b/lanelet2_extension/docs/extra_regulatory_elements.md new file mode 100644 index 0000000..3dae51b --- /dev/null +++ b/lanelet2_extension/docs/extra_regulatory_elements.md @@ -0,0 +1,63 @@ +# Extra Regulatory Elements + +## Detection Area + +This regulatory element specifies region of interest which vehicle must pay attention whenever it is driving along the associated lanelet. When there are any obstacle in the detection area, vehicle must stop at specified stopline. + +- refers: refers to detection area polygon. There could be multiple detection areas registered to a single regulatory element. +- ref_line: refers to stop line of the detection area + +![Detection area](detection_area.png) + +Sample detection area in .osm format is shown below: + +```xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +``` + +## Road Marking + +This regulatory element specifies related road markings to a lanelet as shown below. + +\* Note that the stopline in the image is for stoplines that are for reference, and normal stoplines should be expressed using TrafficSign regulatory element. + +refers: linestring with type attribute. Type explains what road marking it represents (e.g. stopline). + +![Road marking](road_mark.png) diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md new file mode 100644 index 0000000..6a206d2 --- /dev/null +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -0,0 +1,186 @@ +# Modifying Lanelet2 format for Autoware + +## Overview + +About the basics of the default format, please refer to main [Lanelet2 repository](https://github.com/fzi-forschungszentrum-informatik/Lanelet2). (see [here](https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/master/lanelet2_core/doc/LaneletPrimitives.md) about primitives) + +In addition to default Lanelet2 Format, users should add following mandatory/optional tags to their osm lanelet files as explained in reset of this document. +Users may use `autoware_lanelet2_validation` [node](../README.md#nodes) to check if their maps are valid. + +The following is the extra format added for Autoware: + +- [extra regulatory elements](extra_regulatory_elements.md) + - Detection Area + - Road Marking +- [extra lanelet subtype](extra_lanelet_subtypes.md) + - Roadside Lane + +## Mandatory Tags + +### Elevation Tags + +Elevation("ele") information for points(`node`) is optional in default Lanelet2 format. +However, some of Autoware packages(e.g. trafficlight_recognizer) need elevation to be included in HD map. Therefore, users must make sure that all points in their osm maps contain elevation tags. + +Here is an example osm syntax for node object. + +```xml + + + +``` + +### TrafficLights + +Default Lanelet2 format uses LineString(`way`) or Polygon class to represent the shape of a traffic light. For Autoware, traffic light objects must be represented only by LineString to avoid confusion, where start point is at bottom left edge and end point is at bottom right edge. Also, "height" tag must be added in order to represent the size in vertical direction (not the position). + +The Following image illustrates how LineString is used to represent shape of Traffic Light in Autoware. +![How LineString is used to represent shape of Traffic Light in Autoware](traffic_light.png) + +Here is an example osm syntax for traffic light object. + +```xml + + + + + + + +``` + +### Turn Directions + +Users must add "turn_direction" tags to lanelets within intersections to indicate vehicle's turning direction. You do not need this tags for lanelets that are not in intersections. If you do not have this tag, Autoware will not be able to light up turning indicators. +This tags only take following values: + +- left +- right +- straight + +Following image illustrates how lanelets should be tagged. + +![Turn Directions: How lanelets should be tagged](turn_direction.png) + +Here is an example of osm syntax for lanelets in intersections. + +```xml + + + + + + + + + + +``` + +## Optional Taggings + +Following tags are optional tags that you may want to add depending on how you want to use your map in Autoware. + +### Meta Info + +Users may add the `MetaInfo` element to their OSM file to indicate format version and map version of their OSM file. This information is not meant to influence Autoware vehicle's behavior, but is published as ROS message so that developers could know which map was used from ROSBAG log files. MetaInfo elements exists in the same hierarchy with `node`, `way`, and `relation` elements, otherwise JOSM wouldn't be able to load the file correctly. + +Here is an example of MetaInfo in osm file: + +```xml + + + + ... + ... + ... + +``` + +### Local Coordinate Expression + +Sometimes users might want to create Lanelet2 maps that are not georeferenced. +In such a case, users may use "local_x", "local_y" taggings to express local positions instead of latitude and longitude. +Autoware Osm Parser will overwrite x,y positions with these tags when they are present. +For z values, use "ele" tags as default Lanelet2 Format. +You would still need to fill in lat and lon attributes so that parser does not crush, but their values could be anything. + +Here is example `node` element in osm with "local_x", "local_y" taggings: + +```xml + + + + + + +``` + +### Light Bulbs in Traffic Lights + +Default Lanelet format can only express shape (base + height) of traffic lights. +However, region_tlr node in Autoware uses positions of each light bulbs to recognize color of traffic light. If users may wish to use this node, "light_bulbs"(`way`) element must be registered to traffic_light regulatory_element object define position and color of each light bulb in traffic lights. If you are using other trafficlight_recognizer nodes(e.g. tlr_mxnet), which only uses bounding box of traffic light, then you do not need to add this object. + +"light_bulbs" object is defined using LineString(`way`), and each node of line string is placed at the center of each light bulb. Also, each node should have "color" and optionally "arrow" tags to describe its type. Also, "traffic_light_id" tag is used to indicate which ID of relevant traffic_light element. + +"color" tag is used to express the color of the light bulb. Currently only three values are used: + +- red +- yellow +- green + +"arrow" tag is used to express the direction of the arrow of light bulb: + +- up +- right +- left +- up_right +- up_left + +Following image illustrates how "light_bulbs" LineString should be created. + +![How "light_bulbs" LineString should be created](light_bulbs.png) + +Here is an example of osm syntax for light_bulb object: + +```xml + + + + + + + + + + + + + + + + + + + + + + + + +``` + +After creating "light_bulbs" elements, you have to register them to traffic_light regulatory element as role "light_bulbs". +The following illustrates how light_bulbs are registered to traffic_light regulatory elements. + +![How light_bulbs are registered to traffic_light regulatory elements](traffic_light_regulatory_element.png) + +```xml + + + + + + + +``` diff --git a/lanelet2_extension/docs/light_bulbs.png b/lanelet2_extension/docs/light_bulbs.png new file mode 100644 index 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UC)oyP_jpU{gS=R&h{2ct1rWacjQ{`u literal 0 HcmV?d00001 diff --git a/lanelet2_extension/include/lanelet2_extension/io/autoware_osm_parser.hpp b/lanelet2_extension/include/lanelet2_extension/io/autoware_osm_parser.hpp new file mode 100644 index 0000000..8645ddb --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/io/autoware_osm_parser.hpp @@ -0,0 +1,63 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Ryohsuke Mitsudome + +#ifndef LANELET2_EXTENSION__IO__AUTOWARE_OSM_PARSER_HPP_ +#define LANELET2_EXTENSION__IO__AUTOWARE_OSM_PARSER_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include + +#include +#include + +namespace lanelet::io_handlers +{ +class AutowareOsmParser : public OsmParser +{ +public: + using OsmParser::OsmParser; + + /** + * [parse parse osm file to laneletMap. It is generally same as default + * OsmParser, but it will overwrite x and y value with local_x and local_y + * tags if present] + * @param filename [path to osm file] + * @param errors [any errors caught during parsing] + * @return [returns LaneletMap] + */ + std::unique_ptr parse( + const std::string & filename, ErrorMessages & errors) const override; + + /** + * [parseVersions parses MetaInfo tags from osm file] + * @param filename [path to osm file] + * @param format_version [parsed information about map format version] + * @param map_version [parsed information about map version] + */ + static void parseVersions( + const std::string & filename, std::string * format_version, std::string * map_version); + + static constexpr const char * extension() { return ".osm"; } + + static constexpr const char * name() { return "autoware_osm_handler"; } +}; + +} // namespace lanelet::io_handlers + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__IO__AUTOWARE_OSM_PARSER_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/projection/mgrs_projector.hpp b/lanelet2_extension/include/lanelet2_extension/projection/mgrs_projector.hpp new file mode 100644 index 0000000..37b6bc0 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/projection/mgrs_projector.hpp @@ -0,0 +1,116 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Simon Thompson, Ryohsuke Mitsudome + +#ifndef LANELET2_EXTENSION__PROJECTION__MGRS_PROJECTOR_HPP_ +#define LANELET2_EXTENSION__PROJECTION__MGRS_PROJECTOR_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +#include +#include + +namespace lanelet::projection +{ +class MGRSProjector : public Projector +{ +public: + explicit MGRSProjector(Origin origin = Origin({0.0, 0.0})); + + /** + * [MGRSProjector::forward projects gps lat/lon to MGRS 100km grid] + * @param gps [point with latitude longitude information] + * @return [projected point in MGRS coordinate] + */ + BasicPoint3d forward(const GPSPoint & gps) const override; + + /** + * [MGRSProjector::forward projects gps lat/lon to MGRS xyz coordinate] + * @param gps [point with latitude longitude information] + * @param precision [resolution of MGRS Grid 0=100km, 1=10km, 2=1km, 3=100m, + * 4=10m, 5=1m] + * @return [projected point in MGRS coordinate] + */ + BasicPoint3d forward(const GPSPoint & gps, const int precision) const; + + /** + * [MGRSProjector::reverse projects point within MGRS 100km grid into gps + * lat/lon (WGS84)] + * @param mgrs_point [3d point in MGRS 100km grid] + * @return [projected point in WGS84] + */ + GPSPoint reverse(const BasicPoint3d & mgrs) const override; + + /** + * [MGRSProjector::reverse projects point within MGRS grid into gps lat/lon + * (WGS84)] + * @param mgrs_point [3d point in MGRS grid] + * @param mgrs_code [MGRS grid code] + * @return [projected point in WGS84] + */ + static GPSPoint reverse(const BasicPoint3d & mgrs_point, const std::string & mgrs_code); + + /** + * [MGRSProjector::setMGRSCode sets MGRS code used for reverse projection] + * @param mgrs_code [MGRS code. Minimum requirement is GZD and 100 km Grid + * Square ID. e.g. "4QFJ"] + */ + void setMGRSCode(const std::string & mgrs_code); + + /** + * [MGRSProjector::setMGRSCode sets MGRS code used for reverse projection from + * gps lat/lon values] + * @param gps [gps point used to find GMRS Grid] + * @param precision [resolution of MGRS Grid 0=100km, 1=10km, 2=1km, 3=100m, + * 4=10m, 5=1m] + */ + void setMGRSCode(const GPSPoint & gps, const int precision = 0); + + /** + * [getProjectedMGRSGrid returns mgrs] + * @return [description] + */ + std::string getProjectedMGRSGrid() const { return projected_grid_; } + + /** + * [isMGRSCodeSet checks if mgrs code is set for reverse projection] + * @return [true if mgrs_code member is set] + */ + bool isMGRSCodeSet() const { return !mgrs_code_.empty(); } + +private: + /** + * mgrs grid code used for reverse function + */ + std::string mgrs_code_; + + /** + * mgrs grid code that was last projected in previous forward function. + * reverse function will use this if isMGRSCodeSet() returns false. + */ + mutable std::string projected_grid_; +}; + +} // namespace lanelet::projection + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__PROJECTION__MGRS_PROJECTOR_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp new file mode 100644 index 0000000..ba1da38 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp @@ -0,0 +1,90 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Ryohsuke Mitsudome + +#ifndef LANELET2_EXTENSION__REGULATORY_ELEMENTS__AUTOWARE_TRAFFIC_LIGHT_HPP_ +#define LANELET2_EXTENSION__REGULATORY_ELEMENTS__AUTOWARE_TRAFFIC_LIGHT_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +namespace lanelet::autoware +{ +struct AutowareRoleNameString +{ + static constexpr const char LightBulbs[] = "light_bulbs"; +}; + +class AutowareTrafficLight : public lanelet::TrafficLight +{ +public: + using Ptr = std::shared_ptr; + static constexpr char RuleName[] = "traffic_light"; + + //! Directly construct a stop line from its required rule parameters. + //! Might modify the input data in oder to get correct tags. + static Ptr make( + Id id, const AttributeMap & attributes, const LineStringsOrPolygons3d & trafficLights, + const Optional & stopLine = {}, const LineStrings3d & lightBulbs = {}) + { + return Ptr{new AutowareTrafficLight(id, attributes, trafficLights, stopLine, lightBulbs)}; + } + + /** + * @brief get the relevant traffic light bulbs + * @return the traffic light bulbs + * + * There might be multiple traffic light bulbs but they are required to show + * the same signal. + */ + [[nodiscard]] ConstLineStrings3d lightBulbs() const; + + /** + * @brief add a new traffic light bulb + * @param primitive the traffic light bulb to add + * + * Traffic light bulbs are represented as linestrings with each point + * expressing position of each light bulb (lamp). + */ + void addLightBulbs(const LineStringOrPolygon3d & primitive); + + /** + * @brief remove a traffic light bulb + * @param primitive the primitive + * @return true if the traffic light bulb existed and was removed + */ + bool removeLightBulbs(const LineStringOrPolygon3d & primitive); + +private: + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class lanelet::RegisterRegulatoryElement; + AutowareTrafficLight( + Id id, const AttributeMap & attributes, const LineStringsOrPolygons3d & trafficLights, + const Optional & stopLine, const LineStrings3d & lightBulbs); + explicit AutowareTrafficLight(const lanelet::RegulatoryElementDataPtr & data); +}; +static lanelet::RegisterRegulatoryElement regAutowareTraffic; + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__REGULATORY_ELEMENTS__AUTOWARE_TRAFFIC_LIGHT_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp new file mode 100644 index 0000000..4af1ef2 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp @@ -0,0 +1,96 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Ryohsuke Mitsudome + +#ifndef LANELET2_EXTENSION__REGULATORY_ELEMENTS__DETECTION_AREA_HPP_ +#define LANELET2_EXTENSION__REGULATORY_ELEMENTS__DETECTION_AREA_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +namespace lanelet::autoware +{ +class DetectionArea : public lanelet::RegulatoryElement +{ +public: + using Ptr = std::shared_ptr; + static constexpr char RuleName[] = "detection_area"; + + //! Directly construct a stop line from its required rule parameters. + //! Might modify the input data in oder to get correct tags. + static Ptr make( + Id id, const AttributeMap & attributes, const Polygons3d & detectionAreas, + const LineString3d & stopLine) + { + return Ptr{new DetectionArea(id, attributes, detectionAreas, stopLine)}; + } + + /** + * @brief get the relevant detection_areas + * @return detection_areas + */ + [[nodiscard]] ConstPolygons3d detectionAreas() const; + [[nodiscard]] Polygons3d detectionAreas(); + + /** + * @brief add a new detection area + * @param primitive detection area to add + */ + void addDetectionArea(const Polygon3d & primitive); + + /** + * @brief remove a detection area + * @param primitive the primitive + * @return true if the detection area existed and was removed + */ + bool removeDetectionArea(const Polygon3d & primitive); + + /** + * @brief get the stop line for the detection area + * @return the stop line as LineString + */ + [[nodiscard]] ConstLineString3d stopLine() const; + [[nodiscard]] LineString3d stopLine(); + + /** + * @brief set a new stop line, overwrite the old one + * @param stopLine new stop line + */ + void setStopLine(const LineString3d & stopLine); + + //! Deletes the stop line + void removeStopLine(); + +private: + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class lanelet::RegisterRegulatoryElement; + DetectionArea( + Id id, const AttributeMap & attributes, const Polygons3d & detectionAreas, + const LineString3d & stopLine); + explicit DetectionArea(const lanelet::RegulatoryElementDataPtr & data); +}; +static lanelet::RegisterRegulatoryElement regDetectionArea; + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__REGULATORY_ELEMENTS__DETECTION_AREA_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp new file mode 100644 index 0000000..156b190 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp @@ -0,0 +1,94 @@ +// Copyright 2021 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 LANELET2_EXTENSION__REGULATORY_ELEMENTS__NO_STOPPING_AREA_HPP_ +#define LANELET2_EXTENSION__REGULATORY_ELEMENTS__NO_STOPPING_AREA_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +namespace lanelet::autoware +{ +class NoStoppingArea : public lanelet::RegulatoryElement +{ +public: + using Ptr = std::shared_ptr; + static constexpr char RuleName[] = "no_stopping_area"; + + //! Directly construct a stop line from its required rule parameters. + //! Might modify the input data in oder to get correct tags. + static Ptr make( + Id id, const AttributeMap & attributes, const Polygons3d & no_stopping_areas, + const Optional & stopLine = {}) + { + return Ptr{new NoStoppingArea(id, attributes, no_stopping_areas, stopLine)}; + } + + /** + * @brief get the relevant no stopping area + * @return no stopping area + */ + [[nodiscard]] ConstPolygons3d noStoppingAreas() const; + [[nodiscard]] Polygons3d noStoppingAreas(); + + /** + * @brief add a new no stopping area + * @param primitive no stopping area to add + */ + void addNoStoppingArea(const Polygon3d & primitive); + + /** + * @brief remove a no stopping area + * @param primitive the primitive + * @return true if the no stopping area existed and was removed + */ + bool removeNoStoppingArea(const Polygon3d & primitive); + + /** + * @brief get the stop line for the no stopping area + * @return the stop line as LineString + */ + [[nodiscard]] Optional stopLine() const; + [[nodiscard]] Optional stopLine(); + + /** + * @brief set a new stop line, overwrite the old one + * @param stopLine new stop line + */ + void setStopLine(const LineString3d & stopLine); + + //! Deletes the stop line + void removeStopLine(); + +private: + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class lanelet::RegisterRegulatoryElement; + NoStoppingArea( + Id id, const AttributeMap & attributes, const Polygons3d & no_stopping_area, + const Optional & stopLine); + explicit NoStoppingArea(const lanelet::RegulatoryElementDataPtr & data); +}; +static lanelet::RegisterRegulatoryElement regNoStoppingArea; + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__REGULATORY_ELEMENTS__NO_STOPPING_AREA_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp new file mode 100644 index 0000000..f224139 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp @@ -0,0 +1,72 @@ +// Copyright 2020 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 LANELET2_EXTENSION__REGULATORY_ELEMENTS__ROAD_MARKING_HPP_ +#define LANELET2_EXTENSION__REGULATORY_ELEMENTS__ROAD_MARKING_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +namespace lanelet::autoware +{ +class RoadMarking : public lanelet::RegulatoryElement +{ +public: + using Ptr = std::shared_ptr; + static constexpr char RuleName[] = "road_marking"; + + //! Directly construct a stop line from its required rule parameters. + //! Might modify the input data in oder to get correct tags. + static Ptr make(Id id, const AttributeMap & attributes, const LineString3d & road_marking) + { + return Ptr{new RoadMarking(id, attributes, road_marking)}; + } + + /** + * @brief get the relevant road marking + * @return road marking + */ + [[nodiscard]] ConstLineString3d roadMarking() const; + [[nodiscard]] LineString3d roadMarking(); + + /** + * @brief add a new road marking + * @param primitive road marking to add + */ + void setRoadMarking(const LineString3d & road_marking); + + /** + * @brief remove a road marking + */ + void removeRoadMarking(); + +private: + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class lanelet::RegisterRegulatoryElement; + RoadMarking(Id id, const AttributeMap & attributes, const LineString3d & road_marking); + explicit RoadMarking(const lanelet::RegulatoryElementDataPtr & data); +}; +static lanelet::RegisterRegulatoryElement regRoadMarking; + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__REGULATORY_ELEMENTS__ROAD_MARKING_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp new file mode 100644 index 0000000..e0c7b8d --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp @@ -0,0 +1,82 @@ +// Copyright 2021 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 LANELET2_EXTENSION__REGULATORY_ELEMENTS__VIRTUAL_TRAFFIC_LIGHT_HPP_ +#define LANELET2_EXTENSION__REGULATORY_ELEMENTS__VIRTUAL_TRAFFIC_LIGHT_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +namespace lanelet::autoware +{ +class VirtualTrafficLight : public lanelet::RegulatoryElement +{ +public: + using Ptr = std::shared_ptr; + using ConstPtr = std::shared_ptr; + static constexpr char RuleName[] = "virtual_traffic_light"; + + static Ptr make( + const Id id, const AttributeMap & attributes, const LineString3d & virtual_traffic_light) + { + return Ptr{new VirtualTrafficLight(id, attributes, virtual_traffic_light)}; + } + + [[nodiscard]] ConstLineString3d getVirtualTrafficLight() const + { + return getParameters(RoleName::Refers).front(); + } + + [[nodiscard]] Optional getStopLine() const + { + const auto vec = getParameters(RoleName::RefLine); + if (vec.empty()) { + return {}; + } + return vec.front(); + } + + [[nodiscard]] ConstLineString3d getStartLine() const + { + return getParameters("start_line").front(); + } + + [[nodiscard]] ConstLineStrings3d getEndLines() const + { + return getParameters("end_line"); + } + +private: + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class lanelet::RegisterRegulatoryElement; + + VirtualTrafficLight( + const Id id, const AttributeMap & attributes, const LineString3d & virtual_traffic_light); + + explicit VirtualTrafficLight(const lanelet::RegulatoryElementDataPtr & data); +}; + +static lanelet::RegisterRegulatoryElement regVirtualTrafficLight; + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__REGULATORY_ELEMENTS__VIRTUAL_TRAFFIC_LIGHT_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/utility/message_conversion.hpp b/lanelet2_extension/include/lanelet2_extension/utility/message_conversion.hpp new file mode 100644 index 0000000..bd12814 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/utility/message_conversion.hpp @@ -0,0 +1,98 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Simon Thompson, Ryohsuke Mitsudome + +#ifndef LANELET2_EXTENSION__UTILITY__MESSAGE_CONVERSION_HPP_ +#define LANELET2_EXTENSION__UTILITY__MESSAGE_CONVERSION_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include +#include +#include + +#include +#include +#include + +namespace lanelet::utils::conversion +{ +/** + * [toBinMsg converts lanelet2 map to ROS message. Similar implementation to + * lanelet::io_handlers::BinHandler::write()] + * @param map [lanelet map data] + * @param msg [converted ROS message. Only "data" field is filled] + */ +void toBinMsg(const lanelet::LaneletMapPtr & map, autoware_auto_mapping_msgs::msg::HADMapBin * msg); + +/** + * [fromBinMsg converts ROS message into lanelet2 data. Similar implementation + * to lanelet::io_handlers::BinHandler::parse()] + * @param msg [ROS message for lanelet map] + * @param map [Converted lanelet2 data] + */ +void fromBinMsg(const autoware_auto_mapping_msgs::msg::HADMapBin & msg, lanelet::LaneletMapPtr map); +void fromBinMsg( + const autoware_auto_mapping_msgs::msg::HADMapBin & msg, lanelet::LaneletMapPtr map, + lanelet::traffic_rules::TrafficRulesPtr * traffic_rules, + lanelet::routing::RoutingGraphPtr * routing_graph); + +/** + * [toGeomMsgPt converts various point types to geometry_msgs point] + * @param src [input point(geometry_msgs::msg::Point3, + * Eigen::VEctor3d=lanelet::BasicPoint3d, lanelet::Point3d, lanelet::Point2d) ] + * @param dst [converted geometry_msgs point] + */ +void toGeomMsgPt(const geometry_msgs::msg::Point32 & src, geometry_msgs::msg::Point * dst); +void toGeomMsgPt(const Eigen::Vector3d & src, geometry_msgs::msg::Point * dst); +void toGeomMsgPt(const lanelet::ConstPoint3d & src, geometry_msgs::msg::Point * dst); +void toGeomMsgPt(const lanelet::ConstPoint2d & src, geometry_msgs::msg::Point * dst); + +/** + * [toGeomMsgPt converts various point types to geometry_msgs point] + * @param src [input point(geometry_msgs::msg::Point3, + * Eigen::VEctor3d=lanelet::BasicPoint3d, lanelet::Point3d, lanelet::Point2d) ] + * @return [converted geometry_msgs point] + */ +geometry_msgs::msg::Point toGeomMsgPt(const geometry_msgs::msg::Point32 & src); +geometry_msgs::msg::Point toGeomMsgPt(const Eigen::Vector3d & src); +geometry_msgs::msg::Point toGeomMsgPt(const lanelet::ConstPoint3d & src); +geometry_msgs::msg::Point toGeomMsgPt(const lanelet::ConstPoint2d & src); + +lanelet::ConstPoint3d toLaneletPoint(const geometry_msgs::msg::Point & src); +void toLaneletPoint(const geometry_msgs::msg::Point & src, lanelet::ConstPoint3d * dst); + +/** + * [toGeomMsgPoly converts lanelet polygon to geometry_msgs polygon] + * @param ll_poly [input polygon] + * @param geom_poly [converted geometry_msgs point] + */ +void toGeomMsgPoly( + const lanelet::ConstPolygon3d & ll_poly, geometry_msgs::msg::Polygon * geom_poly); + +/** + * [toGeomMsgPt32 converts Eigen::Vector3d(lanelet:BasicPoint3d to + * geometry_msgs::msg::Point32)] + * @param src [input point] + * @param dst [converted point] + */ +void toGeomMsgPt32(const Eigen::Vector3d & src, geometry_msgs::msg::Point32 * dst); + +} // namespace lanelet::utils::conversion + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__UTILITY__MESSAGE_CONVERSION_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp new file mode 100644 index 0000000..43fa5ef --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -0,0 +1,262 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Simon Thompson, Ryohsuke Mitsudome + +#ifndef LANELET2_EXTENSION__UTILITY__QUERY_HPP_ +#define LANELET2_EXTENSION__UTILITY__QUERY_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" +#include "lanelet2_extension/regulatory_elements/detection_area.hpp" +#include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp" + +#include +#include + +#include +#include +#include + +#include +#include +#include + +namespace lanelet +{ +using TrafficSignConstPtr = std::shared_ptr; +using TrafficLightConstPtr = std::shared_ptr; +using AutowareTrafficLightConstPtr = std::shared_ptr; +using DetectionAreaConstPtr = std::shared_ptr; +using NoStoppingAreaConstPtr = std::shared_ptr; +} // namespace lanelet + +namespace lanelet::utils::query +{ +/** + * [laneletLayer converts laneletLayer into lanelet vector] + * @param ll_Map [input lanelet map] + * @return [all lanelets in the map] + */ +lanelet::ConstLanelets laneletLayer(const lanelet::LaneletMapConstPtr & ll_Map); + +/** + * [subtypeLanelets extracts Lanelet that has given subtype attribute] + * @param lls [input lanelets with various subtypes] + * @param subtype [subtype of lanelets to be retrieved (e.g. + * lanelet::AttributeValueString::Road)] + * @return [lanelets with given subtype] + */ +lanelet::ConstLanelets subtypeLanelets(const lanelet::ConstLanelets & lls, const char subtype[]); + +/** + * [crosswalkLanelets extracts crosswalk lanelets] + * @param lls [input lanelets with various subtypes] + * @return [crosswalk lanelets] + */ +lanelet::ConstLanelets crosswalkLanelets(const lanelet::ConstLanelets & lls); +lanelet::ConstLanelets walkwayLanelets(const lanelet::ConstLanelets & lls); + +/** + * [roadLanelets extracts road lanelets] + * @param lls [input lanelets with subtype road] + * @return [road lanelets] + */ +lanelet::ConstLanelets roadLanelets(const lanelet::ConstLanelets & lls); + +/** + * [shoulderLanelets extracts shoulder lanelets] + * @param lls [input lanelets with subtype shoulder] + * @return [shoulder lanelets] + */ +lanelet::ConstLanelets shoulderLanelets(const lanelet::ConstLanelets & lls); +/** + * [trafficLights extracts Traffic Light regulatory element from lanelets] + * @param lanelets [input lanelets] + * @return [traffic light that are associated with input lanelets] + */ +std::vector trafficLights(const lanelet::ConstLanelets & lanelets); + +/** + * [autowareTrafficLights extracts Autoware Traffic Light regulatory element + * from lanelets] + * @param lanelets [input lanelets] + * @return [autoware traffic light that are associated with input + * lanelets] + */ +std::vector autowareTrafficLights( + const lanelet::ConstLanelets & lanelets); + +/** + * [detectionAreas extracts Detection Area regulatory elements from lanelets] + * @param lanelets [input lanelets] + * @return [detection areas that are associated with input lanelets] + */ +std::vector detectionAreas(const lanelet::ConstLanelets & lanelets); + +/** + * [noStoppingArea extracts NoStopping Area regulatory elements from lanelets] + * @param lanelets [input lanelets] + * @return [no stopping areas that are associated with input lanelets] + */ +std::vector noStoppingAreas( + const lanelet::ConstLanelets & lanelets); + +// query all obstacle polygons in lanelet2 map +lanelet::ConstPolygons3d getAllObstaclePolygons( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr); + +// query all parking lots in lanelet2 map +lanelet::ConstPolygons3d getAllParkingLots(const lanelet::LaneletMapConstPtr & lanelet_map_ptr); + +// query all partitions in lanelet2 map +lanelet::ConstLineStrings3d getAllPartitions(const lanelet::LaneletMapConstPtr & lanelet_map_ptr); + +// query all pedestrian markings in lanelet2 map +lanelet::ConstLineStrings3d getAllPedestrianMarkings( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr); + +// query all parking spaces in lanelet2 map +lanelet::ConstLineStrings3d getAllParkingSpaces( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr); + +// query linked parking spaces from lanelet +lanelet::ConstLineStrings3d getLinkedParkingSpaces( + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr & lanelet_map_ptr); +lanelet::ConstLineStrings3d getLinkedParkingSpaces( + const lanelet::ConstLanelet & lanelet, const lanelet::ConstLineStrings3d & all_parking_spaces, + const lanelet::ConstPolygons3d & all_parking_lots); +// query linked lanelets from parking space +bool getLinkedLanelet( + const lanelet::ConstLineString3d & parking_space, + const lanelet::ConstLanelets & all_road_lanelets, + const lanelet::ConstPolygons3d & all_parking_lots, lanelet::ConstLanelet * linked_lanelet); +bool getLinkedLanelet( + const lanelet::ConstLineString3d & parking_space, + const lanelet::LaneletMapConstPtr & lanelet_map_ptr, lanelet::ConstLanelet * linked_lanelet); +lanelet::ConstLanelets getLinkedLanelets( + const lanelet::ConstLineString3d & parking_space, + const lanelet::ConstLanelets & all_road_lanelets, + const lanelet::ConstPolygons3d & all_parking_lots); +lanelet::ConstLanelets getLinkedLanelets( + const lanelet::ConstLineString3d & parking_space, + const lanelet::LaneletMapConstPtr & lanelet_map_ptr); + +// get linked parking lot from lanelet +bool getLinkedParkingLot( + const lanelet::ConstLanelet & lanelet, const lanelet::ConstPolygons3d & all_parking_lots, + lanelet::ConstPolygon3d * linked_parking_lot); +// get linked parking lot from current pose of ego car +bool getLinkedParkingLot( + const lanelet::BasicPoint2d & current_position, const lanelet::ConstPolygons3d & all_parking_lots, + lanelet::ConstPolygon3d * linked_parking_lot); +// get linked parking lot from parking space +bool getLinkedParkingLot( + const lanelet::ConstLineString3d & parking_space, + const lanelet::ConstPolygons3d & all_parking_lots, lanelet::ConstPolygon3d * linked_parking_lot); + +// query linked parking space from parking lot +lanelet::ConstLineStrings3d getLinkedParkingSpaces( + const lanelet::ConstPolygon3d & parking_lot, + const lanelet::ConstLineStrings3d & all_parking_spaces); +// query linked lanelets from parking lot +lanelet::ConstLanelets getLinkedLanelets( + const lanelet::ConstPolygon3d & parking_lot, const lanelet::ConstLanelets & all_road_lanelets); + +/** + * [stopLinesLanelets extracts stoplines that are associated to lanelets] + * @param lanelets [input lanelets] + * @return [stop lines that are associated with input lanelets] + */ +std::vector stopLinesLanelets(const lanelet::ConstLanelets & lanelets); + +/** + * [stopLinesLanelet extracts stop lines that are associated with a given + * lanelet] + * @param ll [input lanelet] + * @return [stop lines that are associated with input lanelet] + */ +std::vector stopLinesLanelet(const lanelet::ConstLanelet & ll); + +/** + * [stopSignStopLines extracts stoplines that are associated with stop signs] + * @param lanelets [input lanelets] + * @param stop_sign_id [sign id of stop sign] + * @return [array of stoplines] + */ +std::vector stopSignStopLines( + const lanelet::ConstLanelets & lanelets, const std::string & stop_sign_id = "stop_sign"); + +ConstLanelets getLaneletsWithinRange( + const lanelet::ConstLanelets & lanelets, const lanelet::BasicPoint2d & search_point, + const double range); +ConstLanelets getLaneletsWithinRange( + const lanelet::ConstLanelets & lanelets, const geometry_msgs::msg::Point & search_point, + const double range); + +ConstLanelets getLaneChangeableNeighbors( + const routing::RoutingGraphPtr & graph, const ConstLanelet & lanelet); +ConstLanelets getLaneChangeableNeighbors( + const routing::RoutingGraphPtr & graph, const ConstLanelets & road_lanelets, + const geometry_msgs::msg::Point & search_point); + +ConstLanelets getAllNeighbors(const routing::RoutingGraphPtr & graph, const ConstLanelet & lanelet); +ConstLanelets getAllNeighborsLeft( + const routing::RoutingGraphPtr & graph, const ConstLanelet & lanelet); +ConstLanelets getAllNeighborsRight( + const routing::RoutingGraphPtr & graph, const ConstLanelet & lanelet); +ConstLanelets getAllNeighbors( + const routing::RoutingGraphPtr & graph, const ConstLanelets & road_lanelets, + const geometry_msgs::msg::Point & search_point); + +bool getClosestLanelet( + const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, + ConstLanelet * closest_lanelet_ptr); + +bool getCurrentLanelets( + const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, + ConstLanelets * current_lanelets_ptr); + +/** + * [getSucceedingLaneletSequences retrieves a sequence of lanelets after the given lanelet. + * The total length of retrieved lanelet sequence at least given length. Returned lanelet sequence + * does not include input lanelet.] + * @param graph [input lanelet routing graph] + * @param lanelet [input lanelet] + * @param length [minimum length of retrieved lanelet sequence] + * @return [lanelet sequence that follows given lanelet] + */ +std::vector getSucceedingLaneletSequences( + const routing::RoutingGraphPtr & graph, const lanelet::ConstLanelet & lanelet, + const double length); + +/** + * [getPrecedingLaneletSequences retrieves a sequence of lanelets before the given lanelet. + * The total length of retrieved lanelet sequence at least given length. Returned lanelet sequence + * does not include input lanelet.] + * @param graph [input lanelet routing graph] + * @param lanelet [input lanelet] + * @param length [minimum length of retrieved lanelet sequence] + * @return [lanelet sequence that leads to given lanelet] + */ +std::vector getPrecedingLaneletSequences( + const routing::RoutingGraphPtr & graph, const lanelet::ConstLanelet & lanelet, + const double length, const lanelet::ConstLanelets & exclude_lanelets = {}); + +} // namespace lanelet::utils::query + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__UTILITY__QUERY_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp b/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp new file mode 100644 index 0000000..572d9e3 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp @@ -0,0 +1,36 @@ +// 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 LANELET2_EXTENSION__UTILITY__ROUTE_CHECKER_HPP_ +#define LANELET2_EXTENSION__UTILITY__ROUTE_CHECKER_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +namespace lanelet::utils::route +{ +using autoware_auto_mapping_msgs::msg::HADMapBin; +using autoware_auto_planning_msgs::msg::HADMapRoute; + +bool isRouteValid(const HADMapRoute & route, const lanelet::LaneletMapPtr lanelet_map_ptr_); +} // namespace lanelet::utils::route + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__UTILITY__ROUTE_CHECKER_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp new file mode 100644 index 0000000..a31d9d6 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp @@ -0,0 +1,91 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Kenji Miyake, Ryohsuke Mitsudome + +#ifndef LANELET2_EXTENSION__UTILITY__UTILITIES_HPP_ +#define LANELET2_EXTENSION__UTILITY__UTILITIES_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include + +#include +#include + +#include +#include + +#include + +namespace lanelet::utils +{ +lanelet::LineString3d generateFineCenterline( + const lanelet::ConstLanelet & lanelet_obj, const double resolution = 5.0); +lanelet::ConstLineString3d getCenterlineWithOffset( + const lanelet::ConstLanelet & lanelet_obj, const double offset, const double resolution = 5.0); +lanelet::ConstLineString3d getRightBoundWithOffset( + const lanelet::ConstLanelet & lanelet_obj, const double offset, const double resolution = 5.0); +lanelet::ConstLineString3d getLeftBoundWithOffset( + const lanelet::ConstLanelet & lanelet_obj, const double offset, const double resolution = 5.0); + +lanelet::ConstLanelet getExpandedLanelet( + const lanelet::ConstLanelet & lanelet_obj, const double left_offset, const double right_offset); + +lanelet::ConstLanelets getExpandedLanelets( + const lanelet::ConstLanelets & lanelet_obj, const double left_offset, const double right_offset); + +/** + * @brief Apply a patch for centerline because the original implementation + * doesn't have enough quality + */ +void overwriteLaneletsCenterline( + lanelet::LaneletMapPtr lanelet_map, const double resolution = 5.0, + const bool force_overwrite = false); + +lanelet::ConstLanelets getConflictingLanelets( + const lanelet::routing::RoutingGraphConstPtr & graph, const lanelet::ConstLanelet & lanelet); + +bool lineStringWithWidthToPolygon( + const lanelet::ConstLineString3d & linestring, lanelet::ConstPolygon3d * polygon); + +bool lineStringToPolygon( + const lanelet::ConstLineString3d & linestring, lanelet::ConstPolygon3d * polygon); + +double getLaneletLength2d(const lanelet::ConstLanelet & lanelet); +double getLaneletLength3d(const lanelet::ConstLanelet & lanelet); +double getLaneletLength2d(const lanelet::ConstLanelets & lanelet_sequence); +double getLaneletLength3d(const lanelet::ConstLanelets & lanelet_sequence); + +lanelet::ArcCoordinates getArcCoordinates( + const lanelet::ConstLanelets & lanelet_sequence, const geometry_msgs::msg::Pose & pose); + +lanelet::ConstLineString3d getClosestSegment( + const lanelet::BasicPoint2d & search_pt, const lanelet::ConstLineString3d & linestring); + +lanelet::CompoundPolygon3d getPolygonFromArcLength( + const lanelet::ConstLanelets & lanelets, const double s1, const double s2); +double getLaneletAngle( + const lanelet::ConstLanelet & lanelet, const geometry_msgs::msg::Point & search_point); +bool isInLanelet( + const geometry_msgs::msg::Pose & current_pose, const lanelet::ConstLanelet & lanelet, + const double radius = 0.0); +geometry_msgs::msg::Pose getClosestCenterPose( + const lanelet::ConstLanelet & lanelet, const geometry_msgs::msg::Point & search_point); + +} // namespace lanelet::utils + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__UTILITY__UTILITIES_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp new file mode 100644 index 0000000..822d89f --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -0,0 +1,277 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Simon Thompson, Ryohsuke Mitsudome + +#ifndef LANELET2_EXTENSION__VISUALIZATION__VISUALIZATION_HPP_ +#define LANELET2_EXTENSION__VISUALIZATION__VISUALIZATION_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" +#include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp" +#include "lanelet2_extension/utility/query.hpp" + +#include + +#include +#include + +#include +#include + +#include +#include + +namespace lanelet::visualization +{ +/** + * [lanelet2Triangle converts lanelet into vector of triangles. Used for + * triangulation] + * @param ll [input lanelet] + * @param triangles [array of polygon message, each containing 3 vertices] + */ +void lanelet2Triangle( + const lanelet::ConstLanelet & ll, std::vector * triangles); + +/** + * [polygon2Triangle converts polygon into vector of triangles] + * @param polygon [input polygon] + * @param triangles [array of polygon message, each containing 3 vertices] + */ +void polygon2Triangle( + const geometry_msgs::msg::Polygon & polygon, + std::vector * triangles); + +/** + * [lanelet2Polygon converts lanelet into a polygon] + * @param ll [input lanelet] + * @param polygon [polygon message containing shape of the input lanelet.] + */ +void lanelet2Polygon(const lanelet::ConstLanelet & ll, geometry_msgs::msg::Polygon * polygon); + +/** + * [initLineStringMarker initializes marker to visualize shape of linestring] + * @param marker [output marker message] + * @param frame_id [frame id of the marker] + * @param ns [namespace of the marker] + * @param c [color of the marker] + */ +void initLineStringMarker( + visualization_msgs::msg::Marker * marker, const std::string & frame_id, const std::string & ns, + const std_msgs::msg::ColorRGBA & c); + +/** + * [pushLineStringMarker pushes marker vertices to visualize shape of linestring] + * @param marker [output marker message] + * @param ls [input linestring] + * @param c [color of the marker] + * @param lss [thickness of the marker] + */ +void pushLineStringMarker( + visualization_msgs::msg::Marker * marker, const lanelet::ConstLineString3d & ls, + const std_msgs::msg::ColorRGBA & c, const float lss = 0.1); + +/** + * [initArrowsMarker initializes marker to visualize arrows with TRIANGLE_LIST] + * @param marker [output marker message] + * @param frame_id [frame id of the marker] + * @param ns [namespace of the marker] + * @param c [color of the marker] + */ +void initArrowsMarker( + visualization_msgs::msg::Marker * marker, const std::string & frame_id, const std::string & ns, + const std_msgs::msg::ColorRGBA & c); + +/** + * [pushArrowsMarker pushes marker to visualize arrows with TRIANGLE_LIST] + * @param marker [output marker message] + * @param ls [input linestring] + * @param c [color of the marker] + */ +void pushArrowsMarker( + visualization_msgs::msg::Marker * marker, const lanelet::ConstLineString3d & ls, + const std_msgs::msg::ColorRGBA & c); + +/** + * [initTrafficLightTriangleMarker initializes marker to visualize shape of traffic + * lights] + * @param marker [created marker] + * @param ns [namespace of the marker] + * @param duration [lifetime of the marker] + */ +void initTrafficLightTriangleMarker( + visualization_msgs::msg::Marker * marker, const std::string & ns, + const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); + +/** + * [pushTrafficLightTriangleMarker pushes marker vertices to visualize shape of traffic + * lights] + * @param marker [created marker] + * @param ls [linestring that represents traffic light shape] + * @param cl [color of the marker] + * @param scale [scale of the marker] + */ +void pushTrafficLightTriangleMarker( + visualization_msgs::msg::Marker * marker, const lanelet::ConstLineString3d & ls, + const std_msgs::msg::ColorRGBA & cl, const double scale = 1.0); + +/** + * [laneletsBoundaryAsMarkerArray create marker array to visualize shape of + * boundaries of lanelets] + * @param lanelets [input lanelets] + * @param c [color of the boundary] + * @param viz_centerline [flag to visualize centerline or not] + * @return [created marker array] + */ +visualization_msgs::msg::MarkerArray laneletsBoundaryAsMarkerArray( + const lanelet::ConstLanelets & lanelets, const std_msgs::msg::ColorRGBA & c, + const bool viz_centerline, const std::string & additional_namespace = ""); +/** + * [laneletsAsTriangleMarkerArray create marker array to visualize shape of the + * lanelet] + * @param ns [namespace of the marker] + * @param lanelets [input lanelets] + * @param c [color of the marker] + * @return [created marker] + */ +visualization_msgs::msg::MarkerArray laneletsAsTriangleMarkerArray( + const std::string & ns, const lanelet::ConstLanelets & lanelets, + const std_msgs::msg::ColorRGBA & c); + +/** + * [laneletDirectionAsMarkerArray create marker array to visualize direction of + * the lanelet] + * @param lanelets [input lanelets] + * @return [created marker array] + */ +visualization_msgs::msg::MarkerArray laneletDirectionAsMarkerArray( + const lanelet::ConstLanelets & lanelets, const std::string & additional_namespace = ""); + +/** + * [lineStringsAsMarkerArray creates marker array to visualize shape of + * linestrings] + * @param line_strings [input linestrings] + * @param name_space [namespace of the marker] + * @param c [color of the marker] + * @param lss [thickness of the marker] + * @return [created marker array] + */ +visualization_msgs::msg::MarkerArray lineStringsAsMarkerArray( + const std::vector & line_strings, const std::string & name_space, + const std_msgs::msg::ColorRGBA & c, const float lss); + +/** + * [autowareTrafficLightsAsMarkerArray creates marker array to visualize traffic + * lights] + * @param tl_reg_elems [traffic light regulatory elements] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + * @return [created marker array] + */ +visualization_msgs::msg::MarkerArray autowareTrafficLightsAsMarkerArray( + const std::vector & tl_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0), + const double scale = 1.0); + +/** + * [generateTrafficLightIdMaker creates marker array to visualize traffic id + * lights] + * @param tl_reg_elems [traffic light regulatory elements] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + * @return [created marker array] + */ +visualization_msgs::msg::MarkerArray generateTrafficLightIdMaker( + const std::vector & tl_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0), + const double scale = 1.0); + +/** + * [trafficLightsAsTriangleMarkerArray creates marker array to visualize shape + * of traffic lights] + * @param tl_reg_elems [traffic light regulatory elements] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + * @return [created marker array] + */ +visualization_msgs::msg::MarkerArray trafficLightsAsTriangleMarkerArray( + const std::vector & tl_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0), + const double scale = 1.0); + +/** + * [detectionAreasAsMarkerArray creates marker array to visualize detection areas] + * @param da_reg_elems [detection area regulatory elements] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + */ +visualization_msgs::msg::MarkerArray detectionAreasAsMarkerArray( + const std::vector & da_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); + +/** + * [noStoppingAreasAsMarkerArray creates marker array to visualize detection areas] + * @param no_reg_elems [mp stopping area regulatory elements] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + */ +visualization_msgs::msg::MarkerArray noStoppingAreasAsMarkerArray( + const std::vector & no_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); + +/** + * [pedestrianMarkingsAsMarkerArray creates marker array to visualize pedestrian markings] + * @param pedestrian_markings [pedestrian marking polygon] + * @param c [color of the marker] + */ +visualization_msgs::msg::MarkerArray pedestrianMarkingsAsMarkerArray( + const lanelet::ConstLineStrings3d & pedestrian_markings, const std_msgs::msg::ColorRGBA & c); + +/** + * [parkingLotsAsMarkerArray creates marker array to visualize parking lots] + * @param parking_lots [parking lot polygon] + * @param c [color of the marker] + */ +visualization_msgs::msg::MarkerArray parkingLotsAsMarkerArray( + const lanelet::ConstPolygons3d & parking_lots, const std_msgs::msg::ColorRGBA & c); + +/** + * [parkingSpacesAsMarkerArray creates marker array to visualize parking spaces] + * @param parking_spaces [parking space line string] + * @param c [color of the marker] + */ +visualization_msgs::msg::MarkerArray parkingSpacesAsMarkerArray( + const lanelet::ConstLineStrings3d & parking_spaces, const std_msgs::msg::ColorRGBA & c); + +/** + * [detectionAreasAsMarkerArray creates marker array to visualize lanelet_id] + * @param road_lanelets [road lanelets] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + * @param scale [scale of the marker] + * @return visualization_msgs::msg::MarkerArray + */ +visualization_msgs::msg::MarkerArray generateLaneletIdMarker( + const lanelet::ConstLanelets & road_lanelets, const std_msgs::msg::ColorRGBA & c, + const double scale = 0.5); + +visualization_msgs::msg::MarkerArray obstaclePolygonsAsMarkerArray( + const lanelet::ConstPolygons3d & obstacle_polygons, const std_msgs::msg::ColorRGBA & c); + +} // namespace lanelet::visualization + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__VISUALIZATION__VISUALIZATION_HPP_ diff --git a/lanelet2_extension/lib/autoware_osm_parser.cpp b/lanelet2_extension/lib/autoware_osm_parser.cpp new file mode 100644 index 0000000..2a74f36 --- /dev/null +++ b/lanelet2_extension/lib/autoware_osm_parser.cpp @@ -0,0 +1,90 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Ryohsuke Mitsudome + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/io/autoware_osm_parser.hpp" + +#include +#include +#include +#include + +#include +#include + +namespace lanelet::io_handlers +{ +std::unique_ptr AutowareOsmParser::parse( + const std::string & filename, ErrorMessages & errors) const +{ + auto map = OsmParser::parse(filename, errors); + + // overwrite x and y values if there are local_x, local_y tags + for (Point3d point : map->pointLayer) { + if (point.hasAttribute("local_x")) { + point.x() = point.attribute("local_x").asDouble().value(); + } + if (point.hasAttribute("local_y")) { + point.y() = point.attribute("local_y").asDouble().value(); + } + } + + // rerun align function in just in case + for (Lanelet & lanelet : map->laneletLayer) { + LineString3d new_left; + LineString3d new_right; + std::tie(new_left, new_right) = geometry::align(lanelet.leftBound(), lanelet.rightBound()); + lanelet.setLeftBound(new_left); + lanelet.setRightBound(new_right); + } + + return map; +} + +namespace +{ +RegisterParser regParser; +} // namespace + +void AutowareOsmParser::parseVersions( + const std::string & filename, std::string * format_version, std::string * map_version) +{ + if (format_version == nullptr || map_version == nullptr) { + std::cerr << __FUNCTION__ << ": either format_version or map_version is null pointer!"; + return; + } + + pugi::xml_document doc; + auto result = doc.load_file(filename.c_str()); + if (!result) { + throw lanelet::ParseError( + std::string("Errors occurred while parsing osm file: ") + result.description()); + } + + auto osmNode = doc.child("osm"); + auto metainfo = osmNode.child("MetaInfo"); + if (metainfo.attribute("format_version")) { + *format_version = metainfo.attribute("format_version").value(); + } + if (metainfo.attribute("map_version")) { + *map_version = metainfo.attribute("map_version").value(); + } +} + +} // namespace lanelet::io_handlers + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/autoware_traffic_light.cpp b/lanelet2_extension/lib/autoware_traffic_light.cpp new file mode 100644 index 0000000..63d185b --- /dev/null +++ b/lanelet2_extension/lib/autoware_traffic_light.cpp @@ -0,0 +1,146 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Ryohsuke Mitsudome + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" + +#include + +#include + +#include +#include +#include +#include + +namespace lanelet::autoware +{ +namespace +{ +template +bool findAndErase(const T & primitive, RuleParameters * member) +{ + if (member == nullptr) { + std::cerr << __FUNCTION__ << ": member is null pointer"; + return false; + } + auto it = std::find(member->begin(), member->end(), RuleParameter(primitive)); + if (it == member->end()) { + return false; + } + member->erase(it); + return true; +} + +template +RuleParameters toRuleParameters(const std::vector & primitives) +{ + auto cast_func = [](const auto & elem) { return static_cast(elem); }; + return utils::transform(primitives, cast_func); +} + +template <> +RuleParameters toRuleParameters(const std::vector & primitives) +{ + auto cast_func = [](const auto & elem) { return elem.asRuleParameter(); }; + return utils::transform(primitives, cast_func); +} + +LineStringsOrPolygons3d getLsOrPoly(const RuleParameterMap & paramsMap, RoleName role) +{ + auto params = paramsMap.find(role); + if (params == paramsMap.end()) { + return {}; + } + LineStringsOrPolygons3d result; + for (auto & param : params->second) { + auto l = boost::get(¶m); + if (l != nullptr) { + result.push_back(*l); + } + auto p = boost::get(¶m); + if (p != nullptr) { + result.push_back(*p); + } + } + return result; +} + +[[maybe_unused]] ConstLineStringsOrPolygons3d getConstLsOrPoly( + const RuleParameterMap & params, RoleName role) +{ + auto cast_func = [](auto & lsOrPoly) { + return static_cast(lsOrPoly); + }; + return utils::transform(getLsOrPoly(params, role), cast_func); +} + +[[maybe_unused]] RegulatoryElementDataPtr constructAutowareTrafficLightData( + Id id, const AttributeMap & attributes, const LineStringsOrPolygons3d & trafficLights, + const Optional & stopLine, const LineStrings3d & lightBulbs) +{ + RuleParameterMap rpm = {{RoleNameString::Refers, toRuleParameters(trafficLights)}}; + + if (!!stopLine) { + RuleParameters rule_parameters = {*stopLine}; + rpm.insert(std::make_pair(RoleNameString::RefLine, rule_parameters)); + } + if (!lightBulbs.empty()) { + rpm.insert(std::make_pair(AutowareRoleNameString::LightBulbs, toRuleParameters(lightBulbs))); + } + + auto data = std::make_shared(id, rpm, attributes); + data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement; + data->attributes[AttributeName::Subtype] = AttributeValueString::TrafficLight; + return data; +} +} // namespace + +AutowareTrafficLight::AutowareTrafficLight(const RegulatoryElementDataPtr & data) +: TrafficLight(data) +{ +} + +AutowareTrafficLight::AutowareTrafficLight( + Id id, const AttributeMap & attributes, const LineStringsOrPolygons3d & trafficLights, + const Optional & stopLine, const LineStrings3d & lightBulbs) +: TrafficLight(id, attributes, trafficLights, stopLine) +{ + for (const auto & lightBulb : lightBulbs) { + addLightBulbs(lightBulb); + } +} + +ConstLineStrings3d AutowareTrafficLight::lightBulbs() const +{ + return getParameters(AutowareRoleNameString::LightBulbs); +} + +void AutowareTrafficLight::addLightBulbs(const LineStringOrPolygon3d & primitive) +{ + parameters()[AutowareRoleNameString::LightBulbs].emplace_back(primitive.asRuleParameter()); +} + +bool AutowareTrafficLight::removeLightBulbs(const LineStringOrPolygon3d & primitive) +{ + return findAndErase( + primitive.asRuleParameter(), ¶meters().find(AutowareRoleNameString::LightBulbs)->second); +} + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/detection_area.cpp b/lanelet2_extension/lib/detection_area.cpp new file mode 100644 index 0000000..54a3899 --- /dev/null +++ b/lanelet2_extension/lib/detection_area.cpp @@ -0,0 +1,154 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Ryohsuke Mitsudome + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/detection_area.hpp" + +#include + +#include + +#include +#include +#include +#include + +namespace lanelet::autoware +{ +namespace +{ +template +bool findAndErase(const T & primitive, RuleParameters * member) +{ + if (member == nullptr) { + std::cerr << __FUNCTION__ << ": member is null pointer"; + return false; + } + auto it = std::find(member->begin(), member->end(), RuleParameter(primitive)); + if (it == member->end()) { + return false; + } + member->erase(it); + return true; +} + +template +RuleParameters toRuleParameters(const std::vector & primitives) +{ + auto cast_func = [](const auto & elem) { return static_cast(elem); }; + return utils::transform(primitives, cast_func); +} + +// template <> +// RuleParameters toRuleParameters(const std::vector& primitives) +// { +// auto cast_func = [](const auto& elem) { return elem.asRuleParameter(); }; +// return utils::transform(primitives, cast_func); +// } + +Polygons3d getPoly(const RuleParameterMap & paramsMap, RoleName role) +{ + auto params = paramsMap.find(role); + if (params == paramsMap.end()) { + return {}; + } + + Polygons3d result; + for (auto & param : params->second) { + auto p = boost::get(¶m); + if (p != nullptr) { + result.push_back(*p); + } + } + return result; +} + +ConstPolygons3d getConstPoly(const RuleParameterMap & params, RoleName role) +{ + auto cast_func = [](auto & poly) { return static_cast(poly); }; + return utils::transform(getPoly(params, role), cast_func); +} + +RegulatoryElementDataPtr constructDetectionAreaData( + Id id, const AttributeMap & attributes, const Polygons3d & detectionAreas, + const LineString3d & stopLine) +{ + RuleParameterMap rpm = {{RoleNameString::Refers, toRuleParameters(detectionAreas)}}; + + RuleParameters rule_parameters = {stopLine}; + rpm.insert(std::make_pair(RoleNameString::RefLine, rule_parameters)); + + auto data = std::make_shared(id, rpm, attributes); + data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement; + data->attributes[AttributeName::Subtype] = "detection_area"; + return data; +} +} // namespace + +DetectionArea::DetectionArea(const RegulatoryElementDataPtr & data) : RegulatoryElement(data) +{ + if (getConstPoly(data->parameters, RoleName::Refers).empty()) { + throw InvalidInputError("No detection area defined!"); + } + if (getParameters(RoleName::RefLine).size() != 1) { + throw InvalidInputError("There must be exactly one stopline defined!"); + } +} + +DetectionArea::DetectionArea( + Id id, const AttributeMap & attributes, const Polygons3d & detectionAreas, + const LineString3d & stopLine) +: DetectionArea(constructDetectionAreaData(id, attributes, detectionAreas, stopLine)) +{ +} + +ConstPolygons3d DetectionArea::detectionAreas() const +{ + return getConstPoly(parameters(), RoleName::Refers); +} +Polygons3d DetectionArea::detectionAreas() { return getPoly(parameters(), RoleName::Refers); } + +void DetectionArea::addDetectionArea(const Polygon3d & primitive) +{ + parameters()["detection_area"].emplace_back(primitive); +} + +bool DetectionArea::removeDetectionArea(const Polygon3d & primitive) +{ + return findAndErase(primitive, ¶meters().find("detection_area")->second); +} + +ConstLineString3d DetectionArea::stopLine() const +{ + return getParameters(RoleName::RefLine).front(); +} + +LineString3d DetectionArea::stopLine() +{ + return getParameters(RoleName::RefLine).front(); +} + +void DetectionArea::setStopLine(const LineString3d & stopLine) +{ + parameters()[RoleName::RefLine] = {stopLine}; +} + +void DetectionArea::removeStopLine() { parameters()[RoleName::RefLine] = {}; } + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/message_conversion.cpp b/lanelet2_extension/lib/message_conversion.cpp new file mode 100644 index 0000000..ae204fb --- /dev/null +++ b/lanelet2_extension/lib/message_conversion.cpp @@ -0,0 +1,192 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Simon Thompson, Ryohsuke Mitsudome + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/utility/message_conversion.hpp" + +#include "lanelet2_extension/projection/mgrs_projector.hpp" + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace lanelet::utils::conversion +{ +void toBinMsg(const lanelet::LaneletMapPtr & map, autoware_auto_mapping_msgs::msg::HADMapBin * msg) +{ + if (msg == nullptr) { + std::cerr << __FUNCTION__ << "msg is null pointer!"; + return; + } + + std::stringstream ss; + boost::archive::binary_oarchive oa(ss); + oa << *map; + auto id_counter = lanelet::utils::getId(); + oa << id_counter; + + std::string data_str(ss.str()); + + msg->data.clear(); + msg->data.assign(data_str.begin(), data_str.end()); +} + +void fromBinMsg(const autoware_auto_mapping_msgs::msg::HADMapBin & msg, lanelet::LaneletMapPtr map) +{ + if (!map) { + std::cerr << __FUNCTION__ << ": map is null pointer!"; + return; + } + + std::string data_str; + data_str.assign(msg.data.begin(), msg.data.end()); + + std::stringstream ss; + ss << data_str; + boost::archive::binary_iarchive oa(ss); + oa >> *map; + lanelet::Id id_counter = 0; + oa >> id_counter; + lanelet::utils::registerId(id_counter); + // *map = std::move(laneletMap); +} + +void fromBinMsg( + const autoware_auto_mapping_msgs::msg::HADMapBin & msg, lanelet::LaneletMapPtr map, + lanelet::traffic_rules::TrafficRulesPtr * traffic_rules, + lanelet::routing::RoutingGraphPtr * routing_graph) +{ + fromBinMsg(msg, map); + *traffic_rules = lanelet::traffic_rules::TrafficRulesFactory::create( + lanelet::Locations::Germany, lanelet::Participants::Vehicle); + *routing_graph = lanelet::routing::RoutingGraph::build(*map, **traffic_rules); +} + +void toGeomMsgPt(const geometry_msgs::msg::Point32 & src, geometry_msgs::msg::Point * dst) +{ + if (dst == nullptr) { + std::cerr << __FUNCTION__ << "pointer is null!"; + return; + } + dst->x = src.x; + dst->y = src.y; + dst->z = src.z; +} +void toGeomMsgPt(const Eigen::Vector3d & src, geometry_msgs::msg::Point * dst) +{ + if (dst == nullptr) { + std::cerr << __FUNCTION__ << "pointer is null!"; + return; + } + dst->x = src.x(); + dst->y = src.y(); + dst->z = src.z(); +} +void toGeomMsgPt(const lanelet::ConstPoint3d & src, geometry_msgs::msg::Point * dst) +{ + if (dst == nullptr) { + std::cerr << __FUNCTION__ << "pointer is null!"; + return; + } + dst->x = src.x(); + dst->y = src.y(); + dst->z = src.z(); +} +void toGeomMsgPt(const lanelet::ConstPoint2d & src, geometry_msgs::msg::Point * dst) +{ + if (dst == nullptr) { + std::cerr << __FUNCTION__ << "pointer is null!" << std::endl; + return; + } + dst->x = src.x(); + dst->y = src.y(); + dst->z = 0; +} + +void toGeomMsgPt32(const Eigen::Vector3d & src, geometry_msgs::msg::Point32 * dst) +{ + if (dst == nullptr) { + std::cerr << __FUNCTION__ << "pointer is null!" << std::endl; + return; + } + dst->x = static_cast(src.x()); + dst->y = static_cast(src.y()); + dst->z = static_cast(src.z()); +} + +geometry_msgs::msg::Point toGeomMsgPt(const geometry_msgs::msg::Point32 & src) +{ + geometry_msgs::msg::Point dst; + toGeomMsgPt(src, &dst); + return dst; +} +geometry_msgs::msg::Point toGeomMsgPt(const Eigen::Vector3d & src) +{ + geometry_msgs::msg::Point dst; + toGeomMsgPt(src, &dst); + return dst; +} +geometry_msgs::msg::Point toGeomMsgPt(const lanelet::ConstPoint3d & src) +{ + geometry_msgs::msg::Point dst; + toGeomMsgPt(src, &dst); + return dst; +} +geometry_msgs::msg::Point toGeomMsgPt(const lanelet::ConstPoint2d & src) +{ + geometry_msgs::msg::Point dst; + toGeomMsgPt(src, &dst); + return dst; +} + +lanelet::ConstPoint3d toLaneletPoint(const geometry_msgs::msg::Point & src) +{ + lanelet::ConstPoint3d dst; + toLaneletPoint(src, &dst); + return dst; +} + +void toLaneletPoint(const geometry_msgs::msg::Point & src, lanelet::ConstPoint3d * dst) +{ + *dst = lanelet::Point3d(lanelet::InvalId, src.x, src.y, src.z); +} + +void toGeomMsgPoly(const lanelet::ConstPolygon3d & ll_poly, geometry_msgs::msg::Polygon * geom_poly) +{ + geom_poly->points.clear(); + geom_poly->points.reserve(ll_poly.size()); + for (const auto & ll_pt : ll_poly) { + geometry_msgs::msg::Point32 geom_pt32; + utils::conversion::toGeomMsgPt32(ll_pt.basicPoint(), &geom_pt32); + geom_poly->points.push_back(geom_pt32); + } +} + +} // namespace lanelet::utils::conversion + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/mgrs_projector.cpp b/lanelet2_extension/lib/mgrs_projector.cpp new file mode 100644 index 0000000..d4e1ce7 --- /dev/null +++ b/lanelet2_extension/lib/mgrs_projector.cpp @@ -0,0 +1,130 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Simon Thompson, Ryohsuke Mitsudome + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/projection/mgrs_projector.hpp" + +#include +#include +#include +#include +#include + +namespace lanelet::projection +{ +MGRSProjector::MGRSProjector(Origin origin) : Projector(origin) {} + +BasicPoint3d MGRSProjector::forward(const GPSPoint & gps) const +{ + BasicPoint3d mgrs_point(forward(gps, 0)); + return mgrs_point; +} + +BasicPoint3d MGRSProjector::forward(const GPSPoint & gps, const int precision) const +{ + std::string prev_projected_grid = projected_grid_; + + BasicPoint3d mgrs_point{0., 0., gps.ele}; + BasicPoint3d utm_point{0., 0., gps.ele}; + int zone{}; + bool is_north{}; + std::string mgrs_code; + + try { + GeographicLib::UTMUPS::Forward(gps.lat, gps.lon, zone, is_north, utm_point.x(), utm_point.y()); + GeographicLib::MGRS::Forward( + zone, is_north, utm_point.x(), utm_point.y(), gps.lat, precision, mgrs_code); + } catch (const GeographicLib::GeographicErr & err) { + std::cerr << err.what() << std::endl; + return mgrs_point; + } + + // get mgrs values from utm values + mgrs_point.x() = fmod(utm_point.x(), 1e5); + mgrs_point.y() = fmod(utm_point.y(), 1e5); + projected_grid_ = mgrs_code; + + if (!prev_projected_grid.empty() && prev_projected_grid != projected_grid_) { + std::cerr << "Projected MGRS Grid changed from last projection. Projected point" + "might be far away from previously projected point." + << std::endl + << "You may want to use different projector."; + } + + return mgrs_point; +} + +GPSPoint MGRSProjector::reverse(const BasicPoint3d & mgrs_point) const +{ + GPSPoint gps{0., 0., 0.}; + // reverse function cannot be used if mgrs_code_ is not set + if (isMGRSCodeSet()) { + gps = reverse(mgrs_point, mgrs_code_); + } else if (!projected_grid_.empty()) { + gps = reverse(mgrs_point, projected_grid_); + } else { + std::cerr << "cannot run reverse operation if mgrs code is not set in projector." << std::endl + << "use setMGRSCode function or explicitly give mgrs code as an argument."; + } + return gps; +} + +GPSPoint MGRSProjector::reverse(const BasicPoint3d & mgrs_point, const std::string & mgrs_code) +{ + GPSPoint gps{0., 0., mgrs_point.z()}; + BasicPoint3d utm_point{0., 0., gps.ele}; + + int zone{}; + int prec{}; + bool is_north{}; + try { + GeographicLib::MGRS::Reverse( + mgrs_code, zone, is_north, utm_point.x(), utm_point.y(), prec, false); + utm_point.x() += fmod(mgrs_point.x(), pow(10, 5 - prec)); + utm_point.y() += fmod(mgrs_point.y(), pow(10, 5 - prec)); + GeographicLib::UTMUPS::Reverse(zone, is_north, utm_point.x(), utm_point.y(), gps.lat, gps.lon); + } catch (const GeographicLib::GeographicErr & err) { + std::cerr << "Failed to convert from MGRS to WGS"; + return gps; + } + + return gps; +} + +void MGRSProjector::setMGRSCode(const std::string & mgrs_code) { mgrs_code_ = mgrs_code; } + +void MGRSProjector::setMGRSCode(const GPSPoint & gps, const int precision) +{ + BasicPoint3d utm_point{0., 0., gps.ele}; + int zone{}; + bool is_north{}; + std::string mgrs_code; + + try { + GeographicLib::UTMUPS::Forward(gps.lat, gps.lon, zone, is_north, utm_point.x(), utm_point.y()); + GeographicLib::MGRS::Forward( + zone, is_north, utm_point.x(), utm_point.y(), gps.lat, precision, mgrs_code); + } catch (const GeographicLib::GeographicErr & err) { + std::cerr << err.what() << std::endl; + } + + setMGRSCode(mgrs_code); +} + +} // namespace lanelet::projection + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/no_stopping_area.cpp b/lanelet2_extension/lib/no_stopping_area.cpp new file mode 100644 index 0000000..3d83a03 --- /dev/null +++ b/lanelet2_extension/lib/no_stopping_area.cpp @@ -0,0 +1,154 @@ +// Copyright 2021 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp" + +#include + +#include + +#include +#include +#include +#include + +namespace lanelet::autoware +{ +namespace +{ +template +bool findAndErase(const T & primitive, RuleParameters * member) +{ + if (member == nullptr) { + std::cerr << __FUNCTION__ << ": member is null pointer"; + return false; + } + auto it = std::find(member->begin(), member->end(), RuleParameter(primitive)); + if (it == member->end()) { + return false; + } + member->erase(it); + return true; +} + +template +Optional tryGetFront(const std::vector & vec) +{ + if (vec.empty()) { + return {}; + } + return vec.front(); +} + +template +RuleParameters toRuleParameters(const std::vector & primitives) +{ + auto cast_func = [](const auto & elem) { return static_cast(elem); }; + return utils::transform(primitives, cast_func); +} + +Polygons3d getPoly(const RuleParameterMap & paramsMap, RoleName role) +{ + auto params = paramsMap.find(role); + if (params == paramsMap.end()) { + return {}; + } + + Polygons3d result; + for (auto & param : params->second) { + auto p = boost::get(¶m); + if (p != nullptr) { + result.push_back(*p); + } + } + return result; +} + +ConstPolygons3d getConstPoly(const RuleParameterMap & params, RoleName role) +{ + auto cast_func = [](auto & poly) { return static_cast(poly); }; + return utils::transform(getPoly(params, role), cast_func); +} + +RegulatoryElementDataPtr constructNoStoppingAreaData( + Id id, const AttributeMap & attributes, const Polygons3d & noStoppingAreas, + const Optional & stopLine = {}) +{ + RuleParameterMap rpm = {{RoleNameString::Refers, toRuleParameters(noStoppingAreas)}}; + if (!!stopLine) { + rpm.insert({RoleNameString::RefLine, {*stopLine}}); + } + + auto data = std::make_shared(id, std::move(rpm), attributes); + data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement; + data->attributes[AttributeName::Subtype] = "no_stopping_area"; + return data; +} +} // namespace + +NoStoppingArea::NoStoppingArea(const RegulatoryElementDataPtr & data) : RegulatoryElement(data) +{ + if (getConstPoly(data->parameters, RoleName::Refers).empty()) { + throw InvalidInputError("no stopping area defined!"); + } + if (getParameters(RoleName::RefLine).size() > 1) { + throw InvalidInputError("There can not exist more than one stop line!"); + } +} + +NoStoppingArea::NoStoppingArea( + Id id, const AttributeMap & attributes, const Polygons3d & no_stopping_areas, + const Optional & stopLine) +: NoStoppingArea(constructNoStoppingAreaData(id, attributes, no_stopping_areas, stopLine)) +{ +} + +ConstPolygons3d NoStoppingArea::noStoppingAreas() const +{ + return getConstPoly(parameters(), RoleName::Refers); +} +Polygons3d NoStoppingArea::noStoppingAreas() { return getPoly(parameters(), RoleName::Refers); } + +void NoStoppingArea::addNoStoppingArea(const Polygon3d & primitive) +{ + parameters()["no_stopping_area"].emplace_back(primitive); +} + +bool NoStoppingArea::removeNoStoppingArea(const Polygon3d & primitive) +{ + return findAndErase(primitive, ¶meters().find("no_stopping_area")->second); +} + +Optional NoStoppingArea::stopLine() const +{ + return tryGetFront(getParameters(RoleName::RefLine)); +} + +Optional NoStoppingArea::stopLine() +{ + return tryGetFront(getParameters(RoleName::RefLine)); +} + +void NoStoppingArea::setStopLine(const LineString3d & stopLine) +{ + parameters()[RoleName::RefLine] = {stopLine}; +} + +void NoStoppingArea::removeStopLine() { parameters()[RoleName::RefLine] = {}; } + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp new file mode 100644 index 0000000..1e5bd8b --- /dev/null +++ b/lanelet2_extension/lib/query.cpp @@ -0,0 +1,884 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Simon Thompson, Ryohsuke Mitsudome + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/utility/query.hpp" + +#include "lanelet2_extension/utility/message_conversion.hpp" +#include "lanelet2_extension/utility/utilities.hpp" + +#include +#include + +#include +#include +#include +#ifdef ROS_DISTRO_GALACTIC +#include "tf2_geometry_msgs/tf2_geometry_msgs.h" +#else +#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" +#endif + +#include +#include +#include +#include +#include +#include + +using lanelet::utils::to2D; + +namespace lanelet::utils +{ +// returns all lanelets in laneletLayer - don't know how to convert +// PrimitiveLayer -> std::vector +lanelet::ConstLanelets query::laneletLayer(const lanelet::LaneletMapConstPtr & ll_map) +{ + lanelet::ConstLanelets lanelets; + if (!ll_map) { + std::cerr << "No map received!"; + return lanelets; + } + + for (const auto & li : ll_map->laneletLayer) { + lanelets.push_back(li); + } + + return lanelets; +} + +lanelet::ConstLanelets query::subtypeLanelets( + const lanelet::ConstLanelets & lls, const char subtype[]) +{ + lanelet::ConstLanelets subtype_lanelets; + + for (const auto & ll : lls) { + if (ll.hasAttribute(lanelet::AttributeName::Subtype)) { + const lanelet::Attribute & attr = ll.attribute(lanelet::AttributeName::Subtype); + if (attr.value() == subtype) { + subtype_lanelets.push_back(ll); + } + } + } + + return subtype_lanelets; +} + +lanelet::ConstLanelets query::crosswalkLanelets(const lanelet::ConstLanelets & lls) +{ + return query::subtypeLanelets(lls, lanelet::AttributeValueString::Crosswalk); +} + +lanelet::ConstLanelets query::walkwayLanelets(const lanelet::ConstLanelets & lls) +{ + return query::subtypeLanelets(lls, lanelet::AttributeValueString::Walkway); +} + +lanelet::ConstLanelets query::roadLanelets(const lanelet::ConstLanelets & lls) +{ + return query::subtypeLanelets(lls, lanelet::AttributeValueString::Road); +} + +lanelet::ConstLanelets query::shoulderLanelets(const lanelet::ConstLanelets & lls) +{ + return query::subtypeLanelets(lls, "road_shoulder"); +} + +std::vector query::trafficLights( + const lanelet::ConstLanelets & lanelets) +{ + std::vector tl_reg_elems; + + for (const auto & ll : lanelets) { + std::vector ll_tl_re = + ll.regulatoryElementsAs(); + + // insert unique tl into array + for (const auto & tl_ptr : ll_tl_re) { + lanelet::Id id = tl_ptr->id(); + bool unique_id = true; + for (const auto & tl_reg_elem : tl_reg_elems) { + if (id == tl_reg_elem->id()) { + unique_id = false; + break; + } + } + if (unique_id) { + tl_reg_elems.push_back(tl_ptr); + } + } + } + return tl_reg_elems; +} + +std::vector query::autowareTrafficLights( + const lanelet::ConstLanelets & lanelets) +{ + std::vector tl_reg_elems; + + for (const auto & ll : lanelets) { + std::vector ll_tl_re = + ll.regulatoryElementsAs(); + + // insert unique tl into array + for (const auto & tl_ptr : ll_tl_re) { + lanelet::Id id = tl_ptr->id(); + bool unique_id = true; + + for (const auto & tl_reg_elem : tl_reg_elems) { + if (id == tl_reg_elem->id()) { + unique_id = false; + break; + } + } + + if (unique_id) { + tl_reg_elems.push_back(tl_ptr); + } + } + } + return tl_reg_elems; +} + +std::vector query::detectionAreas( + const lanelet::ConstLanelets & lanelets) +{ + std::vector da_reg_elems; + + for (const auto & ll : lanelets) { + std::vector ll_da_re = + ll.regulatoryElementsAs(); + + // insert unique tl into array + for (const auto & da_ptr : ll_da_re) { + lanelet::Id id = da_ptr->id(); + bool unique_id = true; + + for (const auto & da_reg_elem : da_reg_elems) { + if (id == da_reg_elem->id()) { + unique_id = false; + break; + } + } + + if (unique_id) { + da_reg_elems.push_back(da_ptr); + } + } + } + return da_reg_elems; +} + +std::vector query::noStoppingAreas( + const lanelet::ConstLanelets & lanelets) +{ + std::vector no_reg_elems; + + for (const auto & ll : lanelets) { + std::vector ll_no_re = + ll.regulatoryElementsAs(); + + // insert unique tl into array + for (const auto & no_ptr : ll_no_re) { + lanelet::Id id = no_ptr->id(); + bool unique_id = true; + + for (const auto & no_reg_elem : no_reg_elems) { + if (id == no_reg_elem->id()) { + unique_id = false; + break; + } + } + + if (unique_id) { + no_reg_elems.push_back(no_ptr); + } + } + } + return no_reg_elems; +} + +lanelet::ConstPolygons3d query::getAllObstaclePolygons( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + lanelet::ConstPolygons3d obstacle_polygons; + for (const auto & poly : lanelet_map_ptr->polygonLayer) { + const std::string type = poly.attributeOr(lanelet::AttributeName::Type, "none"); + if (type == "obstacle") { + obstacle_polygons.push_back(poly); + } + } + return obstacle_polygons; +} + +lanelet::ConstPolygons3d query::getAllParkingLots( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + lanelet::ConstPolygons3d parking_lots; + for (const auto & poly : lanelet_map_ptr->polygonLayer) { + const std::string type = poly.attributeOr(lanelet::AttributeName::Type, "none"); + if (type == "parking_lot") { + parking_lots.push_back(poly); + } + } + return parking_lots; +} + +lanelet::ConstLineStrings3d query::getAllPartitions( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + lanelet::ConstLineStrings3d partitions; + for (const auto & ls : lanelet_map_ptr->lineStringLayer) { + const std::string type = ls.attributeOr(lanelet::AttributeName::Type, "none"); + if (type == "guard_rail" || type == "fence" || type == "wall") { + partitions.push_back(ls); + } + } + return partitions; +} + +lanelet::ConstLineStrings3d query::getAllPedestrianMarkings( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + lanelet::ConstLineStrings3d pedestrian_markings; + for (const auto & ls : lanelet_map_ptr->lineStringLayer) { + const std::string type = ls.attributeOr(lanelet::AttributeName::Type, "none"); + if (type == "pedestrian_marking") { + pedestrian_markings.push_back(ls); + } + } + return pedestrian_markings; +} + +lanelet::ConstLineStrings3d query::getAllParkingSpaces( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + lanelet::ConstLineStrings3d parking_spaces; + for (const auto & ls : lanelet_map_ptr->lineStringLayer) { + const std::string type = ls.attributeOr(lanelet::AttributeName::Type, "none"); + if (type == "parking_space") { + parking_spaces.push_back(ls); + } + } + return parking_spaces; +} + +bool query::getLinkedLanelet( + const lanelet::ConstLineString3d & parking_space, + const lanelet::LaneletMapConstPtr & lanelet_map_ptr, lanelet::ConstLanelet * linked_lanelet) +{ + const auto & all_lanelets = query::laneletLayer(lanelet_map_ptr); + const auto & all_road_lanelets = query::roadLanelets(all_lanelets); + const auto & all_parking_lots = query::getAllParkingLots(lanelet_map_ptr); + return query::getLinkedLanelet( + parking_space, all_road_lanelets, all_parking_lots, linked_lanelet); +} + +bool query::getLinkedLanelet( + const lanelet::ConstLineString3d & parking_space, + const lanelet::ConstLanelets & all_road_lanelets, + const lanelet::ConstPolygons3d & all_parking_lots, lanelet::ConstLanelet * linked_lanelet) +{ + const auto & linked_lanelets = + getLinkedLanelets(parking_space, all_road_lanelets, all_parking_lots); + if (linked_lanelets.empty()) { + return false; + } + + double min_distance = std::numeric_limits::max(); + for (const auto & lanelet : linked_lanelets) { + const double distance = boost::geometry::distance( + to2D(parking_space).basicLineString(), lanelet.polygon2d().basicPolygon()); + if (distance < min_distance) { + *linked_lanelet = lanelet; + min_distance = distance; + } + } + return true; +} + +lanelet::ConstLanelets query::getLinkedLanelets( + const lanelet::ConstLineString3d & parking_space, + const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + const auto & all_lanelets = query::laneletLayer(lanelet_map_ptr); + const auto & all_road_lanelets = query::roadLanelets(all_lanelets); + const auto & all_parking_lots = query::getAllParkingLots(lanelet_map_ptr); + + return query::getLinkedLanelets(parking_space, all_road_lanelets, all_parking_lots); +} + +lanelet::ConstLanelets query::getLinkedLanelets( + const lanelet::ConstLineString3d & parking_space, + const lanelet::ConstLanelets & all_road_lanelets, + const lanelet::ConstPolygons3d & all_parking_lots) +{ + lanelet::ConstLanelets linked_lanelets; + + // get lanelets within same parking lot + lanelet::ConstPolygon3d linked_parking_lot; + if (!getLinkedParkingLot(parking_space, all_parking_lots, &linked_parking_lot)) { + return linked_lanelets; + } + const auto & candidate_lanelets = getLinkedLanelets(linked_parking_lot, all_road_lanelets); + + // get lanelets that are close to parking space and facing to parking space + for (const auto & lanelet : candidate_lanelets) { + // check if parking space is close to lanelet + const double distance = boost::geometry::distance( + to2D(parking_space).basicLineString(), lanelet.polygon2d().basicPolygon()); + constexpr double distance_thresh = 5.0; + if (distance > distance_thresh) { + continue; + } + + // check if parking space is facing lanelet + const Eigen::Vector3d direction = + parking_space.back().basicPoint() - parking_space.front().basicPoint(); + const Eigen::Vector3d new_pt = parking_space.front().basicPoint() - direction * distance_thresh; + + const lanelet::Point3d check_line_p1(lanelet::InvalId, new_pt.x(), new_pt.y(), new_pt.z()); + const lanelet::Point3d check_line_p2(lanelet::InvalId, parking_space.back().basicPoint()); + const lanelet::LineString3d check_line(lanelet::InvalId, {check_line_p1, check_line_p2}); + + const double new_distance = boost::geometry::distance( + to2D(check_line).basicLineString(), lanelet.polygon2d().basicPolygon()); + if (new_distance < std::numeric_limits::epsilon()) { + linked_lanelets.push_back(lanelet); + } + } + + return linked_lanelets; +} + +// get overlapping lanelets +lanelet::ConstLanelets query::getLinkedLanelets( + const lanelet::ConstPolygon3d & parking_lot, const lanelet::ConstLanelets & all_road_lanelets) +{ + lanelet::ConstLanelets linked_lanelets; + for (const auto & lanelet : all_road_lanelets) { + const double distance = boost::geometry::distance( + lanelet.polygon2d().basicPolygon(), to2D(parking_lot).basicPolygon()); + if (distance < std::numeric_limits::epsilon()) { + linked_lanelets.push_back(lanelet); + } + } + return linked_lanelets; +} + +lanelet::ConstLineStrings3d query::getLinkedParkingSpaces( + const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + const auto & all_parking_spaces = query::getAllParkingSpaces(lanelet_map_ptr); + const auto & all_parking_lots = query::getAllParkingLots(lanelet_map_ptr); + return getLinkedParkingSpaces(lanelet, all_parking_spaces, all_parking_lots); +} + +lanelet::ConstLineStrings3d query::getLinkedParkingSpaces( + const lanelet::ConstLanelet & lanelet, const lanelet::ConstLineStrings3d & all_parking_spaces, + const lanelet::ConstPolygons3d & all_parking_lots) +{ + lanelet::ConstLineStrings3d linked_parking_spaces; + + // get parking spaces that are in same parking lot. + lanelet::ConstPolygon3d linked_parking_lot; + if (!getLinkedParkingLot(lanelet, all_parking_lots, &linked_parking_lot)) { + return linked_parking_spaces; + } + const auto & possible_parking_spaces = + getLinkedParkingSpaces(linked_parking_lot, all_parking_spaces); + + // check for parking spaces that are within 5m and facing towards lanelet + for (const auto & parking_space : possible_parking_spaces) { + // check if parking space is close to lanelet + const double distance = boost::geometry::distance( + to2D(parking_space).basicLineString(), lanelet.polygon2d().basicPolygon()); + constexpr double distance_thresh = 5.0; + if (distance > distance_thresh) { + continue; + } + + // check if parking space is facing lanelet + const Eigen::Vector3d direction = + parking_space.back().basicPoint() - parking_space.front().basicPoint(); + const Eigen::Vector3d new_pt = parking_space.front().basicPoint() - direction * distance_thresh; + + const lanelet::Point3d check_line_p1(lanelet::InvalId, new_pt.x(), new_pt.y(), new_pt.z()); + const lanelet::Point3d check_line_p2(lanelet::InvalId, parking_space.back().basicPoint()); + const lanelet::LineString3d check_line(lanelet::InvalId, {check_line_p1, check_line_p2}); + + const double new_distance = boost::geometry::distance( + to2D(check_line).basicLineString(), lanelet.polygon2d().basicPolygon()); + if (new_distance < std::numeric_limits::epsilon()) { + linked_parking_spaces.push_back(parking_space); + } + } + return linked_parking_spaces; +} + +// get overlapping parking lot +bool query::getLinkedParkingLot( + const lanelet::ConstLanelet & lanelet, const lanelet::ConstPolygons3d & all_parking_lots, + lanelet::ConstPolygon3d * linked_parking_lot) +{ + for (const auto & parking_lot : all_parking_lots) { + const double distance = boost::geometry::distance( + lanelet.polygon2d().basicPolygon(), to2D(parking_lot).basicPolygon()); + if (distance < std::numeric_limits::epsilon()) { + *linked_parking_lot = parking_lot; + return true; + } + } + return false; +} + +// get overlapping parking lot +bool query::getLinkedParkingLot( + const lanelet::BasicPoint2d & current_position, const lanelet::ConstPolygons3d & all_parking_lots, + lanelet::ConstPolygon3d * linked_parking_lot) +{ + for (const auto & parking_lot : all_parking_lots) { + const double distance = + boost::geometry::distance(current_position, to2D(parking_lot).basicPolygon()); + if (distance < std::numeric_limits::epsilon()) { + *linked_parking_lot = parking_lot; + return true; + } + } + return false; +} + +// get overlapping parking lot +bool query::getLinkedParkingLot( + const lanelet::ConstLineString3d & parking_space, + const lanelet::ConstPolygons3d & all_parking_lots, lanelet::ConstPolygon3d * linked_parking_lot) +{ + for (const auto & parking_lot : all_parking_lots) { + const double distance = boost::geometry::distance( + to2D(parking_space).basicLineString(), to2D(parking_lot).basicPolygon()); + if (distance < std::numeric_limits::epsilon()) { + *linked_parking_lot = parking_lot; + return true; + } + } + return false; +} + +lanelet::ConstLineStrings3d query::getLinkedParkingSpaces( + const lanelet::ConstPolygon3d & parking_lot, + const lanelet::ConstLineStrings3d & all_parking_spaces) +{ + lanelet::ConstLineStrings3d linked_parking_spaces; + for (const auto & parking_space : all_parking_spaces) { + const double distance = boost::geometry::distance( + to2D(parking_space).basicLineString(), to2D(parking_lot).basicPolygon()); + if (distance < std::numeric_limits::epsilon()) { + linked_parking_spaces.push_back(parking_space); + } + } + return linked_parking_spaces; +} + +// return all stop lines and ref lines from a given set of lanelets +std::vector query::stopLinesLanelets( + const lanelet::ConstLanelets & lanelets) +{ + std::vector stoplines; + + for (const auto & ll : lanelets) { + std::vector ll_stoplines; + ll_stoplines = query::stopLinesLanelet(ll); + stoplines.insert(stoplines.end(), ll_stoplines.begin(), ll_stoplines.end()); + } + + return stoplines; +} + +// return all stop and ref lines from a given lanelet +std::vector query::stopLinesLanelet(const lanelet::ConstLanelet & ll) +{ + std::vector stoplines; + + // find stop lines referenced by right of way reg. elems. + std::vector> right_of_way_reg_elems = + ll.regulatoryElementsAs(); + + if (!right_of_way_reg_elems.empty()) { + // lanelet has a right of way elem element + for (auto j = right_of_way_reg_elems.begin(); j < right_of_way_reg_elems.end(); j++) { + if ((*j)->getManeuver(ll) == lanelet::ManeuverType::Yield) { + // lanelet has a yield reg. elem. + lanelet::Optional row_stopline_opt = (*j)->stopLine(); + if (!!row_stopline_opt) { + stoplines.push_back(row_stopline_opt.get()); + } + } + } + } + + // find stop lines referenced by traffic lights + std::vector> traffic_light_reg_elems = + ll.regulatoryElementsAs(); + + if (!traffic_light_reg_elems.empty()) { + // lanelet has a traffic light elem element + for (auto j = traffic_light_reg_elems.begin(); j < traffic_light_reg_elems.end(); j++) { + lanelet::Optional traffic_light_stopline_opt = (*j)->stopLine(); + if (!!traffic_light_stopline_opt) { + stoplines.push_back(traffic_light_stopline_opt.get()); + } + } + } + // find stop lines referenced by traffic signs + std::vector> traffic_sign_reg_elems = + ll.regulatoryElementsAs(); + + if (!traffic_sign_reg_elems.empty()) { + // lanelet has a traffic sign reg elem - can have multiple ref lines (but + // stop sign shod have 1 + for (auto j = traffic_sign_reg_elems.begin(); j < traffic_sign_reg_elems.end(); j++) { + lanelet::ConstLineStrings3d traffic_sign_stoplines = (*j)->refLines(); + if (!traffic_sign_stoplines.empty()) { + stoplines.push_back(traffic_sign_stoplines.front()); + } + } + } + return stoplines; +} + +std::vector query::stopSignStopLines( + const lanelet::ConstLanelets & lanelets, const std::string & stop_sign_id) +{ + std::vector stoplines; + + std::set checklist; + + for (const auto & ll : lanelets) { + // find stop lines referenced by traffic signs + std::vector> traffic_sign_reg_elems = + ll.regulatoryElementsAs(); + + if (!traffic_sign_reg_elems.empty()) { + // lanelet has a traffic sign reg elem - can have multiple ref lines (but + // stop sign shod have 1 + for (const auto & ts : traffic_sign_reg_elems) { + // skip if traffic sign is not stop sign + if (ts->type() != stop_sign_id) { + continue; + } + + lanelet::ConstLineStrings3d traffic_sign_stoplines = ts->refLines(); + + // only add new items + if (!traffic_sign_stoplines.empty()) { + auto id = traffic_sign_stoplines.front().id(); + if (checklist.find(id) == checklist.end()) { + checklist.insert(id); + stoplines.push_back(traffic_sign_stoplines.front()); + } + } + } + } + } + return stoplines; +} + +ConstLanelets query::getLaneletsWithinRange( + const lanelet::ConstLanelets & lanelets, const lanelet::BasicPoint2d & search_point, + const double range) +{ + ConstLanelets near_lanelets; + for (const auto & ll : lanelets) { + lanelet::BasicPolygon2d poly = ll.polygon2d().basicPolygon(); + double distance = lanelet::geometry::distance(poly, search_point); + if (distance <= range) { + near_lanelets.push_back(ll); + } + } + return near_lanelets; +} + +ConstLanelets query::getLaneletsWithinRange( + const lanelet::ConstLanelets & lanelets, const geometry_msgs::msg::Point & search_point, + const double range) +{ + return getLaneletsWithinRange( + lanelets, lanelet::BasicPoint2d(search_point.x, search_point.y), range); +} + +ConstLanelets query::getLaneChangeableNeighbors( + const routing::RoutingGraphPtr & graph, const ConstLanelet & lanelet) +{ + return graph->besides(lanelet); +} + +ConstLanelets query::getLaneChangeableNeighbors( + const routing::RoutingGraphPtr & graph, const ConstLanelets & road_lanelets, + const geometry_msgs::msg::Point & search_point) +{ + const auto lanelets = + getLaneletsWithinRange(road_lanelets, search_point, std::numeric_limits::epsilon()); + ConstLanelets road_slices; + for (const auto & llt : lanelets) { + const auto tmp_road_slice = getLaneChangeableNeighbors(graph, llt); + road_slices.insert(road_slices.end(), tmp_road_slice.begin(), tmp_road_slice.end()); + } + return road_slices; +} + +ConstLanelets query::getAllNeighbors( + const routing::RoutingGraphPtr & graph, const ConstLanelet & lanelet) +{ + ConstLanelets lanelets; + + ConstLanelets left_lanelets = getAllNeighborsLeft(graph, lanelet); + ConstLanelets right_lanelets = getAllNeighborsRight(graph, lanelet); + + std::reverse(left_lanelets.begin(), left_lanelets.end()); + lanelets.insert(lanelets.end(), left_lanelets.begin(), left_lanelets.end()); + lanelets.push_back(lanelet); + lanelets.insert(lanelets.end(), right_lanelets.begin(), right_lanelets.end()); + + return lanelets; +} + +ConstLanelets query::getAllNeighborsRight( + const routing::RoutingGraphPtr & graph, const ConstLanelet & lanelet) +{ + ConstLanelets lanelets; + auto right_lane = + (!!graph->right(lanelet)) ? graph->right(lanelet) : graph->adjacentRight(lanelet); + while (!!right_lane) { + lanelets.push_back(right_lane.get()); + right_lane = (!!graph->right(right_lane.get())) ? graph->right(right_lane.get()) + : graph->adjacentRight(right_lane.get()); + } + return lanelets; +} + +ConstLanelets query::getAllNeighborsLeft( + const routing::RoutingGraphPtr & graph, const ConstLanelet & lanelet) +{ + ConstLanelets lanelets; + auto left_lane = (!!graph->left(lanelet)) ? graph->left(lanelet) : graph->adjacentLeft(lanelet); + while (!!left_lane) { + lanelets.push_back(left_lane.get()); + left_lane = (!!graph->left(left_lane.get())) ? graph->left(left_lane.get()) + : graph->adjacentLeft(left_lane.get()); + } + return lanelets; +} + +ConstLanelets query::getAllNeighbors( + const routing::RoutingGraphPtr & graph, const ConstLanelets & road_lanelets, + const geometry_msgs::msg::Point & search_point) +{ + const auto lanelets = + getLaneletsWithinRange(road_lanelets, search_point, std::numeric_limits::epsilon()); + ConstLanelets road_slices; + for (const auto & llt : lanelets) { + const auto tmp_road_slice = getAllNeighbors(graph, llt); + road_slices.insert(road_slices.end(), tmp_road_slice.begin(), tmp_road_slice.end()); + } + return road_slices; +} + +bool query::getClosestLanelet( + const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, + ConstLanelet * closest_lanelet_ptr) +{ + if (closest_lanelet_ptr == nullptr) { + std::cerr << "argument closest_lanelet_ptr is null! Failed to find closest lanelet" + << std::endl; + return false; + } + + if (lanelets.empty()) { + return false; + } + + bool found = false; + + lanelet::BasicPoint2d search_point(search_pose.position.x, search_pose.position.y); + + // find by distance + lanelet::ConstLanelets candidate_lanelets; + { + double min_distance = std::numeric_limits::max(); + for (const auto & llt : lanelets) { + double distance = + boost::geometry::comparable_distance(llt.polygon2d().basicPolygon(), search_point); + + if (std::abs(distance - min_distance) <= std::numeric_limits::epsilon()) { + candidate_lanelets.push_back(llt); + } else if (distance < min_distance) { + found = true; + candidate_lanelets.clear(); + candidate_lanelets.push_back(llt); + min_distance = distance; + } + } + } + + // find by angle + { + double min_angle = std::numeric_limits::max(); + double pose_yaw = tf2::getYaw(search_pose.orientation); + for (const auto & llt : candidate_lanelets) { + lanelet::ConstLineString3d segment = getClosestSegment(search_point, llt.centerline()); + double segment_angle = std::atan2( + segment.back().y() - segment.front().y(), segment.back().x() - segment.front().x()); + double angle_diff = std::abs(autoware_utils::normalize_radian(segment_angle - pose_yaw)); + if (angle_diff < min_angle) { + min_angle = angle_diff; + *closest_lanelet_ptr = llt; + } + } + } + + return found; +} + +bool query::getCurrentLanelets( + const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, + ConstLanelets * current_lanelets_ptr) +{ + if (current_lanelets_ptr == nullptr) { + std::cerr << "argument closest_lanelet_ptr is null! Failed to find closest lanelet" + << std::endl; + return false; + } + + if (lanelets.empty()) { + return false; + } + + lanelet::BasicPoint2d search_point(search_pose.position.x, search_pose.position.y); + for (const auto & llt : lanelets) { + if (lanelet::geometry::inside(llt, search_point)) { + current_lanelets_ptr->push_back(llt); + } + } + + return !current_lanelets_ptr->empty(); // return found +} + +std::vector> getSucceedingLaneletSequencesRecursive( + const routing::RoutingGraphPtr & graph, const lanelet::ConstLanelet & lanelet, + const double length) +{ + std::vector> succeeding_lanelet_sequences; + + const auto next_lanelets = graph->following(lanelet); + const double lanelet_length = utils::getLaneletLength3d(lanelet); + + // end condition of the recursive function + if (next_lanelets.empty() || lanelet_length >= length) { + succeeding_lanelet_sequences.push_back({lanelet}); + return succeeding_lanelet_sequences; + } + + for (const auto & next_lanelet : next_lanelets) { + // get lanelet sequence after next_lanelet + auto tmp_lanelet_sequences = + getSucceedingLaneletSequencesRecursive(graph, next_lanelet, length - lanelet_length); + for (auto & tmp_lanelet_sequence : tmp_lanelet_sequences) { + tmp_lanelet_sequence.push_front(lanelet); + succeeding_lanelet_sequences.push_back(tmp_lanelet_sequence); + } + } + return succeeding_lanelet_sequences; +} + +std::vector> getPrecedingLaneletSequencesRecursive( + const routing::RoutingGraphPtr & graph, const lanelet::ConstLanelet & lanelet, + const double length, const lanelet::ConstLanelets & exclude_lanelets) +{ + std::vector> preceding_lanelet_sequences; + + const auto prev_lanelets = graph->previous(lanelet); + const double lanelet_length = utils::getLaneletLength3d(lanelet); + + // end condition of the recursive function + if (prev_lanelets.empty() || lanelet_length >= length) { + preceding_lanelet_sequences.push_back({lanelet}); + return preceding_lanelet_sequences; + } + + for (const auto & prev_lanelet : prev_lanelets) { + if (lanelet::utils::contains(exclude_lanelets, prev_lanelet)) { + // if prev_lanelet is included in exclude_lanelets, + // remove prev_lanelet from preceding_lanelet_sequences + continue; + } + + // get lanelet sequence after prev_lanelet + auto tmp_lanelet_sequences = getPrecedingLaneletSequencesRecursive( + graph, prev_lanelet, length - lanelet_length, exclude_lanelets); + for (auto & tmp_lanelet_sequence : tmp_lanelet_sequences) { + tmp_lanelet_sequence.push_back(lanelet); + preceding_lanelet_sequences.push_back(tmp_lanelet_sequence); + } + } + + if (preceding_lanelet_sequences.empty()) { + preceding_lanelet_sequences.push_back({lanelet}); + } + return preceding_lanelet_sequences; +} + +std::vector query::getSucceedingLaneletSequences( + const routing::RoutingGraphPtr & graph, const lanelet::ConstLanelet & lanelet, + const double length) +{ + std::vector lanelet_sequences_vec; + const auto next_lanelets = graph->following(lanelet); + for (const auto & next_lanelet : next_lanelets) { + const auto lanelet_sequences_deq = + getSucceedingLaneletSequencesRecursive(graph, next_lanelet, length); + for (const auto & lanelet_sequence : lanelet_sequences_deq) { + lanelet_sequences_vec.emplace_back(lanelet_sequence.begin(), lanelet_sequence.end()); + } + } + return lanelet_sequences_vec; +} + +std::vector query::getPrecedingLaneletSequences( + const routing::RoutingGraphPtr & graph, const lanelet::ConstLanelet & lanelet, + const double length, const lanelet::ConstLanelets & exclude_lanelets) +{ + std::vector lanelet_sequences_vec; + const auto prev_lanelets = graph->previous(lanelet); + for (const auto & prev_lanelet : prev_lanelets) { + if (lanelet::utils::contains(exclude_lanelets, prev_lanelet)) { + // if prev_lanelet is included in exclude_lanelets, + // remove prev_lanelet from preceding_lanelet_sequences + continue; + } + // convert deque into vector + const auto lanelet_sequences_deq = + getPrecedingLaneletSequencesRecursive(graph, prev_lanelet, length, exclude_lanelets); + for (const auto & lanelet_sequence : lanelet_sequences_deq) { + lanelet_sequences_vec.emplace_back(lanelet_sequence.begin(), lanelet_sequence.end()); + } + } + return lanelet_sequences_vec; +} + +} // namespace lanelet::utils + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/road_marking.cpp b/lanelet2_extension/lib/road_marking.cpp new file mode 100644 index 0000000..fd2a202 --- /dev/null +++ b/lanelet2_extension/lib/road_marking.cpp @@ -0,0 +1,77 @@ +// Copyright 2020 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/road_marking.hpp" + +#include + +#include + +#include +#include +#include +#include + +namespace lanelet::autoware +{ +namespace +{ +RegulatoryElementDataPtr constructRoadMarkingData( + Id id, const AttributeMap & attributes, const LineString3d & road_marking) +{ + RuleParameterMap rpm; + RuleParameters rule_parameters = {road_marking}; + rpm.insert(std::make_pair(RoleNameString::Refers, rule_parameters)); + + auto data = std::make_shared(id, rpm, attributes); + data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement; + data->attributes[AttributeName::Subtype] = "road_marking"; + return data; +} +} // namespace + +RoadMarking::RoadMarking(const RegulatoryElementDataPtr & data) : RegulatoryElement(data) +{ + if (getParameters(RoleName::Refers).size() != 1) { + throw InvalidInputError("There must be exactly one road marking defined!"); + } +} + +RoadMarking::RoadMarking(Id id, const AttributeMap & attributes, const LineString3d & road_marking) +: RoadMarking(constructRoadMarkingData(id, attributes, road_marking)) +{ +} + +ConstLineString3d RoadMarking::roadMarking() const +{ + return getParameters(RoleName::Refers).front(); +} + +LineString3d RoadMarking::roadMarking() +{ + return getParameters(RoleName::Refers).front(); +} + +void RoadMarking::setRoadMarking(const LineString3d & road_marking) +{ + parameters()[RoleName::Refers] = {road_marking}; +} + +void RoadMarking::removeRoadMarking() { parameters()[RoleName::Refers] = {}; } + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/route_checker.cpp b/lanelet2_extension/lib/route_checker.cpp new file mode 100644 index 0000000..2ba2477 --- /dev/null +++ b/lanelet2_extension/lib/route_checker.cpp @@ -0,0 +1,46 @@ +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/utility/route_checker.hpp" + +#include + +namespace lanelet::utils +{ +bool route::isRouteValid( + const HADMapRoute & route_msg, const lanelet::LaneletMapPtr lanelet_map_ptr_) +{ + for (const auto & route_section : route_msg.segments) { + for (const auto & primitive : route_section.primitives) { + const auto id = primitive.id; + try { + lanelet_map_ptr_->laneletLayer.get(id); + } catch (const std::exception & e) { + std::cerr + << e.what() + << ". Maybe the loaded route was created on a different Map from the current one. " + "Try to load the other Route again." + << std::endl; + return false; + } + } + } + return true; +} + +} // namespace lanelet::utils + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/utilities.cpp b/lanelet2_extension/lib/utilities.cpp new file mode 100644 index 0000000..808f8f5 --- /dev/null +++ b/lanelet2_extension/lib/utilities.cpp @@ -0,0 +1,729 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Kenji Miyake, Ryohsuke Mitsudome + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/utility/utilities.hpp" + +#include "lanelet2_extension/utility/message_conversion.hpp" +#include "lanelet2_extension/utility/query.hpp" + +#include +#include +#include +#include +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#else +#include +#endif + +#include +#include +#include +#include +#include + +namespace lanelet::utils +{ +namespace +{ +[[maybe_unused]] bool exists(const std::vector & array, const int element) +{ + return std::find(array.begin(), array.end(), element) != array.end(); +} + +/** + * [getContactingLanelets retrieves id of lanelets which has distance 0m to + * search_point] + * @param lanelet_map [pointer to lanelet] + * @param trafficRules [traffic rules to ignore lanelets that are not + * traversable] + * @param search_point [2D point used for searching] + * @param contacting_lanelet_ids [array of lanelet ids that is contacting with + * search_point] + */ +[[maybe_unused]] void getContactingLanelets( + const lanelet::LaneletMapPtr lanelet_map, + const lanelet::traffic_rules::TrafficRulesPtr traffic_rules, + const lanelet::BasicPoint2d & search_point, std::vector * contacting_lanelet_ids) +{ + if (!lanelet_map) { + std::cerr << "No lanelet map is set!" << std::endl; + return; + } + + if (contacting_lanelet_ids == nullptr) { + std::cerr << __FUNCTION__ << " contacting_lanelet_ids is null pointer!" << std::endl; + return; + } + + for (const auto & ll : lanelet_map->laneletLayer) { + if (!traffic_rules->canPass(ll)) { + continue; + } + lanelet::BasicPolygon2d poly = ll.polygon2d().basicPolygon(); + double distance = lanelet::geometry::distance(poly, search_point); + if (distance < std::numeric_limits::epsilon()) { + contacting_lanelet_ids->push_back(static_cast(ll.id())); + } + } +} + +std::vector calculateSegmentDistances(const lanelet::ConstLineString3d & line_string) +{ + std::vector segment_distances; + segment_distances.reserve(line_string.size() - 1); + + for (size_t i = 1; i < line_string.size(); ++i) { + const auto distance = lanelet::geometry::distance(line_string[i], line_string[i - 1]); + segment_distances.push_back(distance); + } + + return segment_distances; +} + +std::vector calculateAccumulatedLengths(const lanelet::ConstLineString3d & line_string) +{ + const auto segment_distances = calculateSegmentDistances(line_string); + + std::vector accumulated_lengths{0}; + accumulated_lengths.reserve(segment_distances.size() + 1); + std::partial_sum( + std::begin(segment_distances), std::end(segment_distances), + std::back_inserter(accumulated_lengths)); + + return accumulated_lengths; +} + +std::pair findNearestIndexPair( + const std::vector & accumulated_lengths, const double target_length) +{ + // List size + const auto N = accumulated_lengths.size(); + + // Front + if (target_length < accumulated_lengths.at(1)) { + return std::make_pair(0, 1); + } + + // Back + if (target_length > accumulated_lengths.at(N - 2)) { + return std::make_pair(N - 2, N - 1); + } + + // Middle + for (std::size_t i = 1; i < N; ++i) { + if ( + accumulated_lengths.at(i - 1) <= target_length && + target_length <= accumulated_lengths.at(i)) { + return std::make_pair(i - 1, i); + } + } + + // Throw an exception because this never happens + throw std::runtime_error("No nearest point found."); +} + +std::vector resamplePoints( + const lanelet::ConstLineString3d & line_string, const int num_segments) +{ + // Calculate length + const auto line_length = static_cast(lanelet::geometry::length(line_string)); + + // Calculate accumulated lengths + const auto accumulated_lengths = calculateAccumulatedLengths(line_string); + if (accumulated_lengths.size() < 2) return {}; + + // Create each segment + std::vector resampled_points; + for (auto i = 0; i <= num_segments; ++i) { + // Find two nearest points + const auto target_length = (static_cast(i) / num_segments) * line_length; + const auto index_pair = findNearestIndexPair(accumulated_lengths, target_length); + + // Apply linear interpolation + const lanelet::BasicPoint3d back_point = line_string[index_pair.first]; + const lanelet::BasicPoint3d front_point = line_string[index_pair.second]; + const auto direction_vector = (front_point - back_point); + + const auto back_length = accumulated_lengths.at(index_pair.first); + const auto front_length = accumulated_lengths.at(index_pair.second); + const auto segment_length = front_length - back_length; + const auto target_point = + back_point + (direction_vector * (target_length - back_length) / segment_length); + + // Add to list + resampled_points.emplace_back(target_point); + } + + return resampled_points; +} +lanelet::LineString3d getLineStringFromArcLength( + const lanelet::ConstLineString3d & linestring, const double s1, const double s2) +{ + lanelet::Points3d points; + double accumulated_length = 0; + size_t start_index = linestring.size(); + for (size_t i = 0; i < linestring.size() - 1; i++) { + const auto & p1 = linestring[i]; + const auto & p2 = linestring[i + 1]; + const double length = boost::geometry::distance(p1.basicPoint(), p2.basicPoint()); + if (accumulated_length + length > s1) { + start_index = i; + break; + } + accumulated_length += length; + } + if (start_index < linestring.size() - 1) { + const auto & p1 = linestring[start_index]; + const auto & p2 = linestring[start_index + 1]; + const double residue = s1 - accumulated_length; + const auto direction_vector = (p2.basicPoint() - p1.basicPoint()).normalized(); + const auto start_basic_point = p1.basicPoint() + residue * direction_vector; + const auto start_point = lanelet::Point3d(lanelet::InvalId, start_basic_point); + points.push_back(start_point); + } + + accumulated_length = 0; + size_t end_index = linestring.size(); + for (size_t i = 0; i < linestring.size() - 1; i++) { + const auto & p1 = linestring[i]; + const auto & p2 = linestring[i + 1]; + const double length = boost::geometry::distance(p1.basicPoint(), p2.basicPoint()); + if (accumulated_length + length > s2) { + end_index = i; + break; + } + accumulated_length += length; + } + + for (size_t i = start_index + 1; i < end_index; i++) { + const auto p = lanelet::Point3d(linestring[i]); + points.push_back(p); + } + if (end_index < linestring.size() - 1) { + const auto & p1 = linestring[end_index]; + const auto & p2 = linestring[end_index + 1]; + const double residue = s2 - accumulated_length; + const auto direction_vector = (p2.basicPoint() - p1.basicPoint()).normalized(); + const auto end_basic_point = p1.basicPoint() + residue * direction_vector; + const auto end_point = lanelet::Point3d(lanelet::InvalId, end_basic_point); + points.push_back(end_point); + } + return lanelet::LineString3d{lanelet::InvalId, points}; +} + +lanelet::ConstLanelet combineLanelets(const lanelet::ConstLanelets & lanelets) +{ + lanelet::Points3d lefts; + lanelet::Points3d rights; + lanelet::Points3d centers; + for (const auto & llt : lanelets) { + for (const auto & pt : llt.leftBound()) { + lefts.push_back(lanelet::Point3d(pt)); + } + for (const auto & pt : llt.rightBound()) { + rights.push_back(lanelet::Point3d(pt)); + } + for (const auto & pt : llt.centerline()) { + centers.push_back(lanelet::Point3d(pt)); + } + } + const auto left_bound = lanelet::LineString3d(lanelet::InvalId, lefts); + const auto right_bound = lanelet::LineString3d(lanelet::InvalId, rights); + const auto center_line = lanelet::LineString3d(lanelet::InvalId, centers); + auto combined_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + combined_lanelet.setCenterline(center_line); + return std::move(combined_lanelet); +} + +} // namespace + +lanelet::LineString3d generateFineCenterline( + const lanelet::ConstLanelet & lanelet_obj, const double resolution) +{ + // Get length of longer border + const double left_length = + static_cast(lanelet::geometry::length(lanelet_obj.leftBound())); + const double right_length = + static_cast(lanelet::geometry::length(lanelet_obj.rightBound())); + const double longer_distance = (left_length > right_length) ? left_length : right_length; + const int num_segments = std::max(static_cast(ceil(longer_distance / resolution)), 1); + + // Resample points + const auto left_points = resamplePoints(lanelet_obj.leftBound(), num_segments); + const auto right_points = resamplePoints(lanelet_obj.rightBound(), num_segments); + + // Create centerline + lanelet::LineString3d centerline(lanelet::utils::getId()); + for (int i = 0; i < num_segments + 1; i++) { + // Add ID for the average point of left and right + const auto center_basic_point = (right_points.at(i) + left_points.at(i)) / 2; + const lanelet::Point3d center_point( + lanelet::utils::getId(), center_basic_point.x(), center_basic_point.y(), + center_basic_point.z()); + centerline.push_back(center_point); + } + return centerline; +} + +lanelet::ConstLineString3d getCenterlineWithOffset( + const lanelet::ConstLanelet & lanelet_obj, const double offset, const double resolution) +{ + // Get length of longer border + const double left_length = + static_cast(lanelet::geometry::length(lanelet_obj.leftBound())); + const double right_length = + static_cast(lanelet::geometry::length(lanelet_obj.rightBound())); + const double longer_distance = (left_length > right_length) ? left_length : right_length; + const int num_segments = std::max(static_cast(ceil(longer_distance / resolution)), 1); + + // Resample points + const auto left_points = resamplePoints(lanelet_obj.leftBound(), num_segments); + const auto right_points = resamplePoints(lanelet_obj.rightBound(), num_segments); + + // Create centerline + lanelet::LineString3d centerline(lanelet::utils::getId()); + for (int i = 0; i < num_segments + 1; i++) { + // Add ID for the average point of left and right + const auto center_basic_point = (right_points.at(i) + left_points.at(i)) / 2; + + const auto vec_right_2_left = (left_points.at(i) - right_points.at(i)).normalized(); + + const auto offset_center_basic_point = center_basic_point + vec_right_2_left * offset; + + const lanelet::Point3d center_point( + lanelet::utils::getId(), offset_center_basic_point.x(), offset_center_basic_point.y(), + offset_center_basic_point.z()); + centerline.push_back(center_point); + } + return static_cast(centerline); +} + +lanelet::ConstLineString3d getRightBoundWithOffset( + const lanelet::ConstLanelet & lanelet_obj, const double offset, const double resolution) +{ + // Get length of longer border + const double left_length = + static_cast(lanelet::geometry::length(lanelet_obj.leftBound())); + const double right_length = + static_cast(lanelet::geometry::length(lanelet_obj.rightBound())); + const double longer_distance = (left_length > right_length) ? left_length : right_length; + const int num_segments = std::max(static_cast(ceil(longer_distance / resolution)), 1); + + // Resample points + const auto left_points = resamplePoints(lanelet_obj.leftBound(), num_segments); + const auto right_points = resamplePoints(lanelet_obj.rightBound(), num_segments); + + // Create centerline + lanelet::LineString3d rightBound(lanelet::utils::getId()); + for (int i = 0; i < num_segments + 1; i++) { + // Add ID for the average point of left and right + const auto vec_left_2_right = (right_points.at(i) - left_points.at(i)).normalized(); + + const auto offset_right_basic_point = right_points.at(i) + vec_left_2_right * offset; + + const lanelet::Point3d rightBound_point( + lanelet::utils::getId(), offset_right_basic_point.x(), offset_right_basic_point.y(), + offset_right_basic_point.z()); + rightBound.push_back(rightBound_point); + } + return static_cast(rightBound); +} + +lanelet::ConstLineString3d getLeftBoundWithOffset( + const lanelet::ConstLanelet & lanelet_obj, const double offset, const double resolution) +{ + // Get length of longer border + const double left_length = + static_cast(lanelet::geometry::length(lanelet_obj.leftBound())); + const double right_length = + static_cast(lanelet::geometry::length(lanelet_obj.rightBound())); + const double longer_distance = (left_length > right_length) ? left_length : right_length; + const int num_segments = std::max(static_cast(ceil(longer_distance / resolution)), 1); + + // Resample points + const auto left_points = resamplePoints(lanelet_obj.leftBound(), num_segments); + const auto right_points = resamplePoints(lanelet_obj.rightBound(), num_segments); + + // Create centerline + lanelet::LineString3d leftBound(lanelet::utils::getId()); + for (int i = 0; i < num_segments + 1; i++) { + // Add ID for the average point of left and right + + const auto vec_right_2_left = (left_points.at(i) - right_points.at(i)).normalized(); + + const auto offset_left_basic_point = left_points.at(i) + vec_right_2_left * offset; + + const lanelet::Point3d leftBound_point( + lanelet::utils::getId(), offset_left_basic_point.x(), offset_left_basic_point.y(), + offset_left_basic_point.z()); + leftBound.push_back(leftBound_point); + } + return static_cast(leftBound); +} + +lanelet::ConstLanelet getExpandedLanelet( + const lanelet::ConstLanelet & lanelet_obj, const double left_offset, const double right_offset) +{ + using lanelet::geometry::offsetNoThrow; + using lanelet::geometry::internal::checkForInversion; + + const auto & orig_left_bound_2d = lanelet_obj.leftBound2d().basicLineString(); + const auto & orig_right_bound_2d = lanelet_obj.rightBound2d().basicLineString(); + + // Note: The lanelet::geometry::offset throws exception when the undesired inversion is found. + // Use offsetNoThrow until the logic is updated to handle the inversion. + // TODO(Horibe) update + auto expanded_left_bound_2d = offsetNoThrow(orig_left_bound_2d, left_offset); + auto expanded_right_bound_2d = offsetNoThrow(orig_right_bound_2d, right_offset); + + rclcpp::Clock clock{RCL_ROS_TIME}; + try { + checkForInversion(orig_left_bound_2d, expanded_left_bound_2d, left_offset); + checkForInversion(orig_right_bound_2d, expanded_right_bound_2d, right_offset); + } catch (const lanelet::GeometryError & e) { + RCLCPP_ERROR_THROTTLE( + rclcpp::get_logger("lanelet2_extension"), clock, 1000, + "Fail to expand lanelet. output may be undesired. Lanelet points interval in map data could " + "be too narrow."); + } + + // Note: modify front and back points so that the successive lanelets will not have any + // longitudinal space between them. + { // front + const double diff_x = orig_right_bound_2d.front().x() - orig_left_bound_2d.front().x(); + const double diff_y = orig_right_bound_2d.front().y() - orig_left_bound_2d.front().y(); + const double theta = std::atan2(diff_y, diff_x); + expanded_right_bound_2d.front().x() = + orig_right_bound_2d.front().x() - right_offset * std::cos(theta); + expanded_right_bound_2d.front().y() = + orig_right_bound_2d.front().y() - right_offset * std::sin(theta); + expanded_left_bound_2d.front().x() = + orig_left_bound_2d.front().x() - left_offset * std::cos(theta); + expanded_left_bound_2d.front().y() = + orig_left_bound_2d.front().y() - left_offset * std::sin(theta); + } + { // back + const double diff_x = orig_right_bound_2d.back().x() - orig_left_bound_2d.back().x(); + const double diff_y = orig_right_bound_2d.back().y() - orig_left_bound_2d.back().y(); + const double theta = std::atan2(diff_y, diff_x); + expanded_right_bound_2d.back().x() = + orig_right_bound_2d.back().x() - right_offset * std::cos(theta); + expanded_right_bound_2d.back().y() = + orig_right_bound_2d.back().y() - right_offset * std::sin(theta); + expanded_left_bound_2d.back().x() = + orig_left_bound_2d.back().x() - left_offset * std::cos(theta); + expanded_left_bound_2d.back().y() = + orig_left_bound_2d.back().y() - left_offset * std::sin(theta); + } + + const auto toPoints3d = [](const lanelet::BasicLineString2d & ls2d, const double z) { + lanelet::Points3d output; + for (const auto & pt : ls2d) { + output.push_back(lanelet::Point3d(lanelet::InvalId, pt.x(), pt.y(), z)); + } + return output; + }; + + // Original z value cannot be used directly since the offset function can vary the points size. + const lanelet::Points3d ex_lefts = + toPoints3d(expanded_left_bound_2d, lanelet_obj.leftBound3d().basicLineString().at(0).z()); + const lanelet::Points3d ex_rights = + toPoints3d(expanded_right_bound_2d, lanelet_obj.rightBound3d().basicLineString().at(0).z()); + + const auto & extended_left_bound_3d = lanelet::LineString3d(lanelet::InvalId, ex_lefts); + const auto & expanded_right_bound_3d = lanelet::LineString3d(lanelet::InvalId, ex_rights); + const auto & lanelet = lanelet::Lanelet( + lanelet_obj.id(), extended_left_bound_3d, expanded_right_bound_3d, lanelet_obj.attributes()); + + return lanelet; +} + +lanelet::ConstLanelets getExpandedLanelets( + const lanelet::ConstLanelets & lanelet_obj, const double left_offset, const double right_offset) +{ + lanelet::ConstLanelets lanelets; + for (const auto & llt : lanelet_obj) { + lanelets.push_back(getExpandedLanelet(llt, left_offset, right_offset)); + } + return lanelets; +} + +void overwriteLaneletsCenterline( + lanelet::LaneletMapPtr lanelet_map, const double resolution, const bool force_overwrite) +{ + for (auto & lanelet_obj : lanelet_map->laneletLayer) { + if (force_overwrite || !lanelet_obj.hasCustomCenterline()) { + const auto fine_center_line = generateFineCenterline(lanelet_obj, resolution); + lanelet_obj.setCenterline(fine_center_line); + } + } +} + +lanelet::ConstLanelets getConflictingLanelets( + const lanelet::routing::RoutingGraphConstPtr & graph, const lanelet::ConstLanelet & lanelet) +{ + const auto & llt_or_areas = graph->conflicting(lanelet); + lanelet::ConstLanelets lanelets; + lanelets.reserve(llt_or_areas.size()); + for (const auto & l_or_a : llt_or_areas) { + auto llt_opt = l_or_a.lanelet(); + if (!!llt_opt) { + lanelets.push_back(llt_opt.get()); + } + } + return lanelets; +} + +bool lineStringWithWidthToPolygon( + const lanelet::ConstLineString3d & linestring, lanelet::ConstPolygon3d * polygon) +{ + if (polygon == nullptr) { + std::cerr << __func__ << ": polygon is null pointer! Failed to convert to polygon." + << std::endl; + return false; + } + if (linestring.size() != 2) { + std::cerr << __func__ << ": linestring" << linestring.id() << " must have 2 points! (" + << linestring.size() << " != 2)" << std::endl + << "Failed to convert to polygon."; + return false; + } + if (!linestring.hasAttribute("width")) { + std::cerr << __func__ << ": linestring" << linestring.id() + << " does not have width tag. Failed to convert to polygon."; + return false; + } + + const Eigen::Vector3d direction = + linestring.back().basicPoint() - linestring.front().basicPoint(); + const double width = linestring.attributeOr("width", 0.0); + const Eigen::Vector3d direction_left = + (Eigen::AngleAxisd(M_PI_2, Eigen::Vector3d::UnitZ()) * direction).normalized(); + + const Eigen::Vector3d eigen_p1 = linestring.front().basicPoint() + direction_left * width / 2; + const Eigen::Vector3d eigen_p2 = linestring.back().basicPoint() + direction_left * width / 2; + const Eigen::Vector3d eigen_p3 = linestring.back().basicPoint() - direction_left * width / 2; + const Eigen::Vector3d eigen_p4 = linestring.front().basicPoint() - direction_left * width / 2; + + const lanelet::Point3d p1(lanelet::InvalId, eigen_p1.x(), eigen_p1.y(), eigen_p1.z()); + const lanelet::Point3d p2(lanelet::InvalId, eigen_p2.x(), eigen_p2.y(), eigen_p2.z()); + const lanelet::Point3d p3(lanelet::InvalId, eigen_p3.x(), eigen_p3.y(), eigen_p3.z()); + const lanelet::Point3d p4(lanelet::InvalId, eigen_p4.x(), eigen_p4.y(), eigen_p4.z()); + + *polygon = lanelet::Polygon3d(lanelet::InvalId, {p1, p2, p3, p4}); + + return true; +} + +bool lineStringToPolygon( + const lanelet::ConstLineString3d & linestring, lanelet::ConstPolygon3d * polygon) +{ + if (polygon == nullptr) { + RCLCPP_ERROR_STREAM( + rclcpp::get_logger("lanelet2_extension.visualization"), + __func__ << ": polygon is null pointer! Failed to convert to polygon."); + return false; + } + if (linestring.size() < 4) { + if (linestring.size() < 3 || linestring.front().id() == linestring.back().id()) { + RCLCPP_ERROR_STREAM( + rclcpp::get_logger("lanelet2_extension.visualization"), + __func__ << ": linestring" << linestring.id() + << " must have more than different 3 points! (size is " << linestring.size() << ")" + << std::endl + << "Failed to convert to polygon."); + return false; + } + } + + lanelet::Polygon3d llt_poly; + + for (const auto & lp : linestring) { + llt_poly.push_back(lanelet::Point3d( + lanelet::InvalId, lp.basicPoint().x(), lp.basicPoint().y(), lp.basicPoint().z())); + } + + if (linestring.front().id() == linestring.back().id()) { + llt_poly.pop_back(); + } + + *polygon = llt_poly; + + return true; +} + +double getLaneletLength2d(const lanelet::ConstLanelet & lanelet) +{ + return static_cast( + boost::geometry::length(lanelet::utils::to2D(lanelet.centerline()).basicLineString())); +} + +double getLaneletLength3d(const lanelet::ConstLanelet & lanelet) +{ + return static_cast(boost::geometry::length(lanelet.centerline().basicLineString())); +} + +double getLaneletLength2d(const lanelet::ConstLanelets & lanelet_sequence) +{ + double length = 0; + for (const auto & llt : lanelet_sequence) { + length += getLaneletLength2d(llt); + } + return length; +} + +double getLaneletLength3d(const lanelet::ConstLanelets & lanelet_sequence) +{ + double length = 0; + for (const auto & llt : lanelet_sequence) { + length += getLaneletLength3d(llt); + } + return length; +} + +lanelet::ArcCoordinates getArcCoordinates( + const lanelet::ConstLanelets & lanelet_sequence, const geometry_msgs::msg::Pose & pose) +{ + lanelet::ConstLanelet closest_lanelet; + lanelet::utils::query::getClosestLanelet(lanelet_sequence, pose, &closest_lanelet); + + double length = 0; + lanelet::ArcCoordinates arc_coordinates; + for (const auto & llt : lanelet_sequence) { + const auto & centerline_2d = lanelet::utils::to2D(llt.centerline()); + if (llt == closest_lanelet) { + const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(pose.position); + arc_coordinates = lanelet::geometry::toArcCoordinates( + centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint()); + arc_coordinates.length += length; + break; + } + length += static_cast(boost::geometry::length(centerline_2d)); + } + return arc_coordinates; +} + +lanelet::ConstLineString3d getClosestSegment( + const lanelet::BasicPoint2d & search_pt, const lanelet::ConstLineString3d & linestring) +{ + if (linestring.size() < 2) { + return lanelet::LineString3d(); + } + + lanelet::ConstLineString3d closest_segment; + double min_distance = std::numeric_limits::max(); + + for (size_t i = 1; i < linestring.size(); i++) { + lanelet::BasicPoint3d prev_basic_pt = linestring[i - 1].basicPoint(); + lanelet::BasicPoint3d current_basic_pt = linestring[i].basicPoint(); + + lanelet::Point3d prev_pt( + lanelet::InvalId, prev_basic_pt.x(), prev_basic_pt.y(), prev_basic_pt.z()); + lanelet::Point3d current_pt( + lanelet::InvalId, current_basic_pt.x(), current_basic_pt.y(), current_basic_pt.z()); + + lanelet::LineString3d current_segment(lanelet::InvalId, {prev_pt, current_pt}); + double distance = lanelet::geometry::distance2d( + lanelet::utils::to2D(current_segment).basicLineString(), search_pt); + if (distance < min_distance) { + closest_segment = current_segment; + min_distance = distance; + } + } + return closest_segment; +} + +lanelet::CompoundPolygon3d getPolygonFromArcLength( + const lanelet::ConstLanelets & lanelets, const double s1, const double s2) +{ + const auto combined_lanelet = combineLanelets(lanelets); + const auto total_length = getLaneletLength2d(combined_lanelet); + + // make sure that s1, and s2 are between [0, lane_length] + const auto s1_saturated = std::max(0.0, std::min(s1, total_length)); + const auto s2_saturated = std::max(0.0, std::min(s2, total_length)); + + const auto ratio_s1 = s1_saturated / total_length; + const auto ratio_s2 = s2_saturated / total_length; + + const auto s1_left = static_cast( + ratio_s1 * boost::geometry::length(combined_lanelet.leftBound().basicLineString())); + const auto s2_left = static_cast( + ratio_s2 * boost::geometry::length(combined_lanelet.leftBound().basicLineString())); + const auto s1_right = static_cast( + ratio_s1 * boost::geometry::length(combined_lanelet.rightBound().basicLineString())); + const auto s2_right = static_cast( + ratio_s2 * boost::geometry::length(combined_lanelet.rightBound().basicLineString())); + + const auto left_bound = + getLineStringFromArcLength(combined_lanelet.leftBound(), s1_left, s2_left); + const auto right_bound = + getLineStringFromArcLength(combined_lanelet.rightBound(), s1_right, s2_right); + + const auto & lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + return lanelet.polygon3d(); +} + +double getLaneletAngle( + const lanelet::ConstLanelet & lanelet, const geometry_msgs::msg::Point & search_point) +{ + lanelet::BasicPoint2d llt_search_point(search_point.x, search_point.y); + lanelet::ConstLineString3d segment = getClosestSegment(llt_search_point, lanelet.centerline()); + return std::atan2( + segment.back().y() - segment.front().y(), segment.back().x() - segment.front().x()); +} + +bool isInLanelet( + const geometry_msgs::msg::Pose & current_pose, const lanelet::ConstLanelet & lanelet, + const double radius) +{ + constexpr double eps = 1.0e-9; + const lanelet::BasicPoint2d p(current_pose.position.x, current_pose.position.y); + return boost::geometry::distance(p, lanelet.polygon2d().basicPolygon()) < radius + eps; +} + +geometry_msgs::msg::Pose getClosestCenterPose( + const lanelet::ConstLanelet & lanelet, const geometry_msgs::msg::Point & search_point) +{ + lanelet::BasicPoint2d llt_search_point(search_point.x, search_point.y); + lanelet::ConstLineString3d segment = getClosestSegment(llt_search_point, lanelet.centerline()); + + const Eigen::Vector2d direction( + (segment.back().basicPoint2d() - segment.front().basicPoint2d()).normalized()); + const Eigen::Vector2d xf(segment.front().basicPoint2d()); + const Eigen::Vector2d x(search_point.x, search_point.y); + const Eigen::Vector2d p = xf + (x - xf).dot(direction) * direction; + + geometry_msgs::msg::Pose closest_pose; + closest_pose.position.x = p.x(); + closest_pose.position.y = p.y(); + closest_pose.position.z = search_point.z; + + const double lane_yaw = getLaneletAngle(lanelet, search_point); + tf2::Quaternion q; + q.setRPY(0, 0, lane_yaw); + closest_pose.orientation = tf2::toMsg(q); + + return closest_pose; +} +} // namespace lanelet::utils + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/virtual_traffic_light.cpp b/lanelet2_extension/lib/virtual_traffic_light.cpp new file mode 100644 index 0000000..89c586e --- /dev/null +++ b/lanelet2_extension/lib/virtual_traffic_light.cpp @@ -0,0 +1,65 @@ +// Copyright 2021 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp" + +#include + +#include + +#include +#include +#include +#include + +namespace lanelet::autoware +{ +namespace +{ +RegulatoryElementDataPtr constructVirtualTrafficLightData( + const Id id, const AttributeMap & attributes, const LineString3d & virtual_traffic_light) +{ + RuleParameterMap rpm; + RuleParameters rule_parameters = {virtual_traffic_light}; + rpm.insert(std::make_pair(RoleNameString::Refers, rule_parameters)); + + auto data = std::make_shared(id, rpm, attributes); + data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement; + data->attributes[AttributeName::Subtype] = "virtual_traffic_light"; + return data; +} +} // namespace + +VirtualTrafficLight::VirtualTrafficLight(const RegulatoryElementDataPtr & data) +: RegulatoryElement(data) +{ + if (getParameters("start_line").size() != 1) { + throw InvalidInputError("There must be exactly one start_line defined!"); + } + if (getParameters("end_line").empty()) { + throw InvalidInputError("No end_line defined!"); + } +} + +VirtualTrafficLight::VirtualTrafficLight( + const Id id, const AttributeMap & attributes, const LineString3d & virtual_traffic_light) +: VirtualTrafficLight(constructVirtualTrafficLightData(id, attributes, virtual_traffic_light)) +{ +} + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp new file mode 100644 index 0000000..aa86768 --- /dev/null +++ b/lanelet2_extension/lib/visualization.cpp @@ -0,0 +1,1268 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Simon Thompson, Ryohsuke Mitsudome + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/visualization/visualization.hpp" + +#include "lanelet2_extension/utility/message_conversion.hpp" +#include "lanelet2_extension/utility/query.hpp" +#include "lanelet2_extension/utility/utilities.hpp" + +#include + +#include +#include + +#include +#include +#include +#include + +namespace +{ +template +bool exists(const std::unordered_set & set, const T & element) +{ + return std::find(set.begin(), set.end(), element) != set.end(); +} + +void adjacentPoints( + const int i, const int N, const geometry_msgs::msg::Polygon & poly, + geometry_msgs::msg::Point32 * p0, geometry_msgs::msg::Point32 * p1, + geometry_msgs::msg::Point32 * p2) +{ + if (p0 == nullptr || p1 == nullptr || p2 == nullptr) { + std::cerr << __FUNCTION__ << ": either p0, p1, or p2 is null pointer!" << std::endl; + return; + } + + *p1 = poly.points[i]; + if (i == 0) { + *p0 = poly.points[N - 1]; + } else { + *p0 = poly.points[i - 1]; + } + + if (i < N - 1) { + *p2 = poly.points[i + 1]; + } else { + *p2 = poly.points[0]; + } +} + +[[maybe_unused]] double hypot( + const geometry_msgs::msg::Point32 & p0, const geometry_msgs::msg::Point32 & p1) +{ + return sqrt(pow((p1.x - p0.x), 2.0) + pow((p1.y - p0.y), 2.0)); +} + +bool isAttributeValue( + const lanelet::ConstPoint3d & p, const std::string & attr_str, const std::string & value_str) +{ + const lanelet::Attribute & attr = p.attribute(attr_str); + return attr.value() == value_str; +} + +bool isLaneletAttributeValue( + const lanelet::ConstLanelet & ll, const std::string & attr_str, const std::string & value_str) +{ + const lanelet::Attribute & attr = ll.attribute(attr_str); + return attr.value() == value_str; +} + +void initLightMarker(visualization_msgs::msg::Marker * marker, const std::string & ns) +{ + if (marker == nullptr) { + std::cerr << __FUNCTION__ << ": marker is null pointer!" << std::endl; + return; + } + + float s = 0.3; + + marker->header.frame_id = "map"; + marker->header.stamp = rclcpp::Time(); + marker->frame_locked = true; + marker->ns = ns; + marker->id = 0; + marker->lifetime = rclcpp::Duration(0, 0); + marker->type = visualization_msgs::msg::Marker::SPHERE; + marker->scale.x = s; + marker->scale.y = s; + marker->scale.z = s; +} + +bool inputLightMarker(visualization_msgs::msg::Marker * marker, const lanelet::ConstPoint3d & p) +{ + if (marker == nullptr) { + std::cerr << __FUNCTION__ << ": marker is null pointer!" << std::endl; + return false; + } + + marker->id = static_cast(p.id()); + + geometry_msgs::msg::Point point; + marker->pose.position.x = p.x(); + marker->pose.position.y = p.y(); + marker->pose.position.z = p.z(); + + std_msgs::msg::ColorRGBA color; + marker->color.r = 0.0f; + marker->color.g = 0.0f; + marker->color.b = 0.0f; + marker->color.a = 0.3f; + + if (isAttributeValue(p, "color", "red")) { + marker->color.r = 0.3f; + marker->color.g = 0.0f; + marker->color.b = 0.0f; + } else if (isAttributeValue(p, "color", "green")) { + marker->color.r = 0.0f; + marker->color.g = 0.3f; + marker->color.b = 0.0f; + } else if (isAttributeValue(p, "color", "yellow")) { + marker->color.r = 0.3f; + marker->color.g = 0.3f; + marker->color.b = 0.0f; + } else { + marker->color.r = 0.3f; + marker->color.g = 0.3f; + marker->color.b = 0.3f; + } + return true; +} + +void initLaneletDirectionMarker(visualization_msgs::msg::Marker * marker, const std::string & ns) +{ + if (marker == nullptr) { + std::cerr << __FUNCTION__ << ": marker is null pointer!" << std::endl; + return; + } + + float s = 1.0; + + marker->header.frame_id = "map"; + marker->header.stamp = rclcpp::Time(); + marker->frame_locked = true; + marker->ns = ns; + marker->id = 0; + marker->type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + marker->lifetime = rclcpp::Duration(0, 0); + + marker->pose.position.x = 0.0; // p.x(); + marker->pose.position.y = 0.0; // p.y(); + marker->pose.position.z = 0.0; // p.z(); + marker->pose.orientation.x = 0.0; + marker->pose.orientation.y = 0.0; + marker->pose.orientation.z = 0.0; + marker->pose.orientation.w = 1.0; + marker->scale.x = s; + marker->scale.y = s; + marker->scale.z = s; + marker->color.r = 1.0f; + marker->color.g = 1.0f; + marker->color.b = 1.0f; + marker->color.a = 0.999; +} + +void pushLaneletDirectionMarker( + visualization_msgs::msg::Marker * marker, const lanelet::ConstLanelet & ll) +{ + if (marker == nullptr) { + std::cerr << __FUNCTION__ << ": marker is null pointer!" << std::endl; + return; + } + + lanelet::BasicPoint3d pt[3]; + pt[0].x() = 0.0; + pt[0].y() = -0.3; + pt[0].z() = 0.0; + pt[1].x() = 0.0; + pt[1].y() = 0.3; + pt[1].z() = 0; + pt[2].x() = 1.0; + pt[2].y() = 0.0; + pt[2].z() = 0; + + lanelet::BasicPoint3d pc; + lanelet::BasicPoint3d pc2; + lanelet::ConstLineString3d center_ls = ll.centerline(); + lanelet::Attribute attr = ll.attribute("turn_direction"); + + std_msgs::msg::ColorRGBA c; + c.r = 0.5; + c.g = 0.5; + c.b = 0.5; + c.a = 0.5; + + if (isLaneletAttributeValue(ll, "turn_direction", "right")) { + c.r = 0.5; + c.g = 0.5; + c.b = 0.6; + } else if (isLaneletAttributeValue(ll, "turn_direction", "left")) { + c.r = 0.5; + c.g = 0.6; + c.b = 0.6; + } + + for (std::size_t ci = 0; ci < center_ls.size() - 1;) { + pc = center_ls[ci]; + if (center_ls.size() > 1) { + pc2 = center_ls[ci + 1]; + } else { + return; + } + + double heading = atan2(pc2.y() - pc.y(), pc2.x() - pc.x()); + + lanelet::BasicPoint3d pt_tf[3]; + + Eigen::Vector3d axis(0, 0, 1); + Eigen::Transform t(Eigen::AngleAxis(heading, axis)); + + for (int i = 0; i < 3; i++) { + pt_tf[i] = t * pt[i] + pc; + } + + geometry_msgs::msg::Point gp[3]; + + for (int i = 0; i < 3; i++) { + std_msgs::msg::ColorRGBA cn = c; + + gp[i].x = pt_tf[i].x(); + gp[i].y = pt_tf[i].y(); + gp[i].z = pt_tf[i].z(); + marker->points.push_back(gp[i]); + marker->colors.push_back(cn); + } + ci = ci + 1; + } +} + +bool isClockWise(const geometry_msgs::msg::Polygon & polygon) +{ + const int N = static_cast(polygon.points.size()); + const double x_offset = polygon.points[0].x; + const double y_offset = polygon.points[0].y; + double sum = 0.0; + for (std::size_t i = 0; i < polygon.points.size(); ++i) { + sum += (polygon.points[i].x - x_offset) * (polygon.points[(i + 1) % N].y - y_offset) - + (polygon.points[i].y - y_offset) * (polygon.points[(i + 1) % N].x - x_offset); + } + + return sum < 0.0; +} + +// Is angle AOB less than 180? +// https://qiita.com/fujii-kotaro/items/a411f2a45627ed2f156e +bool isAcuteAngle( + const geometry_msgs::msg::Point32 & a, const geometry_msgs::msg::Point32 & o, + const geometry_msgs::msg::Point32 & b) +{ + return (a.x - o.x) * (b.y - o.y) - (a.y - o.y) * (b.x - o.x) >= 0; +} + +// https://qiita.com/fujii-kotaro/items/a411f2a45627ed2f156e +bool isWithinTriangle( + const geometry_msgs::msg::Point32 & a, const geometry_msgs::msg::Point32 & b, + const geometry_msgs::msg::Point32 & c, const geometry_msgs::msg::Point32 & p) +{ + double c1 = (b.x - a.x) * (p.y - b.y) - (b.y - a.y) * (p.x - b.x); + double c2 = (c.x - b.x) * (p.y - c.y) - (c.y - b.y) * (p.x - c.x); + double c3 = (a.x - c.x) * (p.y - a.y) - (a.y - c.y) * (p.x - a.x); + + return (c1 > 0.0 && c2 > 0.0 && c3 > 0.0) || (c1 < 0.0 && c2 < 0.0 && c3 < 0.0); +} + +visualization_msgs::msg::Marker createPolygonMarker( + const std::string & name_space, const std_msgs::msg::ColorRGBA & color) +{ + visualization_msgs::msg::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.frame_locked = true; + marker.id = 0; + marker.ns = name_space; + marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + marker.lifetime = rclcpp::Duration(0, 0); + marker.pose.position.x = 0.0; + marker.pose.position.y = 0.0; + marker.pose.position.z = 0.0; + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = 1.0; + marker.color = color; + return marker; +} + +void pushPolygonMarker( + visualization_msgs::msg::Marker * marker, const lanelet::ConstPolygon3d & polygon, + const std_msgs::msg::ColorRGBA & color) +{ + if (marker == nullptr) { + std::cerr << __FUNCTION__ << ": marker is null pointer!" << std::endl; + return; + } + + if (polygon.size() < 3) { + return; + } + + geometry_msgs::msg::Polygon geom_poly; + lanelet::utils::conversion::toGeomMsgPoly(polygon, &geom_poly); + + std::vector triangles; + lanelet::visualization::polygon2Triangle(geom_poly, &triangles); + + for (const auto & tri : triangles) { + geometry_msgs::msg::Point geom_pts[3]; + for (int i = 0; i < 3; i++) { + lanelet::utils::conversion::toGeomMsgPt(tri.points[i], &geom_pts[i]); + marker->points.push_back(geom_pts[i]); + marker->colors.push_back(color); + } + } +} + +} // anonymous namespace + +namespace lanelet +{ +void visualization::lanelet2Triangle( + const lanelet::ConstLanelet & ll, std::vector * triangles) +{ + if (triangles == nullptr) { + std::cerr << __FUNCTION__ << ": triangles is null pointer!" << std::endl; + return; + } + + triangles->clear(); + geometry_msgs::msg::Polygon ll_poly; + lanelet2Polygon(ll, &ll_poly); + polygon2Triangle(ll_poly, triangles); +} + +// NOLINTBEGIN(readability-function-cognitive-complexity) +void visualization::polygon2Triangle( + const geometry_msgs::msg::Polygon & polygon, std::vector * triangles) +{ + geometry_msgs::msg::Polygon poly = polygon; + if (!isClockWise(poly)) { + std::reverse(poly.points.begin(), poly.points.end()); + } + + // ear clipping: find smallest internal angle in polygon + int N = static_cast(poly.points.size()); + + // array of angles for each vertex + std::vector is_acute_angle; + is_acute_angle.assign(N, false); + for (int i = 0; i < N; i++) { + geometry_msgs::msg::Point32 p0; + geometry_msgs::msg::Point32 p1; + geometry_msgs::msg::Point32 p2; + + adjacentPoints(i, N, poly, &p0, &p1, &p2); + is_acute_angle.at(i) = isAcuteAngle(p0, p1, p2); + } + + // start ear clipping + while (N >= 3) { + int clipped_vertex = -1; + + for (int i = 0; i < N; i++) { + const bool theta = is_acute_angle.at(i); + if (theta) { + geometry_msgs::msg::Point32 p0; + geometry_msgs::msg::Point32 p1; + geometry_msgs::msg::Point32 p2; + adjacentPoints(i, N, poly, &p0, &p1, &p2); + + int j_begin = (i + 2) % N; + int j_end = (i - 1 + N) % N; + bool is_ear = true; + for (int j = j_begin; j != j_end; j = (j + 1) % N) { + if (isWithinTriangle(p0, p1, p2, poly.points.at(j))) { + is_ear = false; + break; + } + } + + if (is_ear) { + clipped_vertex = i; + break; + } + } + } + if (clipped_vertex < 0 || clipped_vertex >= N) { + // print in yellow to indicate warning + std::cerr << "\033[1;33mCould not find valid vertex for ear clipping triangulation. " + "Triangulation result might be invalid\033[0m" + << std::endl; + clipped_vertex = 0; + } + + // create triangle + geometry_msgs::msg::Point32 p0; + geometry_msgs::msg::Point32 p1; + geometry_msgs::msg::Point32 p2; + adjacentPoints(clipped_vertex, N, poly, &p0, &p1, &p2); + geometry_msgs::msg::Polygon triangle; + triangle.points.push_back(p0); + triangle.points.push_back(p1); + triangle.points.push_back(p2); + triangles->push_back(triangle); + + // remove vertex of center of angle + auto it = poly.points.begin(); + std::advance(it, clipped_vertex); + poly.points.erase(it); + + // remove from angle list + auto it_angle = is_acute_angle.begin(); + std::advance(it_angle, clipped_vertex); + is_acute_angle.erase(it_angle); + + // update angle list + N = static_cast(poly.points.size()); + if (clipped_vertex == N) { + clipped_vertex = 0; + } + adjacentPoints(clipped_vertex, N, poly, &p0, &p1, &p2); + is_acute_angle.at(clipped_vertex) = isAcuteAngle(p0, p1, p2); + + int i_prev = (clipped_vertex == 0) ? N - 1 : clipped_vertex - 1; + adjacentPoints(i_prev, N, poly, &p0, &p1, &p2); + is_acute_angle.at(i_prev) = isAcuteAngle(p0, p1, p2); + } +} +// NOLINTEND(readability-function-cognitive-complexity) + +void visualization::lanelet2Polygon( + const lanelet::ConstLanelet & ll, geometry_msgs::msg::Polygon * polygon) +{ + if (polygon == nullptr) { + std::cerr << __FUNCTION__ << ": polygon is null pointer!" << std::endl; + return; + } + + lanelet::CompoundPolygon3d ll_poly = ll.polygon3d(); + + polygon->points.clear(); + polygon->points.reserve(ll_poly.size()); + + for (const auto & pt : ll_poly) { + geometry_msgs::msg::Point32 pt32; + utils::conversion::toGeomMsgPt32(pt.basicPoint(), &pt32); + polygon->points.push_back(pt32); + } +} + +visualization_msgs::msg::MarkerArray visualization::laneletDirectionAsMarkerArray( + const lanelet::ConstLanelets & lanelets, const std::string & additional_namespace) +{ + visualization_msgs::msg::MarkerArray marker_array; + visualization_msgs::msg::Marker marker; + initLaneletDirectionMarker(&marker, additional_namespace + "lanelet direction"); + + for (const auto & ll : lanelets) { + if (ll.hasAttribute(std::string("turn_direction"))) { + pushLaneletDirectionMarker(&marker, ll); + } + } + if (marker.points.empty()) { + return marker_array; + } + marker_array.markers.push_back(marker); + return marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::autowareTrafficLightsAsMarkerArray( + const std::vector & tl_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration, const double scale) +{ + visualization_msgs::msg::MarkerArray tl_marker_array; + if (tl_reg_elems.empty()) { + return tl_marker_array; + } + visualization_msgs::msg::Marker marker_tri; + visualization_msgs::msg::Marker marker_sph; + initLightMarker(&marker_sph, "traffic_light"); + visualization::initTrafficLightTriangleMarker(&marker_tri, "traffic_light_triangle", duration); + + for (const auto & tl : tl_reg_elems) { + const auto lights = tl->trafficLights(); + for (const auto & lsp : lights) { + if (lsp.isLineString()) { // traffic lights can either polygons or linestrings + lanelet::ConstLineString3d ls = static_cast(lsp); + visualization::pushTrafficLightTriangleMarker(&marker_tri, ls, c, scale); + } + } + + tl_marker_array.markers.push_back(marker_tri); + + lanelet::ConstLineStrings3d light_bulbs = tl->lightBulbs(); + for (const auto & ls : light_bulbs) { + lanelet::ConstLineString3d l = static_cast(ls); + for (const auto & pt : l) { + if (pt.hasAttribute("color")) { + if (inputLightMarker(&marker_sph, pt)) { + tl_marker_array.markers.push_back(marker_sph); + } + } + } + } + } + + return tl_marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::generateTrafficLightIdMaker( + const std::vector & tl_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration, const double scale) +{ + visualization_msgs::msg::MarkerArray tl_id_marker_array; + + for (const auto & tl : tl_reg_elems) { + const auto lights = tl->trafficLights(); + for (const auto & lsp : lights) { + if (lsp.isLineString()) { // traffic lights can either polygons or + // linestrings + lanelet::ConstLineString3d ls = static_cast(lsp); + + visualization_msgs::msg::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.ns = "traffic_light_id"; + marker.id = static_cast(ls.id()); + marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; + marker.lifetime = duration; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.pose.position.x = (ls.front().x() + ls.back().x()) / 2; + marker.pose.position.y = (ls.front().y() + ls.back().y()) / 2; + marker.pose.position.z = ls.front().z() + 1.0; + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.color = c; + marker.scale.z = scale; + marker.frame_locked = true; + marker.text = std::to_string(ls.id()); + tl_id_marker_array.markers.push_back(marker); + } + } + } + + return tl_id_marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::detectionAreasAsMarkerArray( + const std::vector & da_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration) +{ + visualization_msgs::msg::MarkerArray marker_array; + visualization_msgs::msg::Marker marker; + visualization_msgs::msg::Marker line_marker; + + if (da_reg_elems.empty()) { + return marker_array; + } + + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.frame_locked = true; + marker.ns = "detection_area"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + marker.lifetime = duration; + marker.pose.position.x = 0.0; // p.x(); + marker.pose.position.y = 0.0; // p.y(); + marker.pose.position.z = 0.0; // p.z(); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = 1.0; + marker.color.r = 1.0f; + marker.color.g = 1.0f; + marker.color.b = 1.0f; + marker.color.a = 0.999; + + std_msgs::msg::ColorRGBA line_c; + line_c.r = 0.5; + line_c.g = 0.5; + line_c.b = 0.5; + line_c.a = 0.999; + visualization::initLineStringMarker(&line_marker, "map", "detection_area_stopline", line_c); + + for (const auto & da_reg_elem : da_reg_elems) { + marker.points.clear(); + marker.colors.clear(); + marker.id = static_cast(da_reg_elem->id()); + + // area visualization + const auto detection_areas = da_reg_elem->detectionAreas(); + for (const auto & detection_area : detection_areas) { + geometry_msgs::msg::Polygon geom_poly; + utils::conversion::toGeomMsgPoly(detection_area, &geom_poly); + + std::vector triangles; + polygon2Triangle(geom_poly, &triangles); + + for (auto tri : triangles) { + geometry_msgs::msg::Point tri0[3]; + + for (int i = 0; i < 3; i++) { + utils::conversion::toGeomMsgPt(tri.points[i], &tri0[i]); + marker.points.push_back(tri0[i]); + marker.colors.push_back(c); + } + } // for triangles0 + } // for detection areas + marker_array.markers.push_back(marker); + + // stop line visualization + visualization::pushLineStringMarker(&line_marker, da_reg_elem->stopLine(), line_c, 0.5); + } // for regulatory elements + + marker_array.markers.push_back(line_marker); + return marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::noStoppingAreasAsMarkerArray( + const std::vector & no_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration) +{ + visualization_msgs::msg::MarkerArray marker_array; + visualization_msgs::msg::Marker marker; + visualization_msgs::msg::Marker line_marker; + + if (no_reg_elems.empty()) { + return marker_array; + } + + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.frame_locked = true; + marker.ns = "no_stopping_area"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + marker.lifetime = duration; + marker.pose.position.x = 0.0; // p.x(); + marker.pose.position.y = 0.0; // p.y(); + marker.pose.position.z = 0.0; // p.z(); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = 1.0; + marker.color.r = 1.0f; + marker.color.g = 1.0f; + marker.color.b = 1.0f; + marker.color.a = 0.999; + + std_msgs::msg::ColorRGBA line_c; + line_c.r = 0.5; + line_c.g = 0.5; + line_c.b = 0.5; + line_c.a = 0.999; + visualization::initLineStringMarker(&line_marker, "map", "no_stopping_area_stopline", line_c); + + for (const auto & no_reg_elem : no_reg_elems) { + marker.points.clear(); + marker.colors.clear(); + marker.id = static_cast(no_reg_elem->id()); + + // area visualization + const auto no_stopping_areas = no_reg_elem->noStoppingAreas(); + for (const auto & no_stopping_area : no_stopping_areas) { + geometry_msgs::msg::Polygon geom_poly; + utils::conversion::toGeomMsgPoly(no_stopping_area, &geom_poly); + + std::vector triangles; + polygon2Triangle(geom_poly, &triangles); + + for (auto tri : triangles) { + geometry_msgs::msg::Point tri0[3]; + + for (int i = 0; i < 3; i++) { + utils::conversion::toGeomMsgPt(tri.points[i], &tri0[i]); + marker.points.push_back(tri0[i]); + marker.colors.push_back(c); + } + } // for triangles0 + } // for no_stopping areas + marker_array.markers.push_back(marker); + const auto & stop_line = no_reg_elem->stopLine(); + // stop line visualization + if (stop_line) { + visualization::pushLineStringMarker(&line_marker, stop_line.value(), line_c, 0.5); + } + } // for regulatory elements + if (!line_marker.points.empty()) { + marker_array.markers.push_back(line_marker); + } + return marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::pedestrianMarkingsAsMarkerArray( + const lanelet::ConstLineStrings3d & pedestrian_markings, const std_msgs::msg::ColorRGBA & c) +{ + visualization_msgs::msg::MarkerArray marker_array; + if (pedestrian_markings.empty()) { + return marker_array; + } + + visualization_msgs::msg::Marker marker = createPolygonMarker("pedestrian_marking", c); + for (const auto & linestring : pedestrian_markings) { + lanelet::ConstPolygon3d polygon; + if (utils::lineStringToPolygon(linestring, &polygon)) { + pushPolygonMarker(&marker, polygon, c); + } else { + RCLCPP_ERROR_STREAM( + rclcpp::get_logger("lanelet2_extension.visualization"), + "pedestrian marking " << linestring.id() << " failed conversion."); + } + } + + if (!marker.points.empty()) { + marker_array.markers.push_back(marker); + } + return marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::parkingLotsAsMarkerArray( + const lanelet::ConstPolygons3d & parking_lots, const std_msgs::msg::ColorRGBA & c) +{ + visualization_msgs::msg::MarkerArray marker_array; + if (parking_lots.empty()) { + return marker_array; + } + + visualization_msgs::msg::Marker marker = createPolygonMarker("parking_lots", c); + for (const auto & polygon : parking_lots) { + pushPolygonMarker(&marker, polygon, c); + } + + if (!marker.points.empty()) { + marker_array.markers.push_back(marker); + } + return marker_array; +} +visualization_msgs::msg::MarkerArray visualization::parkingSpacesAsMarkerArray( + const lanelet::ConstLineStrings3d & parking_spaces, const std_msgs::msg::ColorRGBA & c) +{ + visualization_msgs::msg::MarkerArray marker_array; + if (parking_spaces.empty()) { + return marker_array; + } + + visualization_msgs::msg::Marker marker = createPolygonMarker("parking_space", c); + for (const auto & linestring : parking_spaces) { + lanelet::ConstPolygon3d polygon; + if (utils::lineStringWithWidthToPolygon(linestring, &polygon)) { + pushPolygonMarker(&marker, polygon, c); + } else { + std::cerr << "parking space " << linestring.id() << " failed conversion." << std::endl; + } + } + + if (!marker.points.empty()) { + marker_array.markers.push_back(marker); + } + return marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::generateLaneletIdMarker( + const lanelet::ConstLanelets & road_lanelets, const std_msgs::msg::ColorRGBA & c, + const double scale) +{ + visualization_msgs::msg::MarkerArray markers; + for (const auto & ll : road_lanelets) { + visualization_msgs::msg::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Clock().now(); + marker.ns = "lanelet_id"; + marker.id = static_cast(ll.id()); + marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; + marker.action = visualization_msgs::msg::Marker::ADD; + const auto centerline = ll.centerline(); + const size_t target_position_index = centerline.size() / 2; + const auto & target_position = centerline[target_position_index]; + marker.pose.position.x = target_position.x(); + marker.pose.position.y = target_position.y(); + marker.pose.position.z = target_position.z(); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.color = c; + marker.scale.z = scale; + marker.frame_locked = true; + marker.text = std::to_string(ll.id()); + markers.markers.push_back(marker); + } + return markers; +} + +visualization_msgs::msg::MarkerArray visualization::obstaclePolygonsAsMarkerArray( + const lanelet::ConstPolygons3d & obstacle_polygons, const std_msgs::msg::ColorRGBA & c) +{ + visualization_msgs::msg::MarkerArray marker_array; + if (obstacle_polygons.empty()) { + return marker_array; + } + + visualization_msgs::msg::Marker marker = createPolygonMarker("obstacles", c); + for (const auto & polygon : obstacle_polygons) { + pushPolygonMarker(&marker, polygon, c); + } + + if (!marker.points.empty()) { + marker_array.markers.push_back(marker); + } + return marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::lineStringsAsMarkerArray( + const std::vector & line_strings, const std::string & name_space, + const std_msgs::msg::ColorRGBA & c, const float lss) +{ + visualization_msgs::msg::MarkerArray ls_marker_array; + if (line_strings.empty()) { + return ls_marker_array; + } + std::unordered_set added; + visualization_msgs::msg::Marker ls_marker; + visualization::initLineStringMarker(&ls_marker, "map", name_space, c); + + for (const auto & ls : line_strings) { + if (!exists(added, ls.id())) { + visualization::pushLineStringMarker(&ls_marker, ls, c, lss); + added.insert(ls.id()); + } + } + ls_marker_array.markers.push_back(ls_marker); + return ls_marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::laneletsBoundaryAsMarkerArray( + const lanelet::ConstLanelets & lanelets, const std_msgs::msg::ColorRGBA & c, + const bool viz_centerline, const std::string & additional_namespace) +{ + const float lss = 0.1; // line string size + const float lss_center = static_cast(std::max(lss * 0.1, 0.02)); + + std::unordered_set added; + visualization_msgs::msg::Marker left_line_strip; + visualization_msgs::msg::Marker right_line_strip; + visualization_msgs::msg::Marker start_bound_line_strip; + visualization_msgs::msg::Marker center_line_strip; + visualization_msgs::msg::Marker center_arrows; + visualization::initLineStringMarker( + &left_line_strip, "map", additional_namespace + "left_lane_bound", c); + visualization::initLineStringMarker( + &right_line_strip, "map", additional_namespace + "right_lane_bound", c); + visualization::initLineStringMarker( + &start_bound_line_strip, "map", additional_namespace + "lane_start_bound", c); + visualization::initLineStringMarker( + ¢er_line_strip, "map", additional_namespace + "center_lane_line", c); + visualization::initArrowsMarker( + ¢er_arrows, "map", additional_namespace + "center_line_arrows", c); + + for (const auto & lll : lanelets) { + lanelet::ConstLineString3d left_ls = lll.leftBound(); + lanelet::ConstLineString3d right_ls = lll.rightBound(); + lanelet::ConstLineString3d center_ls = lll.centerline(); + lanelet::LineString3d start_bound_ls(lanelet::utils::getId()); + start_bound_ls.push_back(lanelet::Point3d( + lanelet::utils::getId(), left_ls.front().x(), left_ls.front().y(), left_ls.front().z())); + start_bound_ls.push_back(lanelet::Point3d( + lanelet::utils::getId(), right_ls.front().x(), right_ls.front().y(), right_ls.front().z())); + + if (!exists(added, left_ls.id())) { + visualization::pushLineStringMarker(&left_line_strip, left_ls, c, lss); + added.insert(left_ls.id()); + } + if (!exists(added, right_ls.id())) { + visualization::pushLineStringMarker(&right_line_strip, right_ls, c, lss); + added.insert(right_ls.id()); + } + if (!exists(added, start_bound_ls.id())) { + visualization::pushLineStringMarker(&start_bound_line_strip, start_bound_ls, c, lss); + added.insert(start_bound_ls.id()); + } + if (viz_centerline && !exists(added, center_ls.id())) { + visualization::pushLineStringMarker(¢er_line_strip, center_ls, c, lss_center); + visualization::pushArrowsMarker(¢er_arrows, center_ls, c); + added.insert(center_ls.id()); + } + } + + visualization_msgs::msg::MarkerArray marker_array; + if (!left_line_strip.points.empty()) { + marker_array.markers.push_back(left_line_strip); + } + if (!right_line_strip.points.empty()) { + marker_array.markers.push_back(right_line_strip); + } + if (!center_line_strip.points.empty()) { + marker_array.markers.push_back(center_line_strip); + } + if (!start_bound_line_strip.points.empty()) { + marker_array.markers.push_back(start_bound_line_strip); + } + if (!center_arrows.points.empty()) { + marker_array.markers.push_back(center_arrows); + } + return marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::trafficLightsAsTriangleMarkerArray( + const std::vector & tl_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration, const double scale) +{ + // convert to to an array of linestrings and publish as marker array using + // existing function + + std::vector line_strings; + visualization_msgs::msg::Marker marker; + visualization::initTrafficLightTriangleMarker(&marker, "traffic_light_triangle", duration); + + for (const auto & tl : tl_reg_elems) { + lanelet::LineString3d ls; + + const auto lights = tl->trafficLights(); + for (const auto & lsp : lights) { + if (lsp.isLineString()) { // traffic lights can either polygons or linestrings + lanelet::ConstLineString3d ls = static_cast(lsp); + visualization::pushTrafficLightTriangleMarker(&marker, ls, c, scale); + } + } + } + + visualization_msgs::msg::MarkerArray marker_array; + marker_array.markers.push_back(marker); + return marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::laneletsAsTriangleMarkerArray( + const std::string & ns, const lanelet::ConstLanelets & lanelets, + const std_msgs::msg::ColorRGBA & c) +{ + visualization_msgs::msg::MarkerArray marker_array; + visualization_msgs::msg::Marker marker; + + if (lanelets.empty()) { + return marker_array; + } + + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.frame_locked = true; + marker.ns = ns; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + marker.lifetime = rclcpp::Duration(0, 0); + marker.pose.position.x = 0.0; // p.x(); + marker.pose.position.y = 0.0; // p.y(); + marker.pose.position.z = 0.0; // p.z(); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = 1.0; + marker.color.r = 1.0f; + marker.color.g = 1.0f; + marker.color.b = 1.0f; + marker.color.a = 0.999; + + for (const auto & ll : lanelets) { + std::vector triangles; + lanelet2Triangle(ll, &triangles); + + for (const auto & tri : triangles) { + geometry_msgs::msg::Point tri0[3]; + + for (int i = 0; i < 3; i++) { + utils::conversion::toGeomMsgPt(tri.points[i], &tri0[i]); + + marker.points.push_back(tri0[i]); + marker.colors.push_back(c); + } + } + } + if (!marker.points.empty()) { + marker_array.markers.push_back(marker); + } + + return marker_array; +} + +void visualization::initTrafficLightTriangleMarker( + visualization_msgs::msg::Marker * marker, const std::string & ns, + const rclcpp::Duration & duration) +{ + if (marker == nullptr) { + std::cerr << __FUNCTION__ << ": marker is null pointer!" << std::endl; + return; + } + + marker->header.frame_id = "map"; + marker->header.stamp = rclcpp::Time(); + marker->frame_locked = true; + marker->ns = ns; + marker->id = 0; + marker->type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + marker->lifetime = duration; + + marker->pose.position.x = 0.0; // p.x(); + marker->pose.position.y = 0.0; // p.y(); + marker->pose.position.z = 0.0; // p.z(); + marker->pose.orientation.x = 0.0; + marker->pose.orientation.y = 0.0; + marker->pose.orientation.z = 0.0; + marker->pose.orientation.w = 1.0; + marker->scale.x = 1.0; + marker->scale.y = 1.0; + marker->scale.z = 1.0; + marker->color.r = 1.0f; + marker->color.g = 1.0f; + marker->color.b = 1.0f; + marker->color.a = 0.999; +} + +void visualization::pushTrafficLightTriangleMarker( + visualization_msgs::msg::Marker * marker, const lanelet::ConstLineString3d & ls, + const std_msgs::msg::ColorRGBA & cl, const double scale) +{ + if (marker == nullptr) { + std::cerr << __FUNCTION__ << ": marker is null pointer!" << std::endl; + return; + } + + double h = 0.7; + if (ls.hasAttribute("height")) { + lanelet::Attribute attr = ls.attribute("height"); + h = std::stod(attr.value()); + } + + // construct triangles and add to marker + + // define polygon of traffic light border + Eigen::Vector3d v[4]; + v[0] << ls.front().x(), ls.front().y(), ls.front().z(); + v[1] << ls.back().x(), ls.back().y(), ls.back().z(); + v[2] << ls.back().x(), ls.back().y(), ls.back().z() + h; + v[3] << ls.front().x(), ls.front().y(), ls.front().z() + h; + + Eigen::Vector3d c = (v[0] + v[1] + v[2] + v[3]) / 4; + + if (scale > 0.0 && scale != 1.0) { + for (auto & i : v) { + i = (i - c) * scale + c; + } + } + geometry_msgs::msg::Point tri0[3]; + utils::conversion::toGeomMsgPt(v[0], &tri0[0]); + utils::conversion::toGeomMsgPt(v[1], &tri0[1]); + utils::conversion::toGeomMsgPt(v[2], &tri0[2]); + geometry_msgs::msg::Point tri1[3]; + utils::conversion::toGeomMsgPt(v[0], &tri1[0]); + utils::conversion::toGeomMsgPt(v[2], &tri1[1]); + utils::conversion::toGeomMsgPt(v[3], &tri1[2]); + + for (const auto & i : tri0) { + marker->points.push_back(i); + marker->colors.push_back(cl); + } + for (const auto & i : tri0) { + marker->points.push_back(i); + marker->colors.push_back(cl); + } +} + +void visualization::initLineStringMarker( + visualization_msgs::msg::Marker * marker, const std::string & frame_id, const std::string & ns, + const std_msgs::msg::ColorRGBA & c) +{ + if (marker == nullptr) { + RCLCPP_ERROR_STREAM( + rclcpp::get_logger("lanelet2_extension.visualization"), + __FUNCTION__ << ": marker is null pointer!"); + return; + } + + marker->header.frame_id = frame_id; + marker->header.stamp = rclcpp::Time(); + marker->frame_locked = true; + marker->ns = ns; + marker->action = visualization_msgs::msg::Marker::ADD; + marker->type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + + marker->id = 0; + marker->pose.orientation.x = 0.0; + marker->pose.orientation.y = 0.0; + marker->pose.orientation.z = 0.0; + marker->pose.orientation.w = 1.0; + marker->scale.x = 1.0; + marker->scale.y = 1.0; + marker->scale.z = 1.0; + marker->color = c; +} + +void visualization::pushLineStringMarker( + visualization_msgs::msg::Marker * marker, const lanelet::ConstLineString3d & ls, + const std_msgs::msg::ColorRGBA & c, const float lss) +{ + if (marker == nullptr) { + RCLCPP_ERROR_STREAM( + rclcpp::get_logger("lanelet2_extension.visualization"), + __FUNCTION__ << ": marker is null pointer!"); + return; + } + + // fill out lane line + if (ls.size() < 2) { + RCLCPP_ERROR_STREAM( + rclcpp::get_logger("lanelet2_extension.visualization"), + __FUNCTION__ << ": marker line size is 1 or 0!"); + return; + } + for (auto i = ls.begin(); i + 1 != ls.end(); i++) { + geometry_msgs::msg::Point p; + const auto heading = + static_cast(std::atan2((*(i + 1)).y() - (*i).y(), (*(i + 1)).x() - (*i).x())); + + const auto x_offset = static_cast(lss * 0.5 * std::sin(heading)); + const auto y_offset = static_cast(lss * 0.5 * std::cos(heading)); + + p.x = (*i).x() + x_offset; + p.y = (*i).y() - y_offset; + p.z = (*i).z(); + marker->points.push_back(p); + p.x = (*i).x() - x_offset; + p.y = (*i).y() + y_offset; + p.z = (*i).z(); + marker->points.push_back(p); + p.x = (*(i + 1)).x() + x_offset; + p.y = (*(i + 1)).y() - y_offset; + p.z = (*(i + 1)).z(); + marker->points.push_back(p); + marker->colors.push_back(c); + p.x = (*(i + 1)).x() - x_offset; + p.y = (*(i + 1)).y() + y_offset; + p.z = (*(i + 1)).z(); + marker->points.push_back(p); + p.x = (*(i + 1)).x() + x_offset; + p.y = (*(i + 1)).y() - y_offset; + p.z = (*(i + 1)).z(); + marker->points.push_back(p); + p.x = (*i).x() - x_offset; + p.y = (*i).y() + y_offset; + p.z = (*i).z(); + marker->points.push_back(p); + marker->colors.push_back(c); + } +} + +void visualization::initArrowsMarker( + visualization_msgs::msg::Marker * marker, const std::string & frame_id, const std::string & ns, + const std_msgs::msg::ColorRGBA & c) +{ + if (marker == nullptr) { + RCLCPP_ERROR_STREAM( + rclcpp::get_logger("lanelet2_extension.visualization"), + __FUNCTION__ << ": marker is null pointer!"); + return; + } + + marker->header.frame_id = frame_id; + marker->header.stamp = rclcpp::Time(); + marker->frame_locked = true; + marker->ns = ns; + marker->action = visualization_msgs::msg::Marker::ADD; + marker->type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + + marker->id = 0; + marker->pose.orientation.x = 0.0; + marker->pose.orientation.y = 0.0; + marker->pose.orientation.z = 0.0; + marker->pose.orientation.w = 1.0; + marker->scale.x = 1.0; + marker->scale.y = 1.0; + marker->scale.z = 1.0; + marker->color = c; +} + +void visualization::pushArrowsMarker( + visualization_msgs::msg::Marker * marker, const lanelet::ConstLineString3d & ls, + const std_msgs::msg::ColorRGBA & c) +{ + if (marker == nullptr) { + RCLCPP_ERROR_STREAM( + rclcpp::get_logger("lanelet2_extension.visualization"), + __FUNCTION__ << ": marker is null pointer!"); + return; + } + + // fill out lane line + if (ls.size() < 2) { + RCLCPP_ERROR_STREAM( + rclcpp::get_logger("lanelet2_extension.visualization"), + __FUNCTION__ << ": marker line size is 1 or 0!"); + return; + } + for (auto i = ls.begin(); i + 1 != ls.end(); i++) { + const auto heading = + static_cast(std::atan2((*(i + 1)).y() - (*i).y(), (*(i + 1)).x() - (*i).x())); + + const float sin_offset = std::sin(heading); + const float cos_offset = std::cos(heading); + const double width = 0.3; + const double height = 1.0; + + geometry_msgs::msg::Point p; + p.x = (*i).x() + sin_offset * width; + p.y = (*i).y() - cos_offset * width; + p.z = (*i).z(); + marker->points.push_back(p); + p.x = (*i).x() - sin_offset * width; + p.y = (*i).y() + cos_offset * width; + p.z = (*i).z(); + marker->points.push_back(p); + p.x = (*i).x() + cos_offset * height; + p.y = (*i).y() + sin_offset * height; + p.z = (*i).z(); + marker->points.push_back(p); + marker->colors.push_back(c); + } +} + +} // namespace lanelet + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/package.xml b/lanelet2_extension/package.xml new file mode 100644 index 0000000..662e9a9 --- /dev/null +++ b/lanelet2_extension/package.xml @@ -0,0 +1,37 @@ + + + + lanelet2_extension + 0.1.0 + The lanelet2_extension package contains libraries to handle Lanelet2 format data. + mitsudome-r + Apache License 2.0 + + ament_cmake_auto + + autoware_cmake + + autoware_auto_mapping_msgs + autoware_auto_planning_msgs + autoware_utils + geographiclib + geometry_msgs + lanelet2_core + lanelet2_io + lanelet2_maps + lanelet2_projection + lanelet2_routing + lanelet2_traffic_rules + lanelet2_validation + pugixml-dev + rclcpp + tf2 + tf2_geometry_msgs + visualization_msgs + + ament_cmake_ros + + + ament_cmake + + diff --git a/lanelet2_extension/src/sample_code.cpp b/lanelet2_extension/src/sample_code.cpp new file mode 100644 index 0000000..d4595fb --- /dev/null +++ b/lanelet2_extension/src/sample_code.cpp @@ -0,0 +1,125 @@ +// Copyright 2015-2019 Autoware Foundation +// +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/projection/mgrs_projector.hpp" +#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" + +#include + +#include +#include +#include + +#include +#include + +void loadingAutowareOSMFile(const std::string & map_file_path) +{ + lanelet::LaneletMapPtr lanelet_map; + lanelet::ErrorMessages errors; + lanelet::GPSPoint gps_point; + gps_point.lat = 49.0; + gps_point.lon = 8.4; + lanelet::Origin origin(gps_point); + lanelet::projection::UtmProjector projector(lanelet::Origin(gps_point), true, false); + + // Autoware OSM file parser is registered into lanelet2 library. + // Therefore, you can used it by just specifying "autoware_osm_handler" parser + // in load function. + lanelet_map = lanelet::load(map_file_path, "autoware_osm_handler", projector, &errors); + + // If you want to use default parser, explicitly name the parser + lanelet_map = lanelet::load(map_file_path, "osm_handler", projector, &errors); +} + +void usingMGRSProjector() +{ + // MGRS Projector projects lat/lon to x,y,z point in MGRS 100km grid. + // The origin is automatically calculated so you don't have to select any + // origin. + lanelet::projection::MGRSProjector projector; + + // Let's convert lat/lng point into mgrs xyz point. + lanelet::GPSPoint gps_point; + gps_point.lat = 49.0; + gps_point.lon = 8.4; + gps_point.ele = 0.0; + + lanelet::BasicPoint3d mgrs_point = projector.forward(gps_point); + std::cout << mgrs_point << std::endl; + + // You can get MGRS Code of projected grid. + std::string mgrs_grid = projector.getProjectedMGRSGrid(); + std::cout << mgrs_grid << std::endl; + + // You can also reverse project from MGRS point to lat/lon. + // You have to set which MGRS grid it is from or it will reuse last projected + // grid + lanelet::GPSPoint projected_gps_point = projector.reverse(mgrs_point); + std::cout << projected_gps_point.lat << " " << projected_gps_point.lon << std::endl; + lanelet::GPSPoint projected_gps_point2 = + lanelet::projection::MGRSProjector::reverse(mgrs_point, mgrs_grid); + std::cout << projected_gps_point2.lat << " " << projected_gps_point2.lon << " " << std::endl; +} + +void usingAutowareTrafficLight(const std::string & map_file_path) +{ + lanelet::LaneletMapPtr lanelet_map; + lanelet::ErrorMessages errors; + lanelet::projection::MGRSProjector projector; + lanelet_map = lanelet::load(map_file_path, "autoware_osm_handler", projector, &errors); + + for (const auto & lanelet : lanelet_map->laneletLayer) { + // You can access to traffic light element as AutowareTrafficLight class + const auto autoware_traffic_lights = + lanelet.regulatoryElementsAs(); + for (const auto & light : autoware_traffic_lights) { + // You can access to the position of each lamps(light bulb) in traffic + // light + for (const auto & light_bulb_string : light->lightBulbs()) { + std::cout << light_bulb_string.id() << std::endl; + } + // Since AutowareTrafficLight class is inheriting lanelet::TrafficLight + // class, you can also access to outline of traffic light by the same + // method. + for (const auto & light_string : light->trafficLights()) { + std::cout << light_string.id() << std::endl; + } + } + + // You can also access to same traffic light element as default TrafficLight + // class + auto traffic_lights = lanelet.regulatoryElementsAs(); + for (const auto & light : traffic_lights) { + for (const auto & light_string : light->trafficLights()) { + std::cout << light_string.id() << std::endl; + } + } + } +} + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + auto node = rclcpp::Node::make_shared("sample_code"); + const std::string map_file_path = node->declare_parameter("map_file", ""); + loadingAutowareOSMFile(map_file_path); + usingMGRSProjector(); + usingAutowareTrafficLight(map_file_path); + return 0; +} + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/src/validation.cpp b/lanelet2_extension/src/validation.cpp new file mode 100644 index 0000000..4b08714 --- /dev/null +++ b/lanelet2_extension/src/validation.cpp @@ -0,0 +1,179 @@ +// Copyright 2015-2019 Autoware Foundation +// +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/projection/mgrs_projector.hpp" +#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace +{ +namespace keyword +{ +constexpr const char * Id = "id"; +constexpr const char * Osm = "osm"; +constexpr const char * Tag = "tag"; +constexpr const char * Key = "k"; +constexpr const char * Node = "node"; +constexpr const char * Elevation = "ele"; +} // namespace keyword + +void printUsage() +{ + std::cout << "Usage:" << std::endl + << "ros2 run lanelet2_extension autoware_lanelet2_validation" + " --ros-args -p map_file:=" + << std::endl; +} +} // namespace + +void validateElevationTag(const std::string & filename) +{ + pugi::xml_document doc; + auto result = doc.load_file(filename.c_str()); + if (!result) { + std::cerr << result.description() << std::endl; + exit(1); + } + + auto osmNode = doc.child(keyword::Osm); + for (auto node = osmNode.child(keyword::Node); node; node = node.next_sibling(keyword::Node)) { + const auto id = node.attribute(keyword::Id).as_llong(lanelet::InvalId); + if (!node.find_child_by_attribute(keyword::Tag, keyword::Key, keyword::Elevation)) { + std::cerr << "failed to find elevation tag for node: " << id << std::endl; + } + } +} + +// NOLINTBEGIN(readability-function-cognitive-complexity) +void validateTrafficLight(const lanelet::LaneletMapPtr lanelet_map) +{ + if (!lanelet_map) { + std::cerr << "Missing map. Are you sure you set correct path for map?" << std::endl; + exit(1); + } + + for (const auto & lanelet : lanelet_map->laneletLayer) { + const auto autoware_traffic_lights = + lanelet.regulatoryElementsAs(); + if (autoware_traffic_lights.empty()) { + continue; + } + for (const auto & light : autoware_traffic_lights) { + if (light->lightBulbs().empty()) { + std::cerr << "regulatory element traffic light " << light->id() + << " is missing optional light_bulb member. You won't be able to use region_tlr " + "node with this map" + << std::endl; + } + for (const auto & light_string : light->lightBulbs()) { + if (!light_string.hasAttribute("traffic_light_id")) { + std::cerr << "light_bulb " << light_string.id() << " is missing traffic_light_id tag" + << std::endl; + } + } + for (const auto & base_string_or_poly : light->trafficLights()) { + if (!base_string_or_poly.isLineString()) { + std::cerr + << "traffic_light " << base_string_or_poly.id() + << " is polygon, and only linestring class is currently supported for traffic lights" + << std::endl; + } + const auto base_string = static_cast(base_string_or_poly); + if (!base_string.hasAttribute("height")) { + std::cerr << "traffic_light " << base_string.id() << " is missing height tag" + << std::endl; + } + } + } + } +} +// NOLINTEND(readability-function-cognitive-complexity) + +void validateTurnDirection(const lanelet::LaneletMapPtr lanelet_map) +{ + if (!lanelet_map) { + std::cerr << "Missing map. Are you sure you set correct path for map?" << std::endl; + exit(1); + } + + lanelet::traffic_rules::TrafficRulesPtr traffic_rules = + lanelet::traffic_rules::TrafficRulesFactory::create( + lanelet::Locations::Germany, lanelet::Participants::Vehicle); + lanelet::routing::RoutingGraphPtr vehicle_graph = + lanelet::routing::RoutingGraph::build(*lanelet_map, *traffic_rules); + + for (const auto & lanelet : lanelet_map->laneletLayer) { + if (!traffic_rules->canPass(lanelet)) { + continue; + } + + const auto conflicting_lanelets_or_areas = vehicle_graph->conflicting(lanelet); + if (conflicting_lanelets_or_areas.empty()) { + continue; + } + if (!lanelet.hasAttribute("turn_direction")) { + std::cerr + << "lanelet " << lanelet.id() + << " seems to be intersecting other lanelet, but does not have turn_direction tagging." + << std::endl; + } + } +} + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + auto node = rclcpp::Node::make_shared("autoware_lanelet_validation"); + + std::string map_path; + try { + map_path = node->declare_parameter("map_file"); + } catch (...) { + std::cerr << "failed find map_file parameter! No file to load" << std::endl; + printUsage(); + return 1; + } + lanelet::LaneletMapPtr lanelet_map; + lanelet::ErrorMessages errors; + lanelet::projection::MGRSProjector projector; + lanelet_map = lanelet::load(map_path, "autoware_osm_handler", projector, &errors); + + std::cout << "starting validation" << std::endl; + + validateElevationTag(map_path); + validateTrafficLight(lanelet_map); + validateTurnDirection(lanelet_map); + + std::cout << "finished validation" << std::endl; + + return 0; +} + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/test/src/test_message_conversion.cpp b/lanelet2_extension/test/src/test_message_conversion.cpp new file mode 100644 index 0000000..f1d930c --- /dev/null +++ b/lanelet2_extension/test/src/test_message_conversion.cpp @@ -0,0 +1,174 @@ +// Copyright 2015-2019 Autoware Foundation +// +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/utility/message_conversion.hpp" +#include "lanelet2_extension/utility/query.hpp" + +#include + +#include + +using lanelet::Lanelet; +using lanelet::LineString3d; +using lanelet::Point3d; +using lanelet::utils::getId; +using lanelet::utils::conversion::toGeomMsgPt; + +class TestSuite : public ::testing::Test // NOLINT for gtest +{ +public: + TestSuite() : single_lanelet_map_ptr(new lanelet::LaneletMap()) + { + Point3d p1; + Point3d p2; + Point3d p3; + Point3d p4; + Point3d p5; + Point3d p6; + Point3d p7; + LineString3d traffic_light_base; + LineString3d traffic_light_bulbs; + LineString3d stop_line; + + p1 = Point3d(getId(), 0., 0., 0.); + p2 = Point3d(getId(), 0., 1., 0.); + + p3 = Point3d(getId(), 1., 0., 0.); + p4 = Point3d(getId(), 1., 1., 0.); + + LineString3d ls_left(getId(), {p1, p2}); + LineString3d ls_right(getId(), {p3, p4}); + + Lanelet lanelet(getId(), ls_left, ls_right); + + single_lanelet_map_ptr->add(lanelet); + } + + ~TestSuite() override = default; + + lanelet::LaneletMapPtr single_lanelet_map_ptr; + +private: +}; + +TEST_F(TestSuite, BinMsgConversion) // NOLINT for gtest +{ + autoware_auto_mapping_msgs::msg::HADMapBin bin_msg; + lanelet::LaneletMapPtr regenerated_map(new lanelet::LaneletMap); + + lanelet::utils::conversion::toBinMsg(single_lanelet_map_ptr, &bin_msg); + + ASSERT_NE(0U, bin_msg.data.size()) << "converted bin message does not have any data"; + + lanelet::utils::conversion::fromBinMsg(bin_msg, regenerated_map); + + auto original_lanelet = lanelet::utils::query::laneletLayer(single_lanelet_map_ptr); + auto regenerated_lanelet = lanelet::utils::query::laneletLayer(regenerated_map); + + ASSERT_EQ(original_lanelet.front().id(), regenerated_lanelet.front().id()) + << "regenerated map has different id"; +} + +TEST_F(TestSuite, ToGeomMsgPt) // NOLINT for gtest +{ + Point3d lanelet_pt(getId(), -0.1, 0.2, 3.0); + + geometry_msgs::msg::Point32 geom_pt32; + geom_pt32.x = -0.1; + geom_pt32.y = 0.2; + geom_pt32.z = 3.0; + + geometry_msgs::msg::Point geom_pt; + toGeomMsgPt(geom_pt32, &geom_pt); + ASSERT_FLOAT_EQ(geom_pt32.x, geom_pt.x) + << " converted value is different from original geometry_msgs::msg::Point"; + ASSERT_FLOAT_EQ(geom_pt32.y, geom_pt.y) + << " converted value is different from original geometry_msgs::msg::Point"; + ASSERT_FLOAT_EQ(geom_pt32.z, geom_pt.z) + << " converted value is different from original geometry_msgs::msg::Point"; + + geom_pt = toGeomMsgPt(geom_pt32); + ASSERT_FLOAT_EQ(geom_pt32.x, geom_pt.x) + << " converted value is different from original geometry_msgs::msg::Point"; + ASSERT_FLOAT_EQ(geom_pt32.y, geom_pt.y) + << " converted value is different from original geometry_msgs::msg::Point"; + ASSERT_FLOAT_EQ(geom_pt32.z, geom_pt.z) + << " converted value is different from original geometry_msgs::msg::Point"; + + toGeomMsgPt(lanelet_pt.basicPoint(), &geom_pt); + ASSERT_DOUBLE_EQ(lanelet_pt.basicPoint().x(), geom_pt.x) + << " converted value is different from original " + "lanelet::basicPoint"; + ASSERT_DOUBLE_EQ(lanelet_pt.basicPoint().y(), geom_pt.y) + << " converted value is different from original " + "lanelet::basicPoint"; + ASSERT_DOUBLE_EQ(lanelet_pt.basicPoint().z(), geom_pt.z) + << " converted value is different from original " + "lanelet::basicPoint"; + + geom_pt = toGeomMsgPt(lanelet_pt.basicPoint()); + ASSERT_DOUBLE_EQ(lanelet_pt.basicPoint().x(), geom_pt.x) + << " converted value is different from original " + "lanelet::basicPoint"; + ASSERT_DOUBLE_EQ(lanelet_pt.basicPoint().y(), geom_pt.y) + << " converted value is different from original " + "lanelet::basicPoint"; + ASSERT_DOUBLE_EQ(lanelet_pt.basicPoint().z(), geom_pt.z) + << " converted value is different from original " + "lanelet::basicPoint"; + + toGeomMsgPt(lanelet_pt, &geom_pt); + ASSERT_DOUBLE_EQ(lanelet_pt.x(), geom_pt.x) + << " converted value is different from original lanelet::Point3d"; + ASSERT_DOUBLE_EQ(lanelet_pt.y(), geom_pt.y) + << " converted value is different from original lanelet::Point3d"; + ASSERT_DOUBLE_EQ(lanelet_pt.z(), geom_pt.z) + << " converted value is different from original lanelet::Point3d"; + + geom_pt = toGeomMsgPt(lanelet_pt); + ASSERT_DOUBLE_EQ(lanelet_pt.x(), geom_pt.x) + << " converted value is different from original lanelet::Point3d"; + ASSERT_DOUBLE_EQ(lanelet_pt.y(), geom_pt.y) + << " converted value is different from original lanelet::Point3d"; + ASSERT_DOUBLE_EQ(lanelet_pt.z(), geom_pt.z) + << " converted value is different from original lanelet::Point3d"; + + lanelet::ConstPoint2d point_2d = lanelet::utils::to2D(lanelet_pt); + + toGeomMsgPt(point_2d, &geom_pt); + ASSERT_DOUBLE_EQ(point_2d.x(), geom_pt.x) + << " converted value is different from original lanelet::Point2d"; + ASSERT_DOUBLE_EQ(point_2d.y(), geom_pt.y) + << " converted value is different from original lanelet::Point2d"; + ASSERT_DOUBLE_EQ(0.0, geom_pt.z) + << " converted value is different from original lanelet::Point2d"; + + geom_pt = toGeomMsgPt(point_2d); + ASSERT_DOUBLE_EQ(point_2d.x(), geom_pt.x) + << " converted value is different from original lanelet::Point2d"; + ASSERT_DOUBLE_EQ(point_2d.y(), geom_pt.y) + << " converted value is different from original lanelet::Point2d"; + ASSERT_DOUBLE_EQ(0.0, geom_pt.z) + << " converted value is different from original lanelet::Point2d"; +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/test/src/test_projector.cpp b/lanelet2_extension/test/src/test_projector.cpp new file mode 100644 index 0000000..dacd0f5 --- /dev/null +++ b/lanelet2_extension/test/src/test_projector.cpp @@ -0,0 +1,87 @@ +// Copyright 2015-2019 Autoware Foundation +// +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/projection/mgrs_projector.hpp" + +#include + +#include + +class TestSuite : public ::testing::Test // NOLINT for gtest +{ +public: + TestSuite() = default; + ~TestSuite() override = default; +}; + +TEST(TestSuite, ForwardProjection) // NOLINT for gtest +{ + lanelet::projection::MGRSProjector projector; + // lat/lon in Tokyo + lanelet::GPSPoint gps_point; + gps_point.lat = 35.652832; + gps_point.lon = 139.839478; + gps_point.ele = 12.3456789; + lanelet::BasicPoint3d mgrs_point = projector.forward(gps_point); + + // projected z value should not change + ASSERT_DOUBLE_EQ(mgrs_point.z(), gps_point.ele) + << "Forward projected z value should be " << gps_point.ele; + + // https://www.movable-type.co.uk/scripts/latlong-utm-mgrs.html + // round the projected value to mm since the above reference only gives value + // in mm precision + ASSERT_EQ(projector.getProjectedMGRSGrid(), "54SUE") << "Projected grid should be " + << "54SUE"; + double rounded_x_mm = round(mgrs_point.x() * 1000) / 1000.0; + ASSERT_DOUBLE_EQ(rounded_x_mm, 94946.081) << "Forward projected x value should be " << 94946.081; + double rounded_y_mm = round(mgrs_point.y() * 1000) / 1000.0; + ASSERT_DOUBLE_EQ(rounded_y_mm, 46063.748) << "Forward projected y value should be " << 46063.748; +} + +TEST(TestSuite, ReverseProjection) // NOLINT for gtest +{ + lanelet::projection::MGRSProjector projector; + lanelet::BasicPoint3d mgrs_point; + mgrs_point.x() = 94946.0; + mgrs_point.y() = 46063.0; + mgrs_point.z() = 12.3456789; + + projector.setMGRSCode("54SUE"); + lanelet::GPSPoint gps_point = projector.reverse(mgrs_point); + + // projected z value should not change + ASSERT_DOUBLE_EQ(gps_point.ele, mgrs_point.z()) + << "Reverse projected z value should be " << mgrs_point.z(); + + // https://www.movable-type.co.uk/scripts/latlong-utm-mgrs.html + // round the projected value since the above reference only gives value up to + // precision of 1e-8 + double rounded_lat = round(gps_point.lat * 1e8) / 1e8; + ASSERT_DOUBLE_EQ(rounded_lat, 35.65282525) + << "Reverse projected latitude value should be " << 35.65282525; + double rounded_lon = round(gps_point.lon * 1e8) / 1e8; + ASSERT_DOUBLE_EQ(rounded_lon, 139.83947721) + << "Reverse projected longitude value should be " << 139.83947721; +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/test/src/test_query.cpp b/lanelet2_extension/test/src/test_query.cpp new file mode 100644 index 0000000..874efb3 --- /dev/null +++ b/lanelet2_extension/test/src/test_query.cpp @@ -0,0 +1,147 @@ +// Copyright 2015-2019 Autoware Foundation +// +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/utility/query.hpp" + +#include + +#include + +using lanelet::Lanelet; +using lanelet::LineString3d; +using lanelet::Point3d; +using lanelet::Points3d; +using lanelet::utils::getId; + +class TestSuite : public ::testing::Test // NOLINT for gtest +{ +public: + TestSuite() : sample_map_ptr(new lanelet::LaneletMap()) + { + // create sample lanelets + Point3d p1; + Point3d p2; + Point3d p3; + Point3d p4; + + p1 = Point3d(getId(), 0., 0., 0.); + p2 = Point3d(getId(), 0., 1., 0.); + + p3 = Point3d(getId(), 1., 0., 0.); + p4 = Point3d(getId(), 1., 1., 0.); + + LineString3d ls_left(getId(), {p1, p2}); + LineString3d ls_right(getId(), {p3, p4}); + + Lanelet road_lanelet(getId(), ls_left, ls_right); + road_lanelet.attributes()[lanelet::AttributeName::Subtype] = + lanelet::AttributeValueString::Road; + + Lanelet crosswalk_lanelet(getId(), ls_left, ls_right); + crosswalk_lanelet.attributes()[lanelet::AttributeName::Subtype] = + lanelet::AttributeValueString::Crosswalk; + + // create sample traffic light + Point3d p5; + Point3d p6; + Point3d p7; + Point3d p8; + Point3d p9; + Point3d p10; + Point3d p11; + Point3d p12; + LineString3d traffic_light_base; + LineString3d traffic_light_bulbs; + LineString3d stop_line; + + p6 = Point3d(getId(), 0., 1., 4.); + p7 = Point3d(getId(), 1., 1., 4.); + + p8 = Point3d(getId(), 0., 1., 4.5); + p9 = Point3d(getId(), 0.5, 1., 4.5); + p10 = Point3d(getId(), 1., 1., 4.5); + + p11 = Point3d(getId(), 0., 0., 0.); + p12 = Point3d(getId(), 1., 0., 0.); + + traffic_light_base = LineString3d(getId(), Points3d{p6, p7}); + traffic_light_bulbs = LineString3d(getId(), Points3d{p8, p9, p10}); + stop_line = LineString3d(getId(), Points3d{p11, p12}); + + auto tl = lanelet::autoware::AutowareTrafficLight::make( + getId(), lanelet::AttributeMap(), {traffic_light_base}, stop_line, {traffic_light_bulbs}); + + road_lanelet.addRegulatoryElement(tl); + + // add items to map + sample_map_ptr->add(road_lanelet); + sample_map_ptr->add(crosswalk_lanelet); + } + + ~TestSuite() override = default; + + lanelet::LaneletMapPtr sample_map_ptr; + +private: +}; + +TEST_F(TestSuite, QueryLanelets) // NOLINT for gtest +{ + lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(sample_map_ptr); + ASSERT_EQ(2U, all_lanelets.size()) << "failed to retrieve all lanelets"; + + lanelet::ConstLanelets subtype_lanelets = + lanelet::utils::query::subtypeLanelets(all_lanelets, lanelet::AttributeValueString::Road); + ASSERT_EQ(1U, subtype_lanelets.size()) << "failed to retrieve road lanelet by subtypeLanelets"; + + lanelet::ConstLanelets road_lanelets = lanelet::utils::query::roadLanelets(all_lanelets); + ASSERT_EQ(1U, road_lanelets.size()) << "failed to retrieve road lanelets"; + + lanelet::ConstLanelets crosswalk_lanelets = + lanelet::utils::query::crosswalkLanelets(all_lanelets); + ASSERT_EQ(1U, crosswalk_lanelets.size()) << "failed to retrieve crosswalk lanelets"; +} + +TEST_F(TestSuite, QueryTrafficLights) // NOLINT for gtest +{ + lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(sample_map_ptr); + + auto traffic_lights = lanelet::utils::query::trafficLights(all_lanelets); + ASSERT_EQ(1U, traffic_lights.size()) << "failed to retrieve traffic lights"; + + auto autoware_traffic_lights = lanelet::utils::query::autowareTrafficLights(all_lanelets); + ASSERT_EQ(1U, autoware_traffic_lights.size()) << "failed to retrieve autoware traffic lights"; +} + +TEST_F(TestSuite, QueryStopLine) // NOLINT for gtest +{ + lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(sample_map_ptr); + lanelet::ConstLanelets road_lanelets = lanelet::utils::query::roadLanelets(all_lanelets); + + auto stop_lines = lanelet::utils::query::stopLinesLanelets(all_lanelets); + ASSERT_EQ(1U, stop_lines.size()) << "failed to retrieve stop lines from all lanelets"; + + auto stop_lines2 = lanelet::utils::query::stopLinesLanelet(road_lanelets.front()); + ASSERT_EQ(1U, stop_lines2.size()) << "failed to retrieve stop lines from a lanelet"; +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/test/src/test_regulatory_elements.cpp b/lanelet2_extension/test/src/test_regulatory_elements.cpp new file mode 100644 index 0000000..7037e95 --- /dev/null +++ b/lanelet2_extension/test/src/test_regulatory_elements.cpp @@ -0,0 +1,145 @@ +// Copyright 2015-2019 Autoware Foundation +// +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" + +#include +#include +#include + +#include +#include + +using lanelet::LineString3d; +using lanelet::LineStringOrPolygon3d; +using lanelet::Point3d; +using lanelet::Points3d; +using lanelet::utils::getId; + +namespace +{ +template +std::vector convertToVector(T item) +{ + std::vector vector = {item}; + return vector; +} +} // namespace + +class TestSuite : public ::testing::Test // NOLINT for gtest +{ +public: + TestSuite() = default; + ~TestSuite() override = default; +}; + +TEST(TestSuite, FactoryConstructsTrafficLight) // NOLINT for gtest +{ + Point3d p1; + Point3d p2; + Point3d p3; + Point3d p4; + Point3d p5; + Point3d p6; + Point3d p7; + LineStringOrPolygon3d traffic_light_base; + LineString3d traffic_light_bulbs; + LineString3d stop_line; + + p1 = Point3d(getId(), 0., 1., 4.); + p2 = Point3d(getId(), 1., 1., 4.); + + p3 = Point3d(getId(), 0., 1., 4.5); + p4 = Point3d(getId(), 0.5, 1., 4.5); + p5 = Point3d(getId(), 1., 1., 4.5); + + p6 = Point3d(getId(), 0., 0., 0.); + p7 = Point3d(getId(), 1., 0., 0.); + + Points3d base = {p1, p2}; + Points3d bulbs = {p3, p4, p5}; + Points3d stop = {p6, p7}; + + traffic_light_base = LineString3d(getId(), base); + traffic_light_bulbs = LineString3d(getId(), bulbs); + stop_line = LineString3d(getId(), stop); + + auto tl = lanelet::autoware::AutowareTrafficLight::make( + getId(), lanelet::AttributeMap(), convertToVector(traffic_light_base), stop_line, + convertToVector(traffic_light_bulbs)); + + auto factoryTl = lanelet::RegulatoryElementFactory::create( + tl->attribute(lanelet::AttributeName::Subtype).value(), + std::const_pointer_cast(tl->constData())); + EXPECT_TRUE(!!std::dynamic_pointer_cast(factoryTl)); +} + +TEST(TestSuite, TrafficLightWorksAsExpected) // NOLINT for gtest +{ + Point3d p1; + Point3d p2; + Point3d p3; + Point3d p4; + Point3d p5; + Point3d p6; + Point3d p7; + + LineStringOrPolygon3d traffic_light_base; + LineStringOrPolygon3d traffic_light_base2; + LineString3d traffic_light_bulbs; + LineString3d traffic_light_bulbs2; + LineString3d stop_line; + + p1 = Point3d(getId(), 0., 1., 4.); + p2 = Point3d(getId(), 1., 1., 4.); + + p3 = Point3d(getId(), 0., 1., 4.5); + p4 = Point3d(getId(), 0.5, 1., 4.5); + p5 = Point3d(getId(), 1., 1., 4.5); + + p6 = Point3d(getId(), 0., 0., 0.); + p7 = Point3d(getId(), 1., 0., 0.); + + Points3d base = {p1, p2}; + Points3d bulbs = {p3, p4, p5}; + Points3d stop = {p6, p7}; + + traffic_light_base = {LineString3d(getId(), base)}; + traffic_light_base2 = {LineString3d(getId(), base)}; + traffic_light_bulbs = {LineString3d(getId(), bulbs)}; + traffic_light_bulbs2 = {LineString3d(getId(), bulbs)}; + stop_line = LineString3d(getId(), stop); + + auto tl = lanelet::autoware::AutowareTrafficLight::make( + getId(), lanelet::AttributeMap(), convertToVector(traffic_light_base), stop_line, + convertToVector(traffic_light_bulbs)); + tl->setStopLine(stop_line); + EXPECT_EQ(stop_line, tl->stopLine()); + tl->addTrafficLight(traffic_light_base2); + EXPECT_EQ(2ul, tl->trafficLights().size()); + tl->addLightBulbs(traffic_light_bulbs2); + EXPECT_EQ(2ul, tl->lightBulbs().size()); + tl->removeLightBulbs(traffic_light_bulbs); + EXPECT_EQ(1ul, tl->lightBulbs().size()); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/test/src/test_route_checker.cpp b/lanelet2_extension/test/src/test_route_checker.cpp new file mode 100644 index 0000000..1f4d6a8 --- /dev/null +++ b/lanelet2_extension/test/src/test_route_checker.cpp @@ -0,0 +1,99 @@ +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/utility/message_conversion.hpp" +#include "lanelet2_extension/utility/route_checker.hpp" + +#include +#include + +#include + +using lanelet::Lanelet; +using lanelet::LineString3d; +using lanelet::Point3d; +using lanelet::utils::getId; + +class TestSuite : public ::testing::Test // NOLINT for gtest +{ +public: + TestSuite() : sample_map_ptr(new lanelet::LaneletMap()) + { + // create sample lanelets + const Point3d p1(getId(), 0.0, 0.0, 0.0); + const Point3d p2(getId(), 0.0, 1.0, 0.0); + + const LineString3d ls_left(getId(), {p1, p2}); + + const Point3d p3(getId(), 1.0, 0.0, 0.0); + const Point3d p4(getId(), 1.0, 0.0, 0.0); + + const LineString3d ls_right(getId(), {p3, p4}); + + const Lanelet lanelet(getId(), ls_left, ls_right); + + sample_map_ptr->add(lanelet); + + // create sample routes + autoware_auto_mapping_msgs::msg::MapPrimitive map_primitive; + autoware_auto_mapping_msgs::msg::HADMapSegment map_segment1; + autoware_auto_mapping_msgs::msg::HADMapSegment map_segment2; + + for (size_t i = 0; i < 2; i++) { + map_primitive.id = lanelet.id(); + map_segment1.primitives.push_back(map_primitive); + map_primitive.id = ls_left.id(); + map_segment2.primitives.push_back(map_primitive); + } + sample_route1.segments.push_back(map_segment1); + sample_route2.segments.push_back(map_segment2); + } + + ~TestSuite() override = default; + + lanelet::LaneletMapPtr sample_map_ptr; + autoware_auto_planning_msgs::msg::HADMapRoute sample_route1; // valid route + autoware_auto_planning_msgs::msg::HADMapRoute sample_route2; // invalid route + +private: +}; + +TEST_F(TestSuite, isRouteValid) // NOLINT for gtest +{ + autoware_auto_mapping_msgs::msg::HADMapBin bin_msg; + + const auto route_ptr1 = + std::make_shared(sample_route1); + const auto route_ptr2 = + std::make_shared(sample_route2); + + // toBinMsg is tested at test_message_conversion.cpp + lanelet::utils::conversion::toBinMsg(sample_map_ptr, &bin_msg); + + ASSERT_TRUE(lanelet::utils::route::isRouteValid(*route_ptr1, sample_map_ptr)) + << "The route should be valid, which should be created on the same map as the current one"; + ASSERT_FALSE(lanelet::utils::route::isRouteValid(*route_ptr2, sample_map_ptr)) + << "The route should be invalid, which should be created on the different map from the current " + "one"; +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/test/src/test_utilities.cpp b/lanelet2_extension/test/src/test_utilities.cpp new file mode 100644 index 0000000..10103d5 --- /dev/null +++ b/lanelet2_extension/test/src/test_utilities.cpp @@ -0,0 +1,123 @@ +// Copyright 2015-2019 Autoware Foundation +// +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/utility/utilities.hpp" + +#include +#include +#include + +#include + +using lanelet::Lanelet; +using lanelet::LineString3d; +using lanelet::Point3d; +using lanelet::utils::getId; + +class TestSuite : public ::testing::Test // NOLINT for gtest +{ +public: + TestSuite() : sample_map_ptr(new lanelet::LaneletMap()) + { + // create sample lanelets + Point3d p1; + Point3d p2; + Point3d p3; + Point3d p4; + Point3d p5; + Point3d p6; + Point3d p7; + Point3d p8; + Point3d p9; + Point3d p10; + + p1 = Point3d(getId(), 0., 0., 0.); + p2 = Point3d(getId(), 0., 1., 0.); + p3 = Point3d(getId(), 1., 0., 0.); + p4 = Point3d(getId(), 1., 1., 0.); + + LineString3d ls_left(getId(), {p1, p2}); + LineString3d ls_right(getId(), {p3, p4}); + + p5 = Point3d(getId(), 0., 2., 0.); + p6 = Point3d(getId(), 1., 2., 0.); + + LineString3d ls_left2(getId(), {p2, p5}); + LineString3d ls_right2(getId(), {p4, p6}); + + p7 = Point3d(getId(), 0., 3., 0.); + p8 = Point3d(getId(), 1., 3., 0.); + + LineString3d ls_left3(getId(), {p5, p7}); + LineString3d ls_right3(getId(), {p6, p8}); + + p9 = Point3d(getId(), 0., 1., 0.); + p10 = Point3d(getId(), 1., 1., 0.); + + LineString3d ls_left4(getId(), {p9, p5}); + LineString3d ls_right4(getId(), {p10, p6}); + + road_lanelet = Lanelet(getId(), ls_left, ls_right); + road_lanelet.attributes()[lanelet::AttributeName::Subtype] = + lanelet::AttributeValueString::Road; + + next_lanelet = Lanelet(getId(), ls_left2, ls_right2); + next_lanelet.attributes()[lanelet::AttributeName::Subtype] = + lanelet::AttributeValueString::Road; + + next_lanelet2 = Lanelet(getId(), ls_left3, ls_right3); + next_lanelet2.attributes()[lanelet::AttributeName::Subtype] = + lanelet::AttributeValueString::Road; + + merging_lanelet = Lanelet(getId(), ls_left4, ls_right4); + merging_lanelet.attributes()[lanelet::AttributeName::Subtype] = + lanelet::AttributeValueString::Road; + + sample_map_ptr->add(road_lanelet); + sample_map_ptr->add(next_lanelet); + sample_map_ptr->add(next_lanelet2); + sample_map_ptr->add(merging_lanelet); + } + + ~TestSuite() override = default; + + lanelet::LaneletMapPtr sample_map_ptr; + Lanelet road_lanelet; + Lanelet next_lanelet; + Lanelet next_lanelet2; + Lanelet merging_lanelet; + +private: +}; + +TEST_F(TestSuite, OverwriteLaneletsCenterline) // NOLINT for gtest +{ + double resolution = 5.0; + bool force_overwrite = false; + lanelet::utils::overwriteLaneletsCenterline(sample_map_ptr, resolution, force_overwrite); + + for (const auto & lanelet : sample_map_ptr->laneletLayer) { + ASSERT_TRUE(lanelet.hasCustomCenterline()) << "failed to calculate fine centerline"; + } +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + +// NOLINTEND(readability-identifier-naming) From ff8f8854acdff44601fc95f8162cf7754cb1ba3b Mon Sep 17 00:00:00 2001 From: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Date: Tue, 23 Aug 2022 19:01:02 +0300 Subject: [PATCH 02/54] docs(lanelet2_extension): add crosswalk safety slow down annotation instructions (#93) * docs(lanelet2_extension): add crosswalk safety slow down annotation instructions Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> * ci(pre-commit): autofix Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../docs/lanelet2_format_extension.md | 24 +++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index 6a206d2..7485185 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -184,3 +184,27 @@ The following illustrates how light_bulbs are registered to traffic_light regula ``` + +### Safety Slow Down for Crosswalks + +If you wish ego vehicle to slow down to a certain speed from a certain distance while passing over a +certain crosswalk _even though there are no target objects around it_, you can add following tags to +the crosswalk definition on lanelet2 map: + +- `safety_slow_down_speed` **[m/s]**: The speed you want ego vehicle to drive at while passing over + the crosswalk +- `safety_slow_down_distance` **[m]**: The distance between front bumper of ego vehicle and + closest point to the crosswalk when ego vehicle slows down and drives at specified speed + +_An example:_ + +```xml + + + + + + + + +``` From 0f46efa096ccb208759e6c49223fe58234c05a13 Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Fri, 26 Aug 2022 17:41:36 +0900 Subject: [PATCH 03/54] feat: add visualization for no detection area (#92) * feat: add no detection area filter Signed-off-by: Tomohito Ando * chore: use the string equality operator Signed-off-by: Tomohito Ando * chore: move the position of the function Signed-off-by: Tomohito Ando * feat: add function that allows to get polygons by type Signed-off-by: Tomohito Ando * chore: add visualization for no obstacle segmentation area Signed-off-by: Tomohito Ando * chore: fix typo Signed-off-by: Tomohito Ando * docs: add ducuments for no_obstacle_segmentation_area Signed-off-by: Tomohito Ando * ci(pre-commit): autofix Signed-off-by: Tomohito Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../docs/lanelet2_format_extension.md | 22 ++++++++++ .../lanelet2_extension/utility/query.hpp | 4 ++ .../visualization/visualization.hpp | 21 ++++++++++ lanelet2_extension/lib/query.cpp | 14 ++++++- lanelet2_extension/lib/visualization.cpp | 42 +++++++++++++++++++ 5 files changed, 102 insertions(+), 1 deletion(-) diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index 7485185..23274a7 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -208,3 +208,25 @@ _An example:_ ``` + +### No Obstacle Segmentation Area + +If there is a polygon area that has `no_obstacle_segmentation_area` tag, the obstacle points in this area are removed. +If you want to ignore points for a certain module, you have to define another tag and specify it in the parameter of vector_map_inside_area_filter. +Currently, following tags are defined other than `no_obstacle_segmentation_area`. + +- `no_obstacle_segmentation_area_for_run_out` + - remove points for run out module + +_An example:_ + +```xml + + + + + + + + +``` diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index 43fa5ef..060fb89 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -114,6 +114,10 @@ std::vector detectionAreas(const lanelet::ConstL std::vector noStoppingAreas( const lanelet::ConstLanelets & lanelets); +// query all polygons that has given type in lanelet2 map +lanelet::ConstPolygons3d getAllPolygonsByType( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type); + // query all obstacle polygons in lanelet2 map lanelet::ConstPolygons3d getAllObstaclePolygons( const lanelet::LaneletMapConstPtr & lanelet_map_ptr); diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp index 822d89f..23226cc 100644 --- a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -270,6 +270,27 @@ visualization_msgs::msg::MarkerArray generateLaneletIdMarker( visualization_msgs::msg::MarkerArray obstaclePolygonsAsMarkerArray( const lanelet::ConstPolygons3d & obstacle_polygons, const std_msgs::msg::ColorRGBA & c); +/** + * [noObstacleSegmentationAreaAsMarkerArray creates marker array to visualize no obstacle + * segmentation area] + * @param no_obstacle_segmentation_area [no obstacle segmentation area polygon] + * @param c [color of the marker] + */ +visualization_msgs::msg::MarkerArray noObstacleSegmentationAreaAsMarkerArray( + const lanelet::ConstPolygons3d & no_obstacle_segmentation_area, + const std_msgs::msg::ColorRGBA & c); + +/** + * [noObstacleSegmentationAreaForRunOutAsMarkerArray creates marker array to visualize no obstacle + * segmentation area for run out] + * @param no_obstacle_segmentation_area_for_run_out [no obstacle segmentation area for run out + * polygon] + * @param c [color of the marker] + */ +visualization_msgs::msg::MarkerArray noObstacleSegmentationAreaForRunOutAsMarkerArray( + const lanelet::ConstPolygons3d & no_obstacle_segmentation_area_for_run_out, + const std_msgs::msg::ColorRGBA & c); + } // namespace lanelet::visualization // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index 1e5bd8b..a157de9 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -212,6 +212,19 @@ std::vector query::noStoppingAreas( return no_reg_elems; } +lanelet::ConstPolygons3d query::getAllPolygonsByType( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type) +{ + lanelet::ConstPolygons3d polygons; + for (const auto & poly : lanelet_map_ptr->polygonLayer) { + const std::string type = poly.attributeOr(lanelet::AttributeName::Type, "none"); + if (type == polygon_type) { + polygons.push_back(poly); + } + } + return polygons; +} + lanelet::ConstPolygons3d query::getAllObstaclePolygons( const lanelet::LaneletMapConstPtr & lanelet_map_ptr) { @@ -878,7 +891,6 @@ std::vector query::getPrecedingLaneletSequences( } return lanelet_sequences_vec; } - } // namespace lanelet::utils // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index aa86768..de80eee 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -1263,6 +1263,48 @@ void visualization::pushArrowsMarker( } } +visualization_msgs::msg::MarkerArray visualization::noObstacleSegmentationAreaAsMarkerArray( + const lanelet::ConstPolygons3d & no_obstacle_segmentation_area, + const std_msgs::msg::ColorRGBA & c) +{ + visualization_msgs::msg::MarkerArray marker_array; + if (no_obstacle_segmentation_area.empty()) { + return marker_array; + } + + visualization_msgs::msg::Marker marker = createPolygonMarker("no_obstacle_segmentation_area", c); + for (const auto & polygon : no_obstacle_segmentation_area) { + pushPolygonMarker(&marker, polygon, c); + } + + if (!marker.points.empty()) { + marker_array.markers.push_back(marker); + } + return marker_array; +} + +visualization_msgs::msg::MarkerArray +visualization::noObstacleSegmentationAreaForRunOutAsMarkerArray( + const lanelet::ConstPolygons3d & no_obstacle_segmentation_area_for_run_out, + const std_msgs::msg::ColorRGBA & c) +{ + visualization_msgs::msg::MarkerArray marker_array; + if (no_obstacle_segmentation_area_for_run_out.empty()) { + return marker_array; + } + + visualization_msgs::msg::Marker marker = + createPolygonMarker("no_obstacle_segmentation_area_for_run_out", c); + for (const auto & polygon : no_obstacle_segmentation_area_for_run_out) { + pushPolygonMarker(&marker, polygon, c); + } + + if (!marker.points.empty()) { + marker_array.markers.push_back(marker); + } + return marker_array; +} + } // namespace lanelet // NOLINTEND(readability-identifier-naming) From 946c2a752a2924f4eb5b6e509387224621b99d45 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Sat, 27 Aug 2022 13:54:17 +0900 Subject: [PATCH 04/54] fix: traffic light visualization bug (#96) Signed-off-by: Yukihiro Saito Signed-off-by: Yukihiro Saito --- lanelet2_extension/lib/visualization.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index de80eee..6e0af65 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -1100,7 +1100,7 @@ void visualization::pushTrafficLightTriangleMarker( marker->points.push_back(i); marker->colors.push_back(cl); } - for (const auto & i : tri0) { + for (const auto & i : tri1) { marker->points.push_back(i); marker->colors.push_back(cl); } From a13a7e0b3c4d75fe42ec91c11c38f6eb6b285c1c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Sat, 29 Oct 2022 00:17:54 +0900 Subject: [PATCH 05/54] feat(lanelet2_extension): add RightOfWay checker (#114) * read osm, extract right_of_ways, and checking its conflict with yield Signed-off-by: Mamoru Sobue * using range-v3 Signed-off-by: Mamoru Sobue * does not compile Signed-off-by: Mamoru Sobue * adding document and image Signed-off-by: Mamoru Sobue * fixed Signed-off-by: Mamoru Sobue * fixed spell check Signed-off-by: Mamoru Sobue * ci(pre-commit): autofix * fixed spell check Signed-off-by: Mamoru Sobue Signed-off-by: Mamoru Sobue Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- lanelet2_extension/CMakeLists.txt | 8 ++ lanelet2_extension/README.md | 4 + .../docs/lanelet2_format_extension.md | 17 ++++ .../docs/right_of_way.drawio.svg | 4 + lanelet2_extension/package.xml | 1 + lanelet2_extension/src/check_right_of_way.cpp | 97 +++++++++++++++++++ 6 files changed, 131 insertions(+) create mode 100644 lanelet2_extension/docs/right_of_way.drawio.svg create mode 100644 lanelet2_extension/src/check_right_of_way.cpp diff --git a/lanelet2_extension/CMakeLists.txt b/lanelet2_extension/CMakeLists.txt index a0db7fe..2ada477 100644 --- a/lanelet2_extension/CMakeLists.txt +++ b/lanelet2_extension/CMakeLists.txt @@ -62,6 +62,14 @@ target_link_libraries(autoware_lanelet2_validation lanelet2_extension_lib ) +ament_auto_add_executable(check_right_of_way src/check_right_of_way.cpp) +add_dependencies(check_right_of_way lanelet2_extension_lib) +target_link_libraries(check_right_of_way + ${catkin_LIBRARIES} + ${PUGIXML_LIBRARIES} + lanelet2_extension_lib +) + if(BUILD_TESTING) ament_add_ros_isolated_gtest(message_conversion-test test/src/test_message_conversion.cpp) target_link_libraries(message_conversion-test lanelet2_extension_lib) diff --git a/lanelet2_extension/README.md b/lanelet2_extension/README.md index af88db6..be1f37c 100644 --- a/lanelet2_extension/README.md +++ b/lanelet2_extension/README.md @@ -39,6 +39,10 @@ Autoware Traffic Light class contains following members: - light bulbs information of traffic lights - stopline associated to traffic light +#### Right Of Way + +Autoware intersection module requires the information on which lanes can be ignored for object detection, like those lanes whose traffic light color is red when that of ego is green, etc. `right_of_way` tag is a regulatory element that consists of a tuple of (`right_of_way`s and `yield_lane`s), and `right_of_way`s have priority over`yield_lane`s. Although `right_of_way` tag itself is defined in Lanelet2, this package provides proper conditions on how this tag should be set. + ### Utility #### Message Conversion diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index 23274a7..e6429de 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -77,6 +77,23 @@ Here is an example of osm syntax for lanelets in intersections. ``` +### Right Of Way + +Users must add `right_of_way` tag to intersection lanes, namely lanes with `turn_direction` attribute. Below image illustrates how to set yield lanes(orange) for the ego lane(blue). + +![RightOfWay tagging](right_of_way.drawio.svg) + +Basically intersection lanes which are: + +- left/right turn +- straight and on the side of priority sign + +need this tag to know which lanes in their `conflicting lanes` can be ignored for object detection. + +left/right turning lane is often conflicting with lanes whose traffic lights are red when its traffic light is green, so **at least** those lanes should be registered as yield lanes. + +If ego car is going straight the intersection when the traffic light is green, then it does not need to care other lanes because it has the highest priority. But if the traffic lights do not exist and ego lane is on the side of priority road, then yield lanes should be set to explicitly ignore part of conflicting lanes. + ## Optional Taggings Following tags are optional tags that you may want to add depending on how you want to use your map in Autoware. diff --git a/lanelet2_extension/docs/right_of_way.drawio.svg b/lanelet2_extension/docs/right_of_way.drawio.svg new file mode 100644 index 0000000..875944b --- /dev/null +++ b/lanelet2_extension/docs/right_of_way.drawio.svg @@ -0,0 +1,4 @@ + + + +
yield lane
yield lane
yield lane
yield lane
ego lane
ego lane
priority lane
priority laneText is not SVG - cannot display \ No newline at end of file diff --git a/lanelet2_extension/package.xml b/lanelet2_extension/package.xml index 662e9a9..7806ecb 100644 --- a/lanelet2_extension/package.xml +++ b/lanelet2_extension/package.xml @@ -24,6 +24,7 @@ lanelet2_traffic_rules lanelet2_validation pugixml-dev + range-v3 rclcpp tf2 tf2_geometry_msgs diff --git a/lanelet2_extension/src/check_right_of_way.cpp b/lanelet2_extension/src/check_right_of_way.cpp new file mode 100644 index 0000000..4683287 --- /dev/null +++ b/lanelet2_extension/src/check_right_of_way.cpp @@ -0,0 +1,97 @@ +// Copyright 2015-2022 Autoware Foundation +// +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +int main(int argc, char ** argv) +{ + if (argc < 2) { + std::cout << "usage: ros2 run lanelet2_extension check_right_of_way "; + return 0; + } + + const std::string map_path = std::string(argv[1]); + + lanelet::ErrorMessages errors{}; + lanelet::projection::MGRSProjector projector{}; + lanelet::LaneletMapPtr map = lanelet::load(map_path, projector, &errors); + for (auto && error : errors) std::cout << error << std::endl; + + lanelet::traffic_rules::TrafficRulesPtr trafficRules = + lanelet::traffic_rules::TrafficRulesFactory::create( + lanelet::Locations::Germany, lanelet::Participants::Vehicle); + lanelet::routing::RoutingGraphPtr routing_graph_ptr = + lanelet::routing::RoutingGraph::build(*map, *trafficRules); + + auto rows = map->regulatoryElementLayer // filter elem whose Subtype is RightOfWay + | + ranges::view::filter([](auto && elem) { + const auto & attrs = elem->attributes(); + auto it = attrs.find(lanelet::AttributeName::Subtype); + return it != attrs.end() && it->second == lanelet::AttributeValueString::RightOfWay; + }) // transform to lanelet::RightOfWay + | ranges::views::transform([](auto && elem) { + return std::move(std::dynamic_pointer_cast(elem)); + }); + + for (auto && row : rows) { + const auto & right_of_ways = row->rightOfWayLanelets(); + const auto & yields = row->yieldLanelets(); + std::set yield_ids; + for (auto && yield : yields) { + yield_ids.insert(yield.id()); + } + + std::set conflicting_ids; + for (auto && right_of_way : right_of_ways) { + const std::vector & conflicting_lanelets = + lanelet::utils::getConflictingLanelets(routing_graph_ptr, right_of_way); + for (auto && conflict : conflicting_lanelets) conflicting_ids.insert(conflict.id()); + } + + std::vector unnecessary_yields; + set_difference( + yield_ids.begin(), yield_ids.end(), conflicting_ids.begin(), conflicting_ids.end(), + std::inserter(unnecessary_yields, unnecessary_yields.end())); + if (unnecessary_yields.size() == 0) continue; + std::cout << "RightOfWay " << row->id() << ": ["; + const char * delim = ""; + for (auto && unnecessary_yield : unnecessary_yields) + std::cout << std::exchange(delim, ",") << unnecessary_yield; + std::cout << "] are unnecessary yield" << std::endl; + } +} From b89ef7a015bb5bf0e5a6bbdde1ca68992183209c Mon Sep 17 00:00:00 2001 From: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Date: Mon, 14 Nov 2022 10:55:35 +0300 Subject: [PATCH 06/54] feat(lanelet2_extension): add speed bump as regulatory element (#120) * feat: init speed_bump reg elem Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> * docs: add speed bump documentation as reg elem Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> * docs: add slow_down_speed optional tag Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> * fix: end of file Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> * docs: add optional tag & update speed_bump figure Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> --- lanelet2_extension/CMakeLists.txt | 1 + .../docs/extra_regulatory_elements.md | 86 +++++++++++++ lanelet2_extension/docs/speed_bump.png | Bin 0 -> 26135 bytes .../regulatory_elements/speed_bump.hpp | 74 +++++++++++ .../lanelet2_extension/utility/query.hpp | 9 ++ .../visualization/visualization.hpp | 10 ++ lanelet2_extension/lib/query.cpp | 28 +++++ lanelet2_extension/lib/speed_bump.cpp | 117 ++++++++++++++++++ lanelet2_extension/lib/visualization.cpp | 64 ++++++++++ 9 files changed, 389 insertions(+) create mode 100644 lanelet2_extension/docs/speed_bump.png create mode 100644 lanelet2_extension/include/lanelet2_extension/regulatory_elements/speed_bump.hpp create mode 100644 lanelet2_extension/lib/speed_bump.cpp diff --git a/lanelet2_extension/CMakeLists.txt b/lanelet2_extension/CMakeLists.txt index 2ada477..6b109cb 100644 --- a/lanelet2_extension/CMakeLists.txt +++ b/lanelet2_extension/CMakeLists.txt @@ -39,6 +39,7 @@ ament_auto_add_library(lanelet2_extension_lib SHARED lib/mgrs_projector.cpp lib/query.cpp lib/road_marking.cpp + lib/speed_bump.cpp lib/utilities.cpp lib/virtual_traffic_light.cpp lib/visualization.cpp diff --git a/lanelet2_extension/docs/extra_regulatory_elements.md b/lanelet2_extension/docs/extra_regulatory_elements.md index 3dae51b..1debdf9 100644 --- a/lanelet2_extension/docs/extra_regulatory_elements.md +++ b/lanelet2_extension/docs/extra_regulatory_elements.md @@ -61,3 +61,89 @@ This regulatory element specifies related road markings to a lanelet as shown be refers: linestring with type attribute. Type explains what road marking it represents (e.g. stopline). ![Road marking](road_mark.png) + +## Speed Bump + +This regulatory element specifies a speed bump on the road. + +- refers: to a speed bump polygon. There must be only one speed bump polygon registered to a single + regulatory element. + +![Speed bump](speed_bump.png) + +An example annotation of speed_bump: + +```xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +``` + +- As an option `slow_down_speed` tag can be added to the speed bump way annotation to override the + speed calculated in planning module wrt the speed bump `height`. The value specified in + `slow_down_speed` tag must be in **kph**. So if this option is used then the way annotation should + look like as below: + +```xml + + + + + + + + + + +``` diff --git a/lanelet2_extension/docs/speed_bump.png b/lanelet2_extension/docs/speed_bump.png new file mode 100644 index 0000000000000000000000000000000000000000..3684e9f9ea8b2006abd19a65153e79d889f8ffe4 GIT binary patch literal 26135 zcmeFZ2T+q=w>}C;k*XBwA|fb7N&+Dupac>UdJUlo(rf4~p$O8OR1rm~g3>{nAWeFa zDjfl-(m|Ri?Y`*mJLfy++&ll7TjtK4x#NT+JNw=5+H0@9-e)~~Eh9A4kkk~c6a)kW z)QTv$76Aca0`R(anG|U0hMK|79{NGPJ zU=bT9H+LRUI1dg+6JVQXsbYKnCea=}rT`Iz3W9Pxz0<`d@;0tcSfE7# zBqA;(a`6vn)Hby;b+!GsAuc4hbT_sBD>YU@-xFh@rr>I7ioiNpI>Pi33V)^bv~+c| zb#naIkgX4L~h|e})!CKy;nuEW}m82n{iJ4J&JX4IDz%2CHsvfU<&$ zdg_B*@eXblI7uF`9L!o9>!ok4sBUHk6~}qV0S#X64(bwS4vJO?tcRuz776siVkD7X zHX3*{S5c^r0us2foRbJbUC9B4Q1`+@JVg**u8wvRu9EU@@)8Qp*6zxhXdOEzIZXq1 zOPDjDG#hsnCj%F-t){xUskf?uq9#^F6(s6pkJnMqa96XpRZzx(Of40Z)KH#S7lfjP zmzIWxy^FXAR?^!`!PEhyq5xB|0`4j=2DWv8V!dFN7>pVSsp*VUFn3Z^^FZQIIDIV2 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All rights reserved. +// +// 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. +// +// Authors: Ryohsuke Mitsudome, Mehmet Dogru + +#ifndef LANELET2_EXTENSION__REGULATORY_ELEMENTS__SPEED_BUMP_HPP_ +#define LANELET2_EXTENSION__REGULATORY_ELEMENTS__SPEED_BUMP_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +namespace lanelet::autoware +{ +class SpeedBump : public lanelet::RegulatoryElement +{ +public: + using Ptr = std::shared_ptr; + static constexpr char RuleName[] = "speed_bump"; + + static Ptr make(Id id, const AttributeMap & attributes, const Polygon3d & speed_bump) + { + return Ptr{new SpeedBump(id, attributes, speed_bump)}; + } + + /** + * @brief get the relevant speed bumps + * @return speed bumps + */ + [[nodiscard]] ConstPolygon3d speedBump() const; + [[nodiscard]] Polygon3d speedBump(); + + /** + * @brief add a new speed bump + * @param primitive speed bump to add + */ + void addSpeedBump(const Polygon3d & primitive); + + /** + * @brief remove a speed bump + * @param primitive speed bump to remove + * @return true if the speed bump existed and was removed + */ + bool removeSpeedBump(const Polygon3d & primitive); + +private: + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class lanelet::RegisterRegulatoryElement; + SpeedBump(Id id, const AttributeMap & attributes, const Polygon3d & speed_bump); + explicit SpeedBump(const lanelet::RegulatoryElementDataPtr & data); +}; +static lanelet::RegisterRegulatoryElement regSpeedBump; + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__REGULATORY_ELEMENTS__SPEED_BUMP_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index 060fb89..eb5853a 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -22,6 +22,7 @@ #include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" #include "lanelet2_extension/regulatory_elements/detection_area.hpp" #include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp" +#include "lanelet2_extension/regulatory_elements/speed_bump.hpp" #include #include @@ -41,6 +42,7 @@ using TrafficLightConstPtr = std::shared_ptr; using AutowareTrafficLightConstPtr = std::shared_ptr; using DetectionAreaConstPtr = std::shared_ptr; using NoStoppingAreaConstPtr = std::shared_ptr; +using SpeedBumpConstPtr = std::shared_ptr; } // namespace lanelet namespace lanelet::utils::query @@ -114,6 +116,13 @@ std::vector detectionAreas(const lanelet::ConstL std::vector noStoppingAreas( const lanelet::ConstLanelets & lanelets); +/** + * [speedBumps extracts Speed Bump regulatory elements from lanelets] + * @param lanelets [input lanelets] + * @return [speed bumps that are associated with input lanelets] + */ +std::vector speedBumps(const lanelet::ConstLanelets & lanelets); + // query all polygons that has given type in lanelet2 map lanelet::ConstPolygons3d getAllPolygonsByType( const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type); diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp index 23226cc..24140e8 100644 --- a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -231,6 +231,16 @@ visualization_msgs::msg::MarkerArray noStoppingAreasAsMarkerArray( const std::vector & no_reg_elems, const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); +/** + * [speedBumpsAsMarkerArray creates marker array to visualize speed bumps] + * @param sb_reg_elems [speed bump regulatory elements] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + */ +visualization_msgs::msg::MarkerArray speedBumpsAsMarkerArray( + const std::vector & sb_reg_elems, const std_msgs::msg::ColorRGBA & c, + const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); + /** * [pedestrianMarkingsAsMarkerArray creates marker array to visualize pedestrian markings] * @param pedestrian_markings [pedestrian marking polygon] diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index a157de9..2a0b1d4 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -212,6 +212,34 @@ std::vector query::noStoppingAreas( return no_reg_elems; } +std::vector query::speedBumps(const lanelet::ConstLanelets & lanelets) +{ + std::vector sb_reg_elems; + + for (const auto & ll : lanelets) { + std::vector ll_sb_re = + ll.regulatoryElementsAs(); + + // insert unique id into array + for (const auto & sb_ptr : ll_sb_re) { + lanelet::Id id = sb_ptr->id(); + bool unique_id = true; + + for (const auto & sb_reg_elem : sb_reg_elems) { + if (id == sb_reg_elem->id()) { + unique_id = false; + break; + } + } + + if (unique_id) { + sb_reg_elems.push_back(sb_ptr); + } + } + } + return sb_reg_elems; +} + lanelet::ConstPolygons3d query::getAllPolygonsByType( const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type) { diff --git a/lanelet2_extension/lib/speed_bump.cpp b/lanelet2_extension/lib/speed_bump.cpp new file mode 100644 index 0000000..543dd84 --- /dev/null +++ b/lanelet2_extension/lib/speed_bump.cpp @@ -0,0 +1,117 @@ +// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Ryohsuke Mitsudome, Mehmet Dogru + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/speed_bump.hpp" + +#include + +#include + +#include +#include +#include +#include + +namespace lanelet::autoware +{ +namespace +{ +template +bool findAndErase(const T & primitive, RuleParameters * member) +{ + if (member == nullptr) { + std::cerr << __FUNCTION__ << ": member is null pointer"; + return false; + } + auto it = std::find(member->begin(), member->end(), RuleParameter(primitive)); + if (it == member->end()) { + return false; + } + member->erase(it); + return true; +} + +Polygons3d getPoly(const RuleParameterMap & paramsMap, RoleName role) +{ + auto params = paramsMap.find(role); + if (params == paramsMap.end()) { + return {}; + } + + Polygons3d result; + for (auto & param : params->second) { + auto p = boost::get(¶m); + if (p != nullptr) { + result.push_back(*p); + } + } + return result; +} + +ConstPolygons3d getConstPoly(const RuleParameterMap & params, RoleName role) +{ + auto cast_func = [](auto & poly) { return static_cast(poly); }; + return utils::transform(getPoly(params, role), cast_func); +} + +RegulatoryElementDataPtr constructSpeedBumpData( + Id id, const AttributeMap & attributes, const Polygon3d & speed_bump) +{ + RuleParameterMap rpm; + RuleParameters rule_parameters = {speed_bump}; + rpm.insert(std::make_pair(RoleNameString::Refers, rule_parameters)); + + auto data = std::make_shared(id, rpm, attributes); + data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement; + data->attributes[AttributeName::Subtype] = "speed_bump"; + return data; +} +} // namespace + +SpeedBump::SpeedBump(const RegulatoryElementDataPtr & data) : RegulatoryElement(data) +{ + if (getConstPoly(data->parameters, RoleName::Refers).size() != 1) { + throw InvalidInputError("There must be exactly one speed bump defined!"); + } +} + +SpeedBump::SpeedBump(Id id, const AttributeMap & attributes, const Polygon3d & speed_bump) +: SpeedBump(constructSpeedBumpData(id, attributes, speed_bump)) +{ +} + +ConstPolygon3d SpeedBump::speedBump() const +{ + return getConstPoly(parameters(), RoleName::Refers).front(); +} + +Polygon3d SpeedBump::speedBump() { return getPoly(parameters(), RoleName::Refers).front(); } + +void SpeedBump::addSpeedBump(const Polygon3d & primitive) +{ + parameters()["speed_bump"].emplace_back(primitive); +} + +bool SpeedBump::removeSpeedBump(const Polygon3d & primitive) +{ + return findAndErase(primitive, ¶meters().find("speed_bump")->second); +} + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 6e0af65..6a2fcb8 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -727,6 +727,70 @@ visualization_msgs::msg::MarkerArray visualization::noStoppingAreasAsMarkerArray return marker_array; } +visualization_msgs::msg::MarkerArray visualization::speedBumpsAsMarkerArray( + const std::vector & sb_reg_elems, const std_msgs::msg::ColorRGBA & c, + const rclcpp::Duration & duration) +{ + visualization_msgs::msg::MarkerArray marker_array; + visualization_msgs::msg::Marker marker; + visualization_msgs::msg::Marker line_marker; + + if (sb_reg_elems.empty()) { + return marker_array; + } + + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.frame_locked = true; + marker.ns = "speed_bump"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + marker.lifetime = duration; + marker.pose.position.x = 0.0; // p.x(); + marker.pose.position.y = 0.0; // p.y(); + marker.pose.position.z = 0.0; // p.z(); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = 1.0; + marker.color.r = 1.0f; + marker.color.g = 1.0f; + marker.color.b = 1.0f; + marker.color.a = 0.999; + + for (const auto & sb_reg_elem : sb_reg_elems) { + marker.points.clear(); + marker.colors.clear(); + marker.id = static_cast(sb_reg_elem->id()); + + // area visualization + const auto speed_bump = sb_reg_elem->speedBump(); + + geometry_msgs::msg::Polygon geom_poly; + utils::conversion::toGeomMsgPoly(speed_bump, &geom_poly); + + std::vector triangles; + polygon2Triangle(geom_poly, &triangles); + + for (auto tri : triangles) { + geometry_msgs::msg::Point tri0[3]; + + for (int i = 0; i < 3; i++) { + utils::conversion::toGeomMsgPt(tri.points[i], &tri0[i]); + marker.points.push_back(tri0[i]); + marker.colors.push_back(c); + } + } // for triangles0 + + marker_array.markers.push_back(marker); + } // for regulatory elements + + return marker_array; +} + visualization_msgs::msg::MarkerArray visualization::pedestrianMarkingsAsMarkerArray( const lanelet::ConstLineStrings3d & pedestrian_markings, const std_msgs::msg::ColorRGBA & c) { From 3aabe49e9db411778f0a6886314d7f464f0a603b Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Tue, 22 Nov 2022 13:10:07 +0900 Subject: [PATCH 07/54] chore: sync files of reverse references (#131) * chore: sync files of reverse references Signed-off-by: GitHub * ci(pre-commit): autofix Signed-off-by: GitHub Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- lanelet2_extension/docs/pedestrian_lane.svg | 91 ++++- .../docs/right_of_way.drawio.svg | 382 +++++++++++++++++- lanelet2_extension/docs/road_shoulder.svg | 82 +++- 3 files changed, 552 insertions(+), 3 deletions(-) diff --git a/lanelet2_extension/docs/pedestrian_lane.svg b/lanelet2_extension/docs/pedestrian_lane.svg index 526506a..05ec92f 100644 --- a/lanelet2_extension/docs/pedestrian_lane.svg +++ b/lanelet2_extension/docs/pedestrian_lane.svg @@ -1 +1,90 @@ -
type: lanelet
subtype: pedestrian_lane
type: lanelet subtype: p...
Unaccessible area
(e.g. fences, plants, trees, etc.)
Unaccessible area...Viewer does not support full SVG 1.1 \ No newline at end of file + + + + + + + + + + + + + +
+
+
+
+ type: lanelet +
+ +
+ subtype: pedestrian_lane +
+ +
+
+
+ + type: lanelet subtype: p... + + + + + + + + + +
+
+
+
+ Unaccessible area +
+
+ (e.g. fences, plants, trees, etc.) +
+
+
+
+
+ + Unaccessible area... + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/lanelet2_extension/docs/right_of_way.drawio.svg b/lanelet2_extension/docs/right_of_way.drawio.svg index 875944b..6a1a172 100644 --- a/lanelet2_extension/docs/right_of_way.drawio.svg +++ b/lanelet2_extension/docs/right_of_way.drawio.svg @@ -1,4 +1,384 @@ -
yield lane
yield lane
yield lane
yield lane
ego lane
ego lane
priority lane
priority laneText is not SVG - cannot display \ No newline at end of file + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ yield lane +
+
+
+ + yield lane + + + + + + +
+
+
+ yield lane +
+
+
+ + yield lane + + + + + +
+
+
+ ego lane +
+
+
+ + ego lane + + + + + + + +
+
+
+ priority lane +
+
+
+ + priority lane + + + + + + + Text is not SVG - cannot display + + + diff --git a/lanelet2_extension/docs/road_shoulder.svg b/lanelet2_extension/docs/road_shoulder.svg index 4023124..489b83c 100644 --- a/lanelet2_extension/docs/road_shoulder.svg +++ b/lanelet2_extension/docs/road_shoulder.svg @@ -1 +1,81 @@ -
type: lanelet
subtype: road_shoulder
type: lanelet subtype: r...
Accessible area
(e.g. sidewalks, bike lanes, etc.)
Accessible area...Viewer does not support full SVG 1.1 \ No newline at end of file + + + + + + + + + + + + + +
+
+
+
+ type: lanelet +
+ +
+ subtype: road_shoulder +
+ +
+
+
+ + type: lanelet subtype: r... + + + + + + + +
+
+
+
+ Accessible area +
+
+ (e.g. sidewalks, bike lanes, etc.) +
+
+
+
+
+ + Accessible area... + + + + + + + + Viewer does not support full SVG 1.1 + + + From ff146c6d8d5ff341c89481fc8f3d042e7b94fe0f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Mon, 28 Nov 2022 17:50:59 +0300 Subject: [PATCH 08/54] fix(lanelet2_extension): traffic light id marker array visualization (#134) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- lanelet2_extension/lib/visualization.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 6a2fcb8..ed8f53d 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -515,7 +515,7 @@ visualization_msgs::msg::MarkerArray visualization::autowareTrafficLightsAsMarke visualization::pushTrafficLightTriangleMarker(&marker_tri, ls, c, scale); } } - + marker_tri.id++; tl_marker_array.markers.push_back(marker_tri); lanelet::ConstLineStrings3d light_bulbs = tl->lightBulbs(); @@ -524,6 +524,7 @@ visualization_msgs::msg::MarkerArray visualization::autowareTrafficLightsAsMarke for (const auto & pt : l) { if (pt.hasAttribute("color")) { if (inputLightMarker(&marker_sph, pt)) { + marker_sph.id++; tl_marker_array.markers.push_back(marker_sph); } } From 824e02f6ab893aba138f101a66ab855d838a0e89 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 30 Nov 2022 10:47:01 +0900 Subject: [PATCH 09/54] feat!: replace HADMap with Lanelet (#133) * feat!: replace HADMap with Lanelet Signed-off-by: kosuke55 * add autoware_msgs to build depends Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../lanelet2_extension/utility/route_checker.hpp | 6 +++--- lanelet2_extension/lib/route_checker.cpp | 2 +- lanelet2_extension/package.xml | 1 + .../test/src/test_route_checker.cpp | 16 ++++++++-------- 4 files changed, 13 insertions(+), 12 deletions(-) diff --git a/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp b/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp index 572d9e3..a6640fe 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp @@ -21,14 +21,14 @@ #include #include -#include +#include namespace lanelet::utils::route { using autoware_auto_mapping_msgs::msg::HADMapBin; -using autoware_auto_planning_msgs::msg::HADMapRoute; +using autoware_planning_msgs::msg::LaneletRoute; -bool isRouteValid(const HADMapRoute & route, const lanelet::LaneletMapPtr lanelet_map_ptr_); +bool isRouteValid(const LaneletRoute & route, const lanelet::LaneletMapPtr lanelet_map_ptr_); } // namespace lanelet::utils::route // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/route_checker.cpp b/lanelet2_extension/lib/route_checker.cpp index 2ba2477..5b99d30 100644 --- a/lanelet2_extension/lib/route_checker.cpp +++ b/lanelet2_extension/lib/route_checker.cpp @@ -21,7 +21,7 @@ namespace lanelet::utils { bool route::isRouteValid( - const HADMapRoute & route_msg, const lanelet::LaneletMapPtr lanelet_map_ptr_) + const LaneletRoute & route_msg, const lanelet::LaneletMapPtr lanelet_map_ptr_) { for (const auto & route_section : route_msg.segments) { for (const auto & primitive : route_section.primitives) { diff --git a/lanelet2_extension/package.xml b/lanelet2_extension/package.xml index 7806ecb..2a117b2 100644 --- a/lanelet2_extension/package.xml +++ b/lanelet2_extension/package.xml @@ -13,6 +13,7 @@ autoware_auto_mapping_msgs autoware_auto_planning_msgs + autoware_planning_msgs autoware_utils geographiclib geometry_msgs diff --git a/lanelet2_extension/test/src/test_route_checker.cpp b/lanelet2_extension/test/src/test_route_checker.cpp index 1f4d6a8..1cfc852 100644 --- a/lanelet2_extension/test/src/test_route_checker.cpp +++ b/lanelet2_extension/test/src/test_route_checker.cpp @@ -18,7 +18,7 @@ #include "lanelet2_extension/utility/route_checker.hpp" #include -#include +#include #include @@ -48,9 +48,9 @@ class TestSuite : public ::testing::Test // NOLINT for gtest sample_map_ptr->add(lanelet); // create sample routes - autoware_auto_mapping_msgs::msg::MapPrimitive map_primitive; - autoware_auto_mapping_msgs::msg::HADMapSegment map_segment1; - autoware_auto_mapping_msgs::msg::HADMapSegment map_segment2; + autoware_planning_msgs::msg::LaneletPrimitive map_primitive; + autoware_planning_msgs::msg::LaneletSegment map_segment1; + autoware_planning_msgs::msg::LaneletSegment map_segment2; for (size_t i = 0; i < 2; i++) { map_primitive.id = lanelet.id(); @@ -65,8 +65,8 @@ class TestSuite : public ::testing::Test // NOLINT for gtest ~TestSuite() override = default; lanelet::LaneletMapPtr sample_map_ptr; - autoware_auto_planning_msgs::msg::HADMapRoute sample_route1; // valid route - autoware_auto_planning_msgs::msg::HADMapRoute sample_route2; // invalid route + autoware_planning_msgs::msg::LaneletRoute sample_route1; // valid route + autoware_planning_msgs::msg::LaneletRoute sample_route2; // invalid route private: }; @@ -76,9 +76,9 @@ TEST_F(TestSuite, isRouteValid) // NOLINT for gtest autoware_auto_mapping_msgs::msg::HADMapBin bin_msg; const auto route_ptr1 = - std::make_shared(sample_route1); + std::make_shared(sample_route1); const auto route_ptr2 = - std::make_shared(sample_route2); + std::make_shared(sample_route2); // toBinMsg is tested at test_message_conversion.cpp lanelet::utils::conversion::toBinMsg(sample_map_ptr, &bin_msg); From bcbf8902c58bfbeedd825dbad9c9cabe6c5fce7b Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 6 Feb 2023 15:11:48 +0900 Subject: [PATCH 10/54] feat(lanalet2_extension): set frame_locked to false (#153) Signed-off-by: tomoya.kimura --- lanelet2_extension/lib/visualization.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index ed8f53d..0920351 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -95,7 +95,7 @@ void initLightMarker(visualization_msgs::msg::Marker * marker, const std::string marker->header.frame_id = "map"; marker->header.stamp = rclcpp::Time(); - marker->frame_locked = true; + marker->frame_locked = false; marker->ns = ns; marker->id = 0; marker->lifetime = rclcpp::Duration(0, 0); @@ -156,7 +156,7 @@ void initLaneletDirectionMarker(visualization_msgs::msg::Marker * marker, const marker->header.frame_id = "map"; marker->header.stamp = rclcpp::Time(); - marker->frame_locked = true; + marker->frame_locked = false; marker->ns = ns; marker->id = 0; marker->type = visualization_msgs::msg::Marker::TRIANGLE_LIST; @@ -293,7 +293,7 @@ visualization_msgs::msg::Marker createPolygonMarker( visualization_msgs::msg::Marker marker; marker.header.frame_id = "map"; marker.header.stamp = rclcpp::Time(); - marker.frame_locked = true; + marker.frame_locked = false; marker.id = 0; marker.ns = name_space; marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; @@ -565,7 +565,7 @@ visualization_msgs::msg::MarkerArray visualization::generateTrafficLightIdMaker( marker.pose.orientation.w = 1.0; marker.color = c; marker.scale.z = scale; - marker.frame_locked = true; + marker.frame_locked = false; marker.text = std::to_string(ls.id()); tl_id_marker_array.markers.push_back(marker); } @@ -589,7 +589,7 @@ visualization_msgs::msg::MarkerArray visualization::detectionAreasAsMarkerArray( marker.header.frame_id = "map"; marker.header.stamp = rclcpp::Time(); - marker.frame_locked = true; + marker.frame_locked = false; marker.ns = "detection_area"; marker.id = 0; marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; @@ -664,7 +664,7 @@ visualization_msgs::msg::MarkerArray visualization::noStoppingAreasAsMarkerArray marker.header.frame_id = "map"; marker.header.stamp = rclcpp::Time(); - marker.frame_locked = true; + marker.frame_locked = false; marker.ns = "no_stopping_area"; marker.id = 0; marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; @@ -742,7 +742,7 @@ visualization_msgs::msg::MarkerArray visualization::speedBumpsAsMarkerArray( marker.header.frame_id = "map"; marker.header.stamp = rclcpp::Time(); - marker.frame_locked = true; + marker.frame_locked = false; marker.ns = "speed_bump"; marker.id = 0; marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; @@ -885,7 +885,7 @@ visualization_msgs::msg::MarkerArray visualization::generateLaneletIdMarker( marker.pose.orientation.w = 1.0; marker.color = c; marker.scale.z = scale; - marker.frame_locked = true; + marker.frame_locked = false; marker.text = std::to_string(ll.id()); markers.markers.push_back(marker); } @@ -1046,7 +1046,7 @@ visualization_msgs::msg::MarkerArray visualization::laneletsAsTriangleMarkerArra marker.header.frame_id = "map"; marker.header.stamp = rclcpp::Time(); - marker.frame_locked = true; + marker.frame_locked = false; marker.ns = ns; marker.id = 0; marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; @@ -1099,7 +1099,7 @@ void visualization::initTrafficLightTriangleMarker( marker->header.frame_id = "map"; marker->header.stamp = rclcpp::Time(); - marker->frame_locked = true; + marker->frame_locked = false; marker->ns = ns; marker->id = 0; marker->type = visualization_msgs::msg::Marker::TRIANGLE_LIST; @@ -1184,7 +1184,7 @@ void visualization::initLineStringMarker( marker->header.frame_id = frame_id; marker->header.stamp = rclcpp::Time(); - marker->frame_locked = true; + marker->frame_locked = false; marker->ns = ns; marker->action = visualization_msgs::msg::Marker::ADD; marker->type = visualization_msgs::msg::Marker::TRIANGLE_LIST; @@ -1268,7 +1268,7 @@ void visualization::initArrowsMarker( marker->header.frame_id = frame_id; marker->header.stamp = rclcpp::Time(); - marker->frame_locked = true; + marker->frame_locked = false; marker->ns = ns; marker->action = visualization_msgs::msg::Marker::ADD; marker->type = visualization_msgs::msg::Marker::TRIANGLE_LIST; From 9043b786413c1d281d7d7bb84650943e09b497a5 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 13 Feb 2023 17:38:14 +0900 Subject: [PATCH 11/54] feat(lanelet2_extension): copy the z values in getExpandedLanelet (#141) * feat(lanelet2_extension): copy the z values in getExpandedLanelet Signed-off-by: Maxime CLEMENT * Make templated function and add tests Signed-off-by: Maxime CLEMENT * Fix clang-tidy warning for new gtest Signed-off-by: Maxime CLEMENT * Fix clang-tidy warnings caused by gtest asserts Signed-off-by: Maxime CLEMENT --------- Signed-off-by: Maxime CLEMENT --- .../lanelet2_extension/utility/utilities.hpp | 30 ++++++++++++- lanelet2_extension/lib/utilities.cpp | 13 +++--- .../test/src/test_utilities.cpp | 45 ++++++++++++++++++- 3 files changed, 78 insertions(+), 10 deletions(-) diff --git a/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp index a31d9d6..08b8e4c 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp @@ -1,4 +1,4 @@ -// Copyright 2015-2019 Autoware Foundation. All rights reserved. +// Copyright 2015-2023 Autoware Foundation. All rights reserved. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -24,6 +24,7 @@ #include #include +#include #include #include @@ -46,6 +47,33 @@ lanelet::ConstLanelet getExpandedLanelet( lanelet::ConstLanelets getExpandedLanelets( const lanelet::ConstLanelets & lanelet_obj, const double left_offset, const double right_offset); +/// @brief copy the z values between 2 containers based on the 2D arc lengths +/// @tparam T1 a container of 3D points +/// @tparam T2 a container of 3D points +/// @param from points from which the z values will be copied +/// @param to points to which the z values will be copied +template +void copyZ(const T1 & from, T2 & to) +{ + if (from.empty() || to.empty()) return; + to.front().z() = from.front().z(); + if (from.size() < 2 || to.size() < 2) return; + to.back().z() = from.back().z(); + auto i_from = 1lu; + auto s_from = lanelet::geometry::distance2d(from[0], from[1]); + auto s_to = 0.0; + auto s_from_prev = 0.0; + for (auto i_to = 1lu; i_to + 1 < to.size(); ++i_to) { + s_to += lanelet::geometry::distance2d(to[i_to - 1], to[i_to]); + for (; s_from < s_to && i_from + 1 < from.size(); ++i_from) { + s_from_prev = s_from; + s_from += lanelet::geometry::distance2d(from[i_from], from[i_from + 1]); + } + const auto ratio = (s_to - s_from_prev) / (s_from - s_from_prev); + to[i_to].z() = from[i_from - 1].z() + ratio * (from[i_from].z() - from[i_from - 1].z()); + } +} + /** * @brief Apply a patch for centerline because the original implementation * doesn't have enough quality diff --git a/lanelet2_extension/lib/utilities.cpp b/lanelet2_extension/lib/utilities.cpp index 808f8f5..b22bcf5 100644 --- a/lanelet2_extension/lib/utilities.cpp +++ b/lanelet2_extension/lib/utilities.cpp @@ -434,19 +434,18 @@ lanelet::ConstLanelet getExpandedLanelet( orig_left_bound_2d.back().y() - left_offset * std::sin(theta); } - const auto toPoints3d = [](const lanelet::BasicLineString2d & ls2d, const double z) { + const auto toPoints3d = [](const lanelet::BasicLineString2d & ls2d) { lanelet::Points3d output; for (const auto & pt : ls2d) { - output.push_back(lanelet::Point3d(lanelet::InvalId, pt.x(), pt.y(), z)); + output.push_back(lanelet::Point3d(lanelet::InvalId, pt.x(), pt.y(), 0.0)); } return output; }; - // Original z value cannot be used directly since the offset function can vary the points size. - const lanelet::Points3d ex_lefts = - toPoints3d(expanded_left_bound_2d, lanelet_obj.leftBound3d().basicLineString().at(0).z()); - const lanelet::Points3d ex_rights = - toPoints3d(expanded_right_bound_2d, lanelet_obj.rightBound3d().basicLineString().at(0).z()); + lanelet::Points3d ex_lefts = toPoints3d(expanded_left_bound_2d); + lanelet::Points3d ex_rights = toPoints3d(expanded_right_bound_2d); + copyZ(lanelet_obj.leftBound3d(), ex_lefts); + copyZ(lanelet_obj.rightBound3d(), ex_rights); const auto & extended_left_bound_3d = lanelet::LineString3d(lanelet::InvalId, ex_lefts); const auto & expanded_right_bound_3d = lanelet::LineString3d(lanelet::InvalId, ex_rights); diff --git a/lanelet2_extension/test/src/test_utilities.cpp b/lanelet2_extension/test/src/test_utilities.cpp index 10103d5..de31098 100644 --- a/lanelet2_extension/test/src/test_utilities.cpp +++ b/lanelet2_extension/test/src/test_utilities.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -// NOLINTBEGIN(readability-identifier-naming) +// NOLINTBEGIN(readability-identifier-naming, cppcoreguidelines-avoid-goto) #include "lanelet2_extension/utility/utilities.hpp" @@ -114,10 +114,51 @@ TEST_F(TestSuite, OverwriteLaneletsCenterline) // NOLINT for gtest } } +TEST(Utilities, copyZ) // NOLINT for gtest +{ + using lanelet::utils::copyZ; + + LineString3d ls1; + LineString3d ls2; + + ASSERT_NO_THROW(copyZ(ls1, ls2)); + ls1.push_back(Point3d(lanelet::InvalId, 0.0, 0.0, 5.0)); + ASSERT_NO_THROW(copyZ(ls1, ls2)); + ls2.push_back(Point3d(lanelet::InvalId, 0.0, 0.0, 0.0)); + ASSERT_NO_THROW(copyZ(ls1, ls2)); + EXPECT_EQ(ls2.front().z(), ls1.front().z()); + ls1.push_back(Point3d(lanelet::InvalId, 1.0, 0.0, 2.0)); + ls2.push_back(Point3d(lanelet::InvalId, 3.0, 0.0, 0.0)); + ASSERT_NO_THROW(copyZ(ls1, ls2)); + EXPECT_EQ(ls2.front().z(), ls1.front().z()); + EXPECT_EQ(ls2.back().z(), ls1.back().z()); + + ls1.push_back(Point3d(lanelet::InvalId, 2.0, 0.0, 0.0)); + ls1.push_back(Point3d(lanelet::InvalId, 3.0, 0.0, 3.0)); + lanelet::Points3d points; + points.emplace_back(lanelet::InvalId, 0.0, 0.0, 0.0); + points.emplace_back(lanelet::InvalId, 0.0, 0.5, 0.0); + points.emplace_back(lanelet::InvalId, 0.0, 1.0, 0.0); + points.emplace_back(lanelet::InvalId, 0.0, 1.5, 0.0); + points.emplace_back(lanelet::InvalId, 0.0, 2.0, 0.0); + points.emplace_back(lanelet::InvalId, 0.0, 2.5, 0.0); + points.emplace_back(lanelet::InvalId, 0.0, 3.0, 0.0); + points.emplace_back(lanelet::InvalId, 0.0, 3.5, 0.0); + ASSERT_NO_THROW(copyZ(ls1, points)); + EXPECT_EQ(points[0].z(), 5.0); + EXPECT_EQ(points[1].z(), 3.5); + EXPECT_EQ(points[2].z(), 2.0); + EXPECT_EQ(points[3].z(), 1.0); + EXPECT_EQ(points[4].z(), 0.0); + EXPECT_EQ(points[5].z(), 1.5); + EXPECT_EQ(points[6].z(), 3.0); + EXPECT_EQ(points[7].z(), 3.0); +} + int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); return RUN_ALL_TESTS(); } -// NOLINTEND(readability-identifier-naming) +// NOLINTEND(readability-identifier-naming, cppcoreguidelines-avoid-goto) From 0f694189bd67666b55ced0e38b2cbe1d88a546a5 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 16 Mar 2023 15:25:08 +0900 Subject: [PATCH 12/54] feat(lanelet2_extension): add lateral distance calculation functions (#162) * feat(lanelet2_extension): add a function that calcuates lateral distance Signed-off-by: yutaka * fix format Signed-off-by: yutaka * change name Signed-off-by: yutaka * update Signed-off-by: yutaka --------- Signed-off-by: yutaka --- .../lanelet2_extension/utility/utilities.hpp | 5 ++++- lanelet2_extension/lib/utilities.cpp | 17 +++++++++++++++++ 2 files changed, 21 insertions(+), 1 deletion(-) diff --git a/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp index 08b8e4c..7087c1b 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp @@ -111,7 +111,10 @@ bool isInLanelet( const double radius = 0.0); geometry_msgs::msg::Pose getClosestCenterPose( const lanelet::ConstLanelet & lanelet, const geometry_msgs::msg::Point & search_point); - +double getLateralDistanceToCenterline( + const lanelet::ConstLanelet & lanelet, const geometry_msgs::msg::Pose & pose); +double getLateralDistanceToClosestLanelet( + const lanelet::ConstLanelets & lanelet_sequence, const geometry_msgs::msg::Pose & pose); } // namespace lanelet::utils // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/utilities.cpp b/lanelet2_extension/lib/utilities.cpp index b22bcf5..0431b7c 100644 --- a/lanelet2_extension/lib/utilities.cpp +++ b/lanelet2_extension/lib/utilities.cpp @@ -723,6 +723,23 @@ geometry_msgs::msg::Pose getClosestCenterPose( return closest_pose; } + +double getLateralDistanceToCenterline( + const lanelet::ConstLanelet & lanelet, const geometry_msgs::msg::Pose & pose) +{ + const auto & centerline_2d = lanelet::utils::to2D(lanelet.centerline()); + const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(pose.position); + return lanelet::geometry::signedDistance( + centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint()); +} + +double getLateralDistanceToClosestLanelet( + const lanelet::ConstLanelets & lanelet_sequence, const geometry_msgs::msg::Pose & pose) +{ + lanelet::ConstLanelet closest_lanelet; + lanelet::utils::query::getClosestLanelet(lanelet_sequence, pose, &closest_lanelet); + return getLateralDistanceToCenterline(closest_lanelet, pose); +} } // namespace lanelet::utils // NOLINTEND(readability-identifier-naming) From 491a8778cc088fbfac87890935ccec71311b83e3 Mon Sep 17 00:00:00 2001 From: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Date: Tue, 28 Mar 2023 09:38:20 +0300 Subject: [PATCH 13/54] feat(lanelet2_extension): consider lane-ego angle difference in lane following module (#148) * feat(lanelet2_extension): consider lane-ego angle difference in lane following module Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> * remove debug prints Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> * include limits Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> * style(pre-commit): autofix * fix: use bg:distance Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> * refactor: replace with getLaneletAngle Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> --------- Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../lanelet2_extension/utility/query.hpp | 7 ++ lanelet2_extension/lib/query.cpp | 68 +++++++++++++++++++ 2 files changed, 75 insertions(+) diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index eb5853a..302e6e2 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -31,6 +31,7 @@ #include #include +#include #include #include #include @@ -238,6 +239,12 @@ bool getClosestLanelet( const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, ConstLanelet * closest_lanelet_ptr); +bool getClosestLaneletWithConstrains( + const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, + ConstLanelet * closest_lanelet_ptr, + const double dist_threshold = std::numeric_limits::max(), + const double yaw_threshold = std::numeric_limits::max()); + bool getCurrentLanelets( const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, ConstLanelets * current_lanelets_ptr); diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index 2a0b1d4..0d18145 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -794,6 +794,74 @@ bool query::getClosestLanelet( return found; } +bool query::getClosestLaneletWithConstrains( + const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, + ConstLanelet * closest_lanelet_ptr, const double dist_threshold, const double yaw_threshold) +{ + bool found = false; + + if (closest_lanelet_ptr == nullptr) { + std::cerr << "argument closest_lanelet_ptr is null! Failed to find closest lanelet" + << std::endl; + return found; + } + + if (lanelets.empty()) { + return found; + } + + lanelet::BasicPoint2d search_point(search_pose.position.x, search_pose.position.y); + + // find by distance + std::vector> candidate_lanelets; + { + for (const auto & llt : lanelets) { + double distance = boost::geometry::distance(llt.polygon2d().basicPolygon(), search_point); + + if (distance <= dist_threshold) { + candidate_lanelets.emplace_back(llt, distance); + } + } + + if (!candidate_lanelets.empty()) { + // sort by distance + std::sort( + candidate_lanelets.begin(), candidate_lanelets.end(), + []( + const std::pair & x, + std::pair & y) { return x.second < y.second; }); + } else { + std::cerr << "there are no lanelets close enough!" << std::endl; + return found; + } + } + + // find closest lanelet within yaw_threshold + { + double min_angle = std::numeric_limits::max(); + double min_distance = std::numeric_limits::max(); + double pose_yaw = tf2::getYaw(search_pose.orientation); + for (const auto & llt_pair : candidate_lanelets) { + const auto & distance = llt_pair.second; + + double lanelet_angle = getLaneletAngle(llt_pair.first, search_pose.position); + double angle_diff = std::abs(autoware_utils::normalize_radian(lanelet_angle - pose_yaw)); + + if (angle_diff > std::abs(yaw_threshold)) continue; + if (min_distance < distance) break; + + if (angle_diff < min_angle) { + min_angle = angle_diff; + min_distance = distance; + *closest_lanelet_ptr = llt_pair.first; + found = true; + } + } + } + + return found; +} + bool query::getCurrentLanelets( const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, ConstLanelets * current_lanelets_ptr) From 68c65c3686919ef7139a26e6af337e4db65848bb Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Mon, 3 Apr 2023 15:53:23 +0900 Subject: [PATCH 14/54] chore: sync files (#168) * chore: sync files Signed-off-by: GitHub * style(pre-commit): autofix * Update unit_conversion.hpp --------- Signed-off-by: GitHub Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- lanelet2_extension/lib/detection_area.cpp | 10 ++++++++-- lanelet2_extension/lib/mgrs_projector.cpp | 9 +++++++-- lanelet2_extension/lib/no_stopping_area.cpp | 10 ++++++++-- lanelet2_extension/lib/road_marking.cpp | 5 ++++- lanelet2_extension/lib/speed_bump.cpp | 5 ++++- 5 files changed, 31 insertions(+), 8 deletions(-) diff --git a/lanelet2_extension/lib/detection_area.cpp b/lanelet2_extension/lib/detection_area.cpp index 54a3899..15905f6 100644 --- a/lanelet2_extension/lib/detection_area.cpp +++ b/lanelet2_extension/lib/detection_area.cpp @@ -120,7 +120,10 @@ ConstPolygons3d DetectionArea::detectionAreas() const { return getConstPoly(parameters(), RoleName::Refers); } -Polygons3d DetectionArea::detectionAreas() { return getPoly(parameters(), RoleName::Refers); } +Polygons3d DetectionArea::detectionAreas() +{ + return getPoly(parameters(), RoleName::Refers); +} void DetectionArea::addDetectionArea(const Polygon3d & primitive) { @@ -147,7 +150,10 @@ void DetectionArea::setStopLine(const LineString3d & stopLine) parameters()[RoleName::RefLine] = {stopLine}; } -void DetectionArea::removeStopLine() { parameters()[RoleName::RefLine] = {}; } +void DetectionArea::removeStopLine() +{ + parameters()[RoleName::RefLine] = {}; +} } // namespace lanelet::autoware diff --git a/lanelet2_extension/lib/mgrs_projector.cpp b/lanelet2_extension/lib/mgrs_projector.cpp index d4e1ce7..891df1b 100644 --- a/lanelet2_extension/lib/mgrs_projector.cpp +++ b/lanelet2_extension/lib/mgrs_projector.cpp @@ -26,7 +26,9 @@ namespace lanelet::projection { -MGRSProjector::MGRSProjector(Origin origin) : Projector(origin) {} +MGRSProjector::MGRSProjector(Origin origin) : Projector(origin) +{ +} BasicPoint3d MGRSProjector::forward(const GPSPoint & gps) const { @@ -105,7 +107,10 @@ GPSPoint MGRSProjector::reverse(const BasicPoint3d & mgrs_point, const std::stri return gps; } -void MGRSProjector::setMGRSCode(const std::string & mgrs_code) { mgrs_code_ = mgrs_code; } +void MGRSProjector::setMGRSCode(const std::string & mgrs_code) +{ + mgrs_code_ = mgrs_code; +} void MGRSProjector::setMGRSCode(const GPSPoint & gps, const int precision) { diff --git a/lanelet2_extension/lib/no_stopping_area.cpp b/lanelet2_extension/lib/no_stopping_area.cpp index 3d83a03..bf8b856 100644 --- a/lanelet2_extension/lib/no_stopping_area.cpp +++ b/lanelet2_extension/lib/no_stopping_area.cpp @@ -120,7 +120,10 @@ ConstPolygons3d NoStoppingArea::noStoppingAreas() const { return getConstPoly(parameters(), RoleName::Refers); } -Polygons3d NoStoppingArea::noStoppingAreas() { return getPoly(parameters(), RoleName::Refers); } +Polygons3d NoStoppingArea::noStoppingAreas() +{ + return getPoly(parameters(), RoleName::Refers); +} void NoStoppingArea::addNoStoppingArea(const Polygon3d & primitive) { @@ -147,7 +150,10 @@ void NoStoppingArea::setStopLine(const LineString3d & stopLine) parameters()[RoleName::RefLine] = {stopLine}; } -void NoStoppingArea::removeStopLine() { parameters()[RoleName::RefLine] = {}; } +void NoStoppingArea::removeStopLine() +{ + parameters()[RoleName::RefLine] = {}; +} } // namespace lanelet::autoware diff --git a/lanelet2_extension/lib/road_marking.cpp b/lanelet2_extension/lib/road_marking.cpp index fd2a202..7968fa6 100644 --- a/lanelet2_extension/lib/road_marking.cpp +++ b/lanelet2_extension/lib/road_marking.cpp @@ -70,7 +70,10 @@ void RoadMarking::setRoadMarking(const LineString3d & road_marking) parameters()[RoleName::Refers] = {road_marking}; } -void RoadMarking::removeRoadMarking() { parameters()[RoleName::Refers] = {}; } +void RoadMarking::removeRoadMarking() +{ + parameters()[RoleName::Refers] = {}; +} } // namespace lanelet::autoware diff --git a/lanelet2_extension/lib/speed_bump.cpp b/lanelet2_extension/lib/speed_bump.cpp index 543dd84..35d3bc3 100644 --- a/lanelet2_extension/lib/speed_bump.cpp +++ b/lanelet2_extension/lib/speed_bump.cpp @@ -100,7 +100,10 @@ ConstPolygon3d SpeedBump::speedBump() const return getConstPoly(parameters(), RoleName::Refers).front(); } -Polygon3d SpeedBump::speedBump() { return getPoly(parameters(), RoleName::Refers).front(); } +Polygon3d SpeedBump::speedBump() +{ + return getPoly(parameters(), RoleName::Refers).front(); +} void SpeedBump::addSpeedBump(const Polygon3d & primitive) { From 1ca85d0fed3a0dc2bf6096acaabbf8c79e52e7bf Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 3 Apr 2023 16:10:58 +0900 Subject: [PATCH 15/54] refactor: applied clang-tidy (#128) * applied clang-tidy Signed-off-by: Mamoru Sobue * updated Signed-off-by: Mamoru Sobue * suppress lint for argv[1] Signed-off-by: Mamoru Sobue * suppress lint for argv[1] trial (2) Signed-off-by: Mamoru Sobue --------- Signed-off-by: Mamoru Sobue --- lanelet2_extension/src/check_right_of_way.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/lanelet2_extension/src/check_right_of_way.cpp b/lanelet2_extension/src/check_right_of_way.cpp index 4683287..8b2a8be 100644 --- a/lanelet2_extension/src/check_right_of_way.cpp +++ b/lanelet2_extension/src/check_right_of_way.cpp @@ -12,8 +12,6 @@ // See the License for the specific language governing permissions and // limitations under the License. -// NOLINTBEGIN(readability-identifier-naming) - #include #include #include @@ -44,22 +42,24 @@ int main(int argc, char ** argv) return 0; } + // NOLINTBEGIN const std::string map_path = std::string(argv[1]); + // NOLINTEND lanelet::ErrorMessages errors{}; lanelet::projection::MGRSProjector projector{}; lanelet::LaneletMapPtr map = lanelet::load(map_path, projector, &errors); for (auto && error : errors) std::cout << error << std::endl; - lanelet::traffic_rules::TrafficRulesPtr trafficRules = + lanelet::traffic_rules::TrafficRulesPtr traffic_rules = lanelet::traffic_rules::TrafficRulesFactory::create( lanelet::Locations::Germany, lanelet::Participants::Vehicle); lanelet::routing::RoutingGraphPtr routing_graph_ptr = - lanelet::routing::RoutingGraph::build(*map, *trafficRules); + lanelet::routing::RoutingGraph::build(*map, *traffic_rules); auto rows = map->regulatoryElementLayer // filter elem whose Subtype is RightOfWay | - ranges::view::filter([](auto && elem) { + ranges::views::filter([](auto && elem) { const auto & attrs = elem->attributes(); auto it = attrs.find(lanelet::AttributeName::Subtype); return it != attrs.end() && it->second == lanelet::AttributeValueString::RightOfWay; @@ -71,23 +71,23 @@ int main(int argc, char ** argv) for (auto && row : rows) { const auto & right_of_ways = row->rightOfWayLanelets(); const auto & yields = row->yieldLanelets(); - std::set yield_ids; + std::set yield_ids; for (auto && yield : yields) { yield_ids.insert(yield.id()); } - std::set conflicting_ids; + std::set conflicting_ids; for (auto && right_of_way : right_of_ways) { const std::vector & conflicting_lanelets = lanelet::utils::getConflictingLanelets(routing_graph_ptr, right_of_way); for (auto && conflict : conflicting_lanelets) conflicting_ids.insert(conflict.id()); } - std::vector unnecessary_yields; + std::vector unnecessary_yields; set_difference( yield_ids.begin(), yield_ids.end(), conflicting_ids.begin(), conflicting_ids.end(), std::inserter(unnecessary_yields, unnecessary_yields.end())); - if (unnecessary_yields.size() == 0) continue; + if (unnecessary_yields.empty()) continue; std::cout << "RightOfWay " << row->id() << ": ["; const char * delim = ""; for (auto && unnecessary_yield : unnecessary_yields) From 030d27a7fd19558aefc08aaf0b828096cbf4de53 Mon Sep 17 00:00:00 2001 From: Taiga TAKANO <53041471+TakanoTaiga@users.noreply.github.com> Date: Mon, 3 Apr 2023 17:37:16 +0900 Subject: [PATCH 16/54] perf(lanelet2_extension): improve performance of getClosestLanelet (#161) * perf(lanelet2_extension): improve performance of getClosestLanelet Signed-off-by: Taiga Takano * style(pre-commit): autofix Signed-off-by: Taiga Takano --------- Signed-off-by: Taiga Takano Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- lanelet2_extension/lib/query.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index 0d18145..212e076 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -775,6 +775,11 @@ bool query::getClosestLanelet( } } + if (candidate_lanelets.size() == 1) { + *closest_lanelet_ptr = candidate_lanelets.at(0); + return found; + } + // find by angle { double min_angle = std::numeric_limits::max(); From c08ad643a9b91756a7695d73dd8864629c4baa0e Mon Sep 17 00:00:00 2001 From: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Date: Wed, 26 Apr 2023 17:12:30 +0900 Subject: [PATCH 17/54] feat: remove local x local y parser, move it to map_loader (#174) * remove local x local y parser, move it to map_loader Signed-off-by: tkhmy * update docs Signed-off-by: tkhmy * add map loader packege url Signed-off-by: tkhmy --------- Signed-off-by: tkhmy --- lanelet2_extension/README.md | 1 - lanelet2_extension/docs/lanelet2_format_extension.md | 2 +- lanelet2_extension/lib/autoware_osm_parser.cpp | 10 ---------- 3 files changed, 1 insertion(+), 12 deletions(-) diff --git a/lanelet2_extension/README.md b/lanelet2_extension/README.md index be1f37c..caa3ad6 100644 --- a/lanelet2_extension/README.md +++ b/lanelet2_extension/README.md @@ -17,7 +17,6 @@ However, there are some custom tags that is used by the parser. Currently, this includes: -- overwriting x,y values with `local_x` and `local_y` tags. - reading `` tag which contains information about map format version and map version. The parser is registered as "autoware_osm_handler" as lanelet parser diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index e6429de..210b5e6 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -118,7 +118,7 @@ Here is an example of MetaInfo in osm file: Sometimes users might want to create Lanelet2 maps that are not georeferenced. In such a case, users may use "local_x", "local_y" taggings to express local positions instead of latitude and longitude. -Autoware Osm Parser will overwrite x,y positions with these tags when they are present. +You will need to `lanelet2_map_projector_type` to `local`, then [autoware map loader](https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_loader#lanelet2_map_loader) will overwrite x,y positions with these tags when they are present. For z values, use "ele" tags as default Lanelet2 Format. You would still need to fill in lat and lon attributes so that parser does not crush, but their values could be anything. diff --git a/lanelet2_extension/lib/autoware_osm_parser.cpp b/lanelet2_extension/lib/autoware_osm_parser.cpp index 2a74f36..5c27200 100644 --- a/lanelet2_extension/lib/autoware_osm_parser.cpp +++ b/lanelet2_extension/lib/autoware_osm_parser.cpp @@ -33,16 +33,6 @@ std::unique_ptr AutowareOsmParser::parse( { auto map = OsmParser::parse(filename, errors); - // overwrite x and y values if there are local_x, local_y tags - for (Point3d point : map->pointLayer) { - if (point.hasAttribute("local_x")) { - point.x() = point.attribute("local_x").asDouble().value(); - } - if (point.hasAttribute("local_y")) { - point.y() = point.attribute("local_y").asDouble().value(); - } - } - // rerun align function in just in case for (Lanelet & lanelet : map->laneletLayer) { LineString3d new_left; From 2e71946669fe4031d3e66a360dacc294a6241d63 Mon Sep 17 00:00:00 2001 From: Vincent Richard Date: Thu, 4 May 2023 00:37:24 +0900 Subject: [PATCH 18/54] build: mark autoware_cmake as (#176) * build: mark autoware_cmake as Since autoware_cmake only provide cmake macros only is necessary. With , autoware_cmake is automatically exported with ament_target_dependencies() (unecessary) Signed-off-by: Vincent Richard * style(pre-commit): autofix * chore: fix pre-commit errors Signed-off-by: Kenji Miyake --------- Signed-off-by: Vincent Richard Signed-off-by: Kenji Miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake --- lanelet2_extension/package.xml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/lanelet2_extension/package.xml b/lanelet2_extension/package.xml index 2a117b2..8941b03 100644 --- a/lanelet2_extension/package.xml +++ b/lanelet2_extension/package.xml @@ -8,8 +8,7 @@ Apache License 2.0 ament_cmake_auto - - autoware_cmake + autoware_cmake autoware_auto_mapping_msgs autoware_auto_planning_msgs From 0997475414a334cceec4401c161acca7a631b265 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 9 May 2023 11:22:35 +0900 Subject: [PATCH 19/54] docs(lanelet2_extension): hatched road markings (#179) Signed-off-by: Takayuki Murooka --- .../docs/lanelet2_format_extension.md | 22 +++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index 210b5e6..cb59054 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -247,3 +247,25 @@ _An example:_ ``` + +### Hatched Road Markings Area + +The area with `hatched_road_markings` tag can be used for avoiding obstacles when there is not enough space to avoid. +Note that in some countries, it is forbidden for vehicles to go inside the area. + +_An example:_ + +```xml + + + + + + + + + + + + +``` From d8fad866e3bcb36169c8d2d9408b8c2bb03cee63 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 9 May 2023 11:24:33 +0900 Subject: [PATCH 20/54] feat: visualize hatched road markings (#178) * feat: visualize hatched road markings Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../visualization/visualization.hpp | 11 +++++ lanelet2_extension/lib/visualization.cpp | 43 +++++++++++++++++++ 2 files changed, 54 insertions(+) diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp index 24140e8..28c3f3a 100644 --- a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -301,6 +301,17 @@ visualization_msgs::msg::MarkerArray noObstacleSegmentationAreaForRunOutAsMarker const lanelet::ConstPolygons3d & no_obstacle_segmentation_area_for_run_out, const std_msgs::msg::ColorRGBA & c); +/** + * [hatchedRoadMarkingsAreaAsMarkerArray creates marker array to visualize hatched road markings + * area] + * @param hatched_road_markings_area [hatched road markings area polygon] + * @param area_color [color of the area marker] + * @param line_color [color of the line marker] + */ +visualization_msgs::msg::MarkerArray hatchedRoadMarkingsAreaAsMarkerArray( + const lanelet::ConstPolygons3d & hatched_road_markings_area, + const std_msgs::msg::ColorRGBA & area_color, const std_msgs::msg::ColorRGBA & line_color); + } // namespace lanelet::visualization // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 0920351..21e7369 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -1370,6 +1370,49 @@ visualization::noObstacleSegmentationAreaForRunOutAsMarkerArray( return marker_array; } +visualization_msgs::msg::MarkerArray visualization::hatchedRoadMarkingsAreaAsMarkerArray( + const lanelet::ConstPolygons3d & hatched_road_markings_area, + const std_msgs::msg::ColorRGBA & area_color, const std_msgs::msg::ColorRGBA & line_color) +{ + visualization_msgs::msg::MarkerArray marker_array; + if (hatched_road_markings_area.empty()) { + return marker_array; + } + + // polygon + visualization_msgs::msg::Marker area_marker = + createPolygonMarker("hatched_road_markings_area", area_color); + for (const auto & polygon : hatched_road_markings_area) { + pushPolygonMarker(&area_marker, polygon, area_color); + } + + if (!area_marker.points.empty()) { + marker_array.markers.push_back(area_marker); + } + + // line strings + const float lss = 0.1; // line string size + visualization_msgs::msg::Marker line_strip; + visualization::initLineStringMarker( + &line_strip, "map", "hatched_road_markings_bound", line_color); + + for (const auto & polygon : hatched_road_markings_area) { + lanelet::LineString3d bound_ls(lanelet::utils::getId()); + for (const auto & point : polygon) { + bound_ls.push_back( + lanelet::Point3d(lanelet::utils::getId(), point.x(), point.y(), point.z())); + } + if (!bound_ls.empty()) { + bound_ls.push_back(bound_ls.back()); + } + visualization::pushLineStringMarker(&line_strip, bound_ls, line_color, lss); + } + if (!line_strip.points.empty()) { + marker_array.markers.push_back(line_strip); + } + + return marker_array; +} } // namespace lanelet // NOLINTEND(readability-identifier-naming) From 3d683569637f4017d7262c1866f7f5e777468a9b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 10 May 2023 22:26:45 +0900 Subject: [PATCH 21/54] fix(lanelet2_extension): add exception handling for get closest segment (#173) * fix(lanelet2_extension): add exception handling for get closest segment Signed-off-by: kosuke55 * style(pre-commit): autofix Signed-off-by: kosuke55 * Update tmp/lanelet2_extension/lib/query.cpp Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Signed-off-by: kosuke55 * style(pre-commit): autofix Signed-off-by: kosuke55 * refactoring angle Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- lanelet2_extension/lib/query.cpp | 9 ++++++--- lanelet2_extension/lib/utilities.cpp | 16 ++++++++++++++++ 2 files changed, 22 insertions(+), 3 deletions(-) diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index 212e076..c1f7ff6 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -786,9 +786,12 @@ bool query::getClosestLanelet( double pose_yaw = tf2::getYaw(search_pose.orientation); for (const auto & llt : candidate_lanelets) { lanelet::ConstLineString3d segment = getClosestSegment(search_point, llt.centerline()); - double segment_angle = std::atan2( - segment.back().y() - segment.front().y(), segment.back().x() - segment.front().x()); - double angle_diff = std::abs(autoware_utils::normalize_radian(segment_angle - pose_yaw)); + double angle_diff = M_PI; + if (!segment.empty()) { + double segment_angle = std::atan2( + segment.back().y() - segment.front().y(), segment.back().x() - segment.front().x()); + angle_diff = std::abs(autoware_utils::normalize_radian(segment_angle - pose_yaw)); + } if (angle_diff < min_angle) { min_angle = angle_diff; *closest_lanelet_ptr = llt; diff --git a/lanelet2_extension/lib/utilities.cpp b/lanelet2_extension/lib/utilities.cpp index 0431b7c..87d6c38 100644 --- a/lanelet2_extension/lib/utilities.cpp +++ b/lanelet2_extension/lib/utilities.cpp @@ -703,7 +703,23 @@ geometry_msgs::msg::Pose getClosestCenterPose( const lanelet::ConstLanelet & lanelet, const geometry_msgs::msg::Point & search_point) { lanelet::BasicPoint2d llt_search_point(search_point.x, search_point.y); + + if (lanelet.centerline().size() == 1) { + geometry_msgs::msg::Pose closest_pose; + closest_pose.position.x = lanelet.centerline().front().x(); + closest_pose.position.y = lanelet.centerline().front().y(); + closest_pose.position.z = search_point.z; + closest_pose.orientation.x = 0.0; + closest_pose.orientation.y = 0.0; + closest_pose.orientation.z = 0.0; + closest_pose.orientation.w = 1.0; + return closest_pose; + } + lanelet::ConstLineString3d segment = getClosestSegment(llt_search_point, lanelet.centerline()); + if (segment.empty()) { + return geometry_msgs::msg::Pose{}; + } const Eigen::Vector2d direction( (segment.back().basicPoint2d() - segment.front().basicPoint2d()).normalized()); From 3c5bb74e4d7a0d0084e199d16fa45b75b01db541 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 23 May 2023 15:57:25 +0900 Subject: [PATCH 22/54] chore(lanelet2_extension): change log level from error to warn for visualization (#181) Signed-off-by: Takamasa Horibe --- lanelet2_extension/lib/utilities.cpp | 7 +++---- lanelet2_extension/lib/visualization.cpp | 2 +- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/lanelet2_extension/lib/utilities.cpp b/lanelet2_extension/lib/utilities.cpp index 87d6c38..851c378 100644 --- a/lanelet2_extension/lib/utilities.cpp +++ b/lanelet2_extension/lib/utilities.cpp @@ -543,12 +543,11 @@ bool lineStringToPolygon( } if (linestring.size() < 4) { if (linestring.size() < 3 || linestring.front().id() == linestring.back().id()) { - RCLCPP_ERROR_STREAM( + RCLCPP_WARN_STREAM( rclcpp::get_logger("lanelet2_extension.visualization"), __func__ << ": linestring" << linestring.id() - << " must have more than different 3 points! (size is " << linestring.size() << ")" - << std::endl - << "Failed to convert to polygon."); + << " must have more than different 3 points! (size is " << linestring.size() + << "). Failed to convert to polygon."); return false; } } diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 21e7369..e14215e 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -806,7 +806,7 @@ visualization_msgs::msg::MarkerArray visualization::pedestrianMarkingsAsMarkerAr if (utils::lineStringToPolygon(linestring, &polygon)) { pushPolygonMarker(&marker, polygon, c); } else { - RCLCPP_ERROR_STREAM( + RCLCPP_WARN_STREAM( rclcpp::get_logger("lanelet2_extension.visualization"), "pedestrian marking " << linestring.id() << " failed conversion."); } From 5f565d9f02417847a6c587f5a920a1c34c43ee96 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 29 May 2023 18:25:31 +0900 Subject: [PATCH 23/54] feat(lanelet2_extension): add no parking area (#172) * feat(lanelet2_extension): add no parking area Signed-off-by: kosuke55 * add docs Signed-off-by: kosuke55 * Update tmp/lanelet2_extension/docs/lanelet2_format_extension.md Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Signed-off-by: kosuke55 * Update tmp/lanelet2_extension/docs/lanelet2_format_extension.md Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Signed-off-by: kosuke55 * fix docs Signed-off-by: kosuke55 * add query Signed-off-by: kosuke55 * Update tmp/lanelet2_extension/lib/query.cpp Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Signed-off-by: kosuke55 * Update tmp/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- lanelet2_extension/CMakeLists.txt | 1 + .../docs/lanelet2_format_extension.md | 48 +++++++ .../regulatory_elements/no_parking_area.hpp | 72 ++++++++++ .../lanelet2_extension/utility/query.hpp | 10 ++ .../visualization/visualization.hpp | 11 ++ lanelet2_extension/lib/no_parking_area.cpp | 131 ++++++++++++++++++ lanelet2_extension/lib/query.cpp | 29 ++++ lanelet2_extension/lib/visualization.cpp | 62 +++++++++ 8 files changed, 364 insertions(+) create mode 100644 lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp create mode 100644 lanelet2_extension/lib/no_parking_area.cpp diff --git a/lanelet2_extension/CMakeLists.txt b/lanelet2_extension/CMakeLists.txt index 6b109cb..b4ef3b6 100644 --- a/lanelet2_extension/CMakeLists.txt +++ b/lanelet2_extension/CMakeLists.txt @@ -34,6 +34,7 @@ ament_auto_add_library(lanelet2_extension_lib SHARED lib/autoware_osm_parser.cpp lib/autoware_traffic_light.cpp lib/detection_area.cpp + lib/no_parking_area.cpp lib/no_stopping_area.cpp lib/message_conversion.cpp lib/mgrs_projector.cpp diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index cb59054..06d1597 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -269,3 +269,51 @@ _An example:_ ``` + +### No Stopping Area + +The area with `no_stopping_area` tag can be used to prohibit even a few seconds of stopping, even for traffic jams or at traffic lights. +The ref_line can be set arbitrarily, and the ego-vehicle should stop at this line if it cannot pass through the area. + +_An example:_ + +```xml + + + + + + + + + + + + + + + +``` + +### No Parking Area + +The area with `no_parking_area` tag can be used to prohibit parking. Stopping for a few seconds is allowed in this area. + +_An example:_ + +```xml + + + + + + + + + + + + + + +``` diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp new file mode 100644 index 0000000..a4cc1e2 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp @@ -0,0 +1,72 @@ +// 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 LANELET2_EXTENSION__REGULATORY_ELEMENTS__NO_PARKING_AREA_HPP_ +#define LANELET2_EXTENSION__REGULATORY_ELEMENTS__NO_PARKING_AREA_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +namespace lanelet::autoware +{ +class NoParkingArea : public lanelet::RegulatoryElement +{ +public: + using Ptr = std::shared_ptr; + static constexpr char RuleName[] = "no_parking_area"; + + static Ptr make(Id id, const AttributeMap & attributes, const Polygons3d & no_parking_areas) + { + return Ptr{new NoParkingArea(id, attributes, no_parking_areas)}; + } + + /** + * @brief get the relevant no parking area + * @return no parking area + */ + [[nodiscard]] ConstPolygons3d noParkingAreas() const; + [[nodiscard]] Polygons3d noParkingAreas(); + + /** + * @brief add a new no parking area + * @param primitive no parking area to add + */ + void addNoParkingArea(const Polygon3d & primitive); + + /** + * @brief remove a no parking area + * @param primitive the primitive + * @return true if the no parking area existed and was removed + */ + bool removeNoParkingArea(const Polygon3d & primitive); + +private: + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class lanelet::RegisterRegulatoryElement; + NoParkingArea(Id id, const AttributeMap & attributes, const Polygons3d & no_parking_area); + explicit NoParkingArea(const lanelet::RegulatoryElementDataPtr & data); +}; +static lanelet::RegisterRegulatoryElement regNoParkingArea; + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__REGULATORY_ELEMENTS__NO_PARKING_AREA_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index 302e6e2..96fc0ef 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -21,6 +21,7 @@ #include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" #include "lanelet2_extension/regulatory_elements/detection_area.hpp" +#include "lanelet2_extension/regulatory_elements/no_parking_area.hpp" #include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp" #include "lanelet2_extension/regulatory_elements/speed_bump.hpp" @@ -42,7 +43,9 @@ using TrafficSignConstPtr = std::shared_ptr; using TrafficLightConstPtr = std::shared_ptr; using AutowareTrafficLightConstPtr = std::shared_ptr; using DetectionAreaConstPtr = std::shared_ptr; +using NoParkingAreaConstPtr = std::shared_ptr; using NoStoppingAreaConstPtr = std::shared_ptr; +using NoParkingAreaConstPtr = std::shared_ptr; using SpeedBumpConstPtr = std::shared_ptr; } // namespace lanelet @@ -117,6 +120,13 @@ std::vector detectionAreas(const lanelet::ConstL std::vector noStoppingAreas( const lanelet::ConstLanelets & lanelets); +/** + * [noParkingArea extracts NoParking Area regulatory elements from lanelets] + * @param lanelets [input lanelets] + * @return [no parking areas that are associated with input lanelets] + */ +std::vector noParkingAreas(const lanelet::ConstLanelets & lanelets); + /** * [speedBumps extracts Speed Bump regulatory elements from lanelets] * @param lanelets [input lanelets] diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp index 28c3f3a..46dbca2 100644 --- a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -20,6 +20,7 @@ // NOLINTBEGIN(readability-identifier-naming) #include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" +#include "lanelet2_extension/regulatory_elements/no_parking_area.hpp" #include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp" #include "lanelet2_extension/utility/query.hpp" @@ -221,6 +222,16 @@ visualization_msgs::msg::MarkerArray detectionAreasAsMarkerArray( const std::vector & da_reg_elems, const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); +/** + * [noParkingAreasAsMarkerArray creates marker array to visualize detection areas] + * @param no_reg_elems [no parking area regulatory elements] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + */ +visualization_msgs::msg::MarkerArray noParkingAreasAsMarkerArray( + const std::vector & no_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); + /** * [noStoppingAreasAsMarkerArray creates marker array to visualize detection areas] * @param no_reg_elems [mp stopping area regulatory elements] diff --git a/lanelet2_extension/lib/no_parking_area.cpp b/lanelet2_extension/lib/no_parking_area.cpp new file mode 100644 index 0000000..807dd82 --- /dev/null +++ b/lanelet2_extension/lib/no_parking_area.cpp @@ -0,0 +1,131 @@ +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/no_parking_area.hpp" + +#include + +#include + +#include +#include +#include +#include + +namespace lanelet::autoware +{ +namespace +{ +template +bool findAndErase(const T & primitive, RuleParameters * member) +{ + if (member == nullptr) { + std::cerr << __FUNCTION__ << ": member is null pointer"; + return false; + } + auto it = std::find(member->begin(), member->end(), RuleParameter(primitive)); + if (it == member->end()) { + return false; + } + member->erase(it); + return true; +} + +template +Optional tryGetFront(const std::vector & vec) +{ + if (vec.empty()) { + return {}; + } + return vec.front(); +} + +template +RuleParameters toRuleParameters(const std::vector & primitives) +{ + auto cast_func = [](const auto & elem) { return static_cast(elem); }; + return utils::transform(primitives, cast_func); +} + +Polygons3d getPoly(const RuleParameterMap & paramsMap, RoleName role) +{ + auto params = paramsMap.find(role); + if (params == paramsMap.end()) { + return {}; + } + + Polygons3d result; + for (auto & param : params->second) { + auto p = boost::get(¶m); + if (p != nullptr) { + result.push_back(*p); + } + } + return result; +} + +ConstPolygons3d getConstPoly(const RuleParameterMap & params, RoleName role) +{ + auto cast_func = [](auto & poly) { return static_cast(poly); }; + return utils::transform(getPoly(params, role), cast_func); +} + +RegulatoryElementDataPtr constructNoParkingAreaData( + Id id, const AttributeMap & attributes, const Polygons3d & NoParkingAreas) +{ + RuleParameterMap rpm = {{RoleNameString::Refers, toRuleParameters(NoParkingAreas)}}; + + auto data = std::make_shared(id, std::move(rpm), attributes); + data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement; + data->attributes[AttributeName::Subtype] = "no_parking_area"; + return data; +} +} // namespace + +NoParkingArea::NoParkingArea(const RegulatoryElementDataPtr & data) : RegulatoryElement(data) +{ + if (getConstPoly(data->parameters, RoleName::Refers).empty()) { + throw InvalidInputError("no parking area defined!"); + } +} + +NoParkingArea::NoParkingArea( + Id id, const AttributeMap & attributes, const Polygons3d & no_parking_areas) +: NoParkingArea(constructNoParkingAreaData(id, attributes, no_parking_areas)) +{ +} + +ConstPolygons3d NoParkingArea::noParkingAreas() const +{ + return getConstPoly(parameters(), RoleName::Refers); +} +Polygons3d NoParkingArea::noParkingAreas() +{ + return getPoly(parameters(), RoleName::Refers); +} + +void NoParkingArea::addNoParkingArea(const Polygon3d & primitive) +{ + parameters()["no_parking_area"].emplace_back(primitive); +} + +bool NoParkingArea::removeNoParkingArea(const Polygon3d & primitive) +{ + return findAndErase(primitive, ¶meters().find("no_parking_area")->second); +} +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index c1f7ff6..daff741 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -212,6 +212,35 @@ std::vector query::noStoppingAreas( return no_reg_elems; } +std::vector query::noParkingAreas( + const lanelet::ConstLanelets & lanelets) +{ + std::vector no_pa_reg_elems; + + for (const auto & ll : lanelets) { + std::vector ll_no_pa_re = + ll.regulatoryElementsAs(); + + // insert unique NoParkingArea into array + for (const auto & no_pa_ptr : ll_no_pa_re) { + lanelet::Id id = no_pa_ptr->id(); + bool unique_id = true; + + for (const auto & no_reg_elem : no_pa_reg_elems) { + if (id == no_reg_elem->id()) { + unique_id = false; + break; + } + } + + if (unique_id) { + no_pa_reg_elems.push_back(no_pa_ptr); + } + } + } + return no_pa_reg_elems; +} + std::vector query::speedBumps(const lanelet::ConstLanelets & lanelets) { std::vector sb_reg_elems; diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index e14215e..2046302 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -650,6 +650,68 @@ visualization_msgs::msg::MarkerArray visualization::detectionAreasAsMarkerArray( return marker_array; } +visualization_msgs::msg::MarkerArray visualization::noParkingAreasAsMarkerArray( + const std::vector & no_reg_elems, + const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration) +{ + visualization_msgs::msg::MarkerArray marker_array; + visualization_msgs::msg::Marker marker; + + if (no_reg_elems.empty()) { + return marker_array; + } + + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.frame_locked = false; + marker.ns = "no_parking_area"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + marker.lifetime = duration; + marker.pose.position.x = 0.0; // p.x(); + marker.pose.position.y = 0.0; // p.y(); + marker.pose.position.z = 0.0; // p.z(); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = 1.0; + marker.color.r = 1.0f; + marker.color.g = 1.0f; + marker.color.b = 1.0f; + marker.color.a = 0.999; + + for (const auto & no_reg_elem : no_reg_elems) { + marker.points.clear(); + marker.colors.clear(); + marker.id = static_cast(no_reg_elem->id()); + + // area visualization + const auto no_parking_areas = no_reg_elem->noParkingAreas(); + for (const auto & no_parking_area : no_parking_areas) { + geometry_msgs::msg::Polygon geom_poly; + utils::conversion::toGeomMsgPoly(no_parking_area, &geom_poly); + + std::vector triangles; + polygon2Triangle(geom_poly, &triangles); + + for (auto tri : triangles) { + geometry_msgs::msg::Point tri0[3]; + + for (int i = 0; i < 3; i++) { + utils::conversion::toGeomMsgPt(tri.points[i], &tri0[i]); + marker.points.push_back(tri0[i]); + marker.colors.push_back(c); + } + } // for triangles0 + } // for no_parking areas + marker_array.markers.push_back(marker); + } // for regulatory elements + return marker_array; +} + visualization_msgs::msg::MarkerArray visualization::noStoppingAreasAsMarkerArray( const std::vector & no_reg_elems, const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration) From b8cbf612ad506ccca44905774b151b29e3e41691 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon, 29 May 2023 23:05:09 +0900 Subject: [PATCH 24/54] build: fix build error with lanelet2 1.2.1 (#183) Signed-off-by: wep21 --- lanelet2_extension/CMakeLists.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/lanelet2_extension/CMakeLists.txt b/lanelet2_extension/CMakeLists.txt index b4ef3b6..02dba25 100644 --- a/lanelet2_extension/CMakeLists.txt +++ b/lanelet2_extension/CMakeLists.txt @@ -49,6 +49,11 @@ ament_auto_add_library(lanelet2_extension_lib SHARED target_link_libraries(lanelet2_extension_lib ${GeographicLib_LIBRARIES} ) +get_target_property(lanelet2_core_INCLUDE_DIRECTORIES lanelet2_core::lanelet2_core INTERFACE_INCLUDE_DIRECTORIES) +target_include_directories(lanelet2_extension_lib + SYSTEM PRIVATE + ${lanelet2_core_INCLUDE_DIRECTORIES} +) ament_auto_add_executable(lanelet2_extension_sample src/sample_code.cpp) add_dependencies(lanelet2_extension_sample lanelet2_extension_lib) From 86d7d54255ac87209dcdffa1e4f9af101780d059 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 31 May 2023 13:13:56 +0900 Subject: [PATCH 25/54] fix(build): additional fix for build error in test (#184) Signed-off-by: Mamoru Sobue --- lanelet2_extension/CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/lanelet2_extension/CMakeLists.txt b/lanelet2_extension/CMakeLists.txt index 02dba25..be7bdf5 100644 --- a/lanelet2_extension/CMakeLists.txt +++ b/lanelet2_extension/CMakeLists.txt @@ -88,6 +88,10 @@ if(BUILD_TESTING) target_link_libraries(regulatory_elements-test lanelet2_extension_lib) ament_add_ros_isolated_gtest(utilities-test test/src/test_utilities.cpp) target_link_libraries(utilities-test lanelet2_extension_lib) + target_include_directories(utilities-test + SYSTEM PRIVATE + ${lanelet2_core_INCLUDE_DIRECTORIES} + ) ament_add_ros_isolated_gtest(route-test test/src/test_route_checker.cpp) target_link_libraries(route-test lanelet2_extension_lib) endif() From c6b6090fe75db846aa29a61acf38655fac4128f1 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 6 Jun 2023 01:27:12 +0900 Subject: [PATCH 26/54] fix: visualize hatched road markings (#185) Signed-off-by: Takayuki Murooka --- lanelet2_extension/lib/visualization.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 2046302..7b9e95a 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -1465,7 +1465,7 @@ visualization_msgs::msg::MarkerArray visualization::hatchedRoadMarkingsAreaAsMar lanelet::Point3d(lanelet::utils::getId(), point.x(), point.y(), point.z())); } if (!bound_ls.empty()) { - bound_ls.push_back(bound_ls.back()); + bound_ls.push_back(bound_ls.front()); } visualization::pushLineStringMarker(&line_strip, bound_ls, line_color, lss); } From 7eaa838f3c3b9cc197cf56d56bc973d1190f4ac3 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Thu, 8 Jun 2023 13:20:12 +0300 Subject: [PATCH 27/54] feat: handle invalid lanelet (#175) * feat: updating lanelet2_format_extention documentation with invalid lanelet tag Signed-off-by: AhmedEbrahim * feat: changing module name from invalid_lanelet to no_drivable_lane Signed-off-by: AhmedEbrahim * feat: fixing merge conflict mistake Signed-off-by: AhmedEbrahim * style(pre-commit): autofix * feat: fixing the autofix commit problem Signed-off-by: AhmedEbrahim * style(pre-commit): autofix * feat: fixing autofix commit changes Signed-off-by: AhmedEbrahim * feat: fixing relevant path document to be github link Signed-off-by: AhmedEbrahim * feat(no_drivable_lane): updating no_drivable_lane concept doc link after merging universe Signed-off-by: AhmedEbrahim --------- Signed-off-by: AhmedEbrahim Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../docs/lanelet2_format_extension.md | 23 +++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index 06d1597..a0eebdf 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -317,3 +317,26 @@ _An example:_ ``` + +### No Drivable Lane + +A no drivable lane is a lanelet or more that are out of operation design domain (ODD), i.e., the vehicle **must not** drive autonomously in this/these lanelet/s. +A lanelet becomes no drivable by adding an optional tag under the relevant lanelet in the map file ``. + +_An example:_ + +```xml + + + + + + + + + + + +``` + +For more details about the `no_drivable_lane` concept and design, please refer to the [**_no-drivable-lane-design_**](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_velocity_no_drivable_lane_module/docs/no-drivable-lane-design.md) document. From c461b1c848e68db4fb10d0214ae9814258da6f03 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 13 Jun 2023 16:05:59 +0900 Subject: [PATCH 28/54] feat(lanelet2_extension): add crosswalk regulatory element (#187) * feat(lanelet2_extension): add crosswalk regulatory element Signed-off-by: satoshi-ota * fix(lanelet2_extension): fix incorrect comments Signed-off-by: satoshi-ota * docs(lanelet2_extension): add description for crosswalk regulatory element Signed-off-by: satoshi-ota * refactor(lanelet2_extension): clean up Signed-off-by: satoshi-ota * feat(lanelet2_extension): show crosswalk areas Signed-off-by: satoshi-ota * docs(lanelet2_extension): add objective Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- lanelet2_extension/CMakeLists.txt | 1 + .../docs/crosswalk_regulatory_element.svg | 161 ++++++++++++++++++ .../docs/lanelet2_format_extension.md | 29 ++++ .../autoware_traffic_light.hpp | 10 +- .../regulatory_elements/crosswalk.hpp | 92 ++++++++++ .../lanelet2_extension/utility/query.hpp | 9 + .../visualization/visualization.hpp | 10 ++ .../lib/autoware_traffic_light.cpp | 3 +- lanelet2_extension/lib/crosswalk.cpp | 129 ++++++++++++++ lanelet2_extension/lib/query.cpp | 28 +++ lanelet2_extension/lib/visualization.cpp | 65 +++++++ 11 files changed, 531 insertions(+), 6 deletions(-) create mode 100644 lanelet2_extension/docs/crosswalk_regulatory_element.svg create mode 100644 lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp create mode 100644 lanelet2_extension/lib/crosswalk.cpp diff --git a/lanelet2_extension/CMakeLists.txt b/lanelet2_extension/CMakeLists.txt index be7bdf5..3576807 100644 --- a/lanelet2_extension/CMakeLists.txt +++ b/lanelet2_extension/CMakeLists.txt @@ -33,6 +33,7 @@ add_definitions(${GeographicLib_DEFINITIONS}) ament_auto_add_library(lanelet2_extension_lib SHARED lib/autoware_osm_parser.cpp lib/autoware_traffic_light.cpp + lib/crosswalk.cpp lib/detection_area.cpp lib/no_parking_area.cpp lib/no_stopping_area.cpp diff --git a/lanelet2_extension/docs/crosswalk_regulatory_element.svg b/lanelet2_extension/docs/crosswalk_regulatory_element.svg new file mode 100644 index 0000000..794bff2 --- /dev/null +++ b/lanelet2_extension/docs/crosswalk_regulatory_element.svg @@ -0,0 +1,161 @@ + + + + + + + + + + + + + + + + + + + + + +
+
+
+ Type:lanelet +
+ SubType:road +
+
+
+ + Type:lanelet... + + + + + + +
+
+
+ Type:regulatory_element +
+ SubType: + crosswalk + +
+ +
+
+
+ + Type:regulatory_element... + + + + + + + + + + + + +
+
+
+ Polygon +
+ crosswalk_polygon +
+
+
+ + Polygon... + + + + + + +
+
+
+ Linestring3d +
+ ref_line +
+
+
+ + Linestring3d... + + + + + + + + + + +
+
+
+ Lanelet +
+ refers +
+
+
+ + Lanelet... + + + + + + +
+
+
+ Linestring3d +
+ ref_line +
+
+
+ + Linestring3d... + + + + + + + Text is not SVG - cannot display + + + diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index a0eebdf..98bf666 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -202,6 +202,35 @@ The following illustrates how light_bulbs are registered to traffic_light regula ``` +### Crosswalk + +Original Lanelet2 format only requires `subtype=crosswalk` tag to be specified in the corresponding lanelet. However, Autoware requires a regulatory element to be defined on top of that in order to: + +- explicitly define the relevant driving lanes even in 3D environment +- optionally define stop lines associated with the crosswalk +- enable accurate definition of complex polygons for crosswalk + +For the details, refer to this [GitHub discussion](https://github.com/orgs/autowarefoundation/discussions/3036). +Crosswalk regulatory element can be tied to `ref_line`, `crosswalk_polygon` and `refers`. + +![crosswalk_regulatory elements](crosswalk_regulatory_element.svg) + +- `ref_line`: Stop line for the crosswalk. +- `crosswalk_polygon`: Accurate area of the crosswalk. +- `refers`: Lanelet that indicates the moving direction of crosswalk users. + +_An example:_ + +```xml + + + + + + + +``` + ### Safety Slow Down for Crosswalks If you wish ego vehicle to slow down to a certain speed from a certain distance while passing over a diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp index ba1da38..55e96f1 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp @@ -27,17 +27,17 @@ namespace lanelet::autoware { -struct AutowareRoleNameString -{ - static constexpr const char LightBulbs[] = "light_bulbs"; -}; - class AutowareTrafficLight : public lanelet::TrafficLight { public: using Ptr = std::shared_ptr; static constexpr char RuleName[] = "traffic_light"; + struct AutowareRoleNameString + { + static constexpr const char LightBulbs[] = "light_bulbs"; + }; + //! Directly construct a stop line from its required rule parameters. //! Might modify the input data in oder to get correct tags. static Ptr make( diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp new file mode 100644 index 0000000..7a487e0 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp @@ -0,0 +1,92 @@ +// 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 LANELET2_EXTENSION__REGULATORY_ELEMENTS__CROSSWALK_HPP_ +#define LANELET2_EXTENSION__REGULATORY_ELEMENTS__CROSSWALK_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include +#include + +namespace lanelet::autoware +{ +class Crosswalk : public lanelet::RegulatoryElement +{ +public: + using Ptr = std::shared_ptr; + static constexpr char RuleName[] = "crosswalk"; + + struct AutowareRoleNameString + { + static constexpr const char CrosswalkPolygon[] = "crosswalk_polygon"; + }; + + static Ptr make( + Id id, const AttributeMap & attributes, const Lanelet & crosswalk_lanelet, + const Polygon3d & crosswalk_area, const LineStrings3d & stop_line) + { + return Ptr{new Crosswalk(id, attributes, crosswalk_lanelet, crosswalk_area, stop_line)}; + } + + /** + * @brief get the relevant crosswalk area + * @return crosswalk area + */ + [[nodiscard]] ConstPolygons3d crosswalkAreas() const; + + /** + * @brief get the relevant crosswalk line + * @return stop line + */ + [[nodiscard]] ConstLineStrings3d stopLines() const; + + /** + * @brief get the relevant crosswalk lanelet + * @return lanelet + */ + [[nodiscard]] ConstLanelet crosswalkLanelet() const; + + /** + * @brief add a new crosswalk area + * @param primitive crosswalk area to add + */ + void addCrosswalkArea(const Polygon3d & primitive); + + /** + * @brief remove a crosswalk area + * @param primitive the primitive + * @return true if the crosswalk area existed and was removed + */ + bool removeCrosswalkArea(const Polygon3d & primitive); + +private: + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class lanelet::RegisterRegulatoryElement; + Crosswalk( + Id id, const AttributeMap & attributes, const Lanelet & crosswalk_lanelet, + const Polygon3d & crosswalk_area, const LineStrings3d & stop_line); + explicit Crosswalk(const lanelet::RegulatoryElementDataPtr & data); +}; +static lanelet::RegisterRegulatoryElement regCrosswalk; + +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__REGULATORY_ELEMENTS__CROSSWALK_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index 96fc0ef..bc4d0da 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -20,6 +20,7 @@ // NOLINTBEGIN(readability-identifier-naming) #include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" +#include "lanelet2_extension/regulatory_elements/crosswalk.hpp" #include "lanelet2_extension/regulatory_elements/detection_area.hpp" #include "lanelet2_extension/regulatory_elements/no_parking_area.hpp" #include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp" @@ -47,6 +48,7 @@ using NoParkingAreaConstPtr = std::shared_ptr; using NoParkingAreaConstPtr = std::shared_ptr; using SpeedBumpConstPtr = std::shared_ptr; +using CrosswalkConstPtr = std::shared_ptr; } // namespace lanelet namespace lanelet::utils::query @@ -134,6 +136,13 @@ std::vector noParkingAreas(const lanelet::ConstL */ std::vector speedBumps(const lanelet::ConstLanelets & lanelets); +/** + * [crosswalks extracts Crosswalk regulatory elements from lanelets] + * @param lanelets [input lanelets] + * @return [crosswalks that are associated with input lanelets] + */ +std::vector crosswalks(const lanelet::ConstLanelets & lanelets); + // query all polygons that has given type in lanelet2 map lanelet::ConstPolygons3d getAllPolygonsByType( const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type); diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp index 46dbca2..d5ff5b0 100644 --- a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -252,6 +252,16 @@ visualization_msgs::msg::MarkerArray speedBumpsAsMarkerArray( const std::vector & sb_reg_elems, const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); +/** + * [crosswalkAreasAsMarkerArray creates marker array to visualize crosswalk regulatory element] + * @param sb_reg_elems [crosswalk regulatory elements] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + */ +visualization_msgs::msg::MarkerArray crosswalkAreasAsMarkerArray( + const std::vector & cw_reg_elems, const std_msgs::msg::ColorRGBA & c, + const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); + /** * [pedestrianMarkingsAsMarkerArray creates marker array to visualize pedestrian markings] * @param pedestrian_markings [pedestrian marking polygon] diff --git a/lanelet2_extension/lib/autoware_traffic_light.cpp b/lanelet2_extension/lib/autoware_traffic_light.cpp index 63d185b..6c92086 100644 --- a/lanelet2_extension/lib/autoware_traffic_light.cpp +++ b/lanelet2_extension/lib/autoware_traffic_light.cpp @@ -100,7 +100,8 @@ LineStringsOrPolygons3d getLsOrPoly(const RuleParameterMap & paramsMap, RoleName rpm.insert(std::make_pair(RoleNameString::RefLine, rule_parameters)); } if (!lightBulbs.empty()) { - rpm.insert(std::make_pair(AutowareRoleNameString::LightBulbs, toRuleParameters(lightBulbs))); + rpm.insert(std::make_pair( + AutowareTrafficLight::AutowareRoleNameString::LightBulbs, toRuleParameters(lightBulbs))); } auto data = std::make_shared(id, rpm, attributes); diff --git a/lanelet2_extension/lib/crosswalk.cpp b/lanelet2_extension/lib/crosswalk.cpp new file mode 100644 index 0000000..f3341e8 --- /dev/null +++ b/lanelet2_extension/lib/crosswalk.cpp @@ -0,0 +1,129 @@ +// 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. + +// NOLINTBEGIN(readability-identifier-naming) + +#include "lanelet2_extension/regulatory_elements/crosswalk.hpp" + +#include + +#include + +#include +#include +#include +#include + +namespace lanelet::autoware +{ +namespace +{ +template +bool findAndErase(const T & primitive, RuleParameters * member) +{ + if (member == nullptr) { + std::cerr << __FUNCTION__ << ": member is null pointer"; + return false; + } + auto it = std::find(member->begin(), member->end(), RuleParameter(primitive)); + if (it == member->end()) { + return false; + } + member->erase(it); + return true; +} + +template +Optional tryGetFront(const std::vector & vec) +{ + if (vec.empty()) { + return {}; + } + return vec.front(); +} + +template +RuleParameters toRuleParameters(const std::vector & primitives) +{ + auto cast_func = [](const auto & elem) { return static_cast(elem); }; + return utils::transform(primitives, cast_func); +} + +RegulatoryElementDataPtr constructCrosswalk( + Id id, const AttributeMap & attributes, const Lanelet & crosswalkLanelet, + const Polygon3d & crosswalkArea, const LineStrings3d & stopLine) +{ + RuleParameterMap rpm; + + { + RuleParameters rule_parameters = {crosswalkArea}; + rpm.insert( + std::make_pair(Crosswalk::AutowareRoleNameString::CrosswalkPolygon, rule_parameters)); + } + + { + RuleParameters rule_parameters = {crosswalkLanelet}; + rpm.insert(std::make_pair(RoleNameString::Refers, rule_parameters)); + } + + for (const auto & line : stopLine) { + RuleParameters rule_parameters = {line}; + rpm.insert(std::make_pair(RoleNameString::RefLine, rule_parameters)); + } + + auto data = std::make_shared(id, std::move(rpm), attributes); + data->attributes[AttributeName::Type] = AttributeValueString::RegulatoryElement; + data->attributes[AttributeName::Subtype] = "crosswalk"; + return data; +} +} // namespace + +Crosswalk::Crosswalk(const RegulatoryElementDataPtr & data) : RegulatoryElement(data) +{ +} + +Crosswalk::Crosswalk( + Id id, const AttributeMap & attributes, const Lanelet & crosswalk_lanelet, + const Polygon3d & crosswalk_area, const LineStrings3d & stop_line) +: Crosswalk(constructCrosswalk(id, attributes, crosswalk_lanelet, crosswalk_area, stop_line)) +{ +} + +ConstPolygons3d Crosswalk::crosswalkAreas() const +{ + return getParameters(AutowareRoleNameString::CrosswalkPolygon); +} + +ConstLineStrings3d Crosswalk::stopLines() const +{ + return getParameters(RoleName::RefLine); +} + +ConstLanelet Crosswalk::crosswalkLanelet() const +{ + return getParameters(RoleName::Refers).front(); +} + +void Crosswalk::addCrosswalkArea(const Polygon3d & primitive) +{ + parameters()["crosswalk"].emplace_back(primitive); +} + +bool Crosswalk::removeCrosswalkArea(const Polygon3d & primitive) +{ + return findAndErase(primitive, ¶meters().find("crosswalk")->second); +} +} // namespace lanelet::autoware + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index daff741..d919948 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -269,6 +269,34 @@ std::vector query::speedBumps(const lanelet::ConstLa return sb_reg_elems; } +std::vector query::crosswalks(const lanelet::ConstLanelets & lanelets) +{ + std::vector cw_reg_elems; + + for (const auto & ll : lanelets) { + std::vector ll_cw_re = + ll.regulatoryElementsAs(); + + // insert unique id into array + for (const auto & cw_ptr : ll_cw_re) { + lanelet::Id id = cw_ptr->id(); + bool unique_id = true; + + for (const auto & cw_reg_elem : cw_reg_elems) { + if (id == cw_reg_elem->id()) { + unique_id = false; + break; + } + } + + if (unique_id) { + cw_reg_elems.push_back(cw_ptr); + } + } + } + return cw_reg_elems; +} + lanelet::ConstPolygons3d query::getAllPolygonsByType( const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type) { diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 7b9e95a..1f2db41 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -854,6 +854,71 @@ visualization_msgs::msg::MarkerArray visualization::speedBumpsAsMarkerArray( return marker_array; } +visualization_msgs::msg::MarkerArray visualization::crosswalkAreasAsMarkerArray( + const std::vector & cw_reg_elems, const std_msgs::msg::ColorRGBA & c, + const rclcpp::Duration & duration) +{ + visualization_msgs::msg::MarkerArray marker_array; + visualization_msgs::msg::Marker marker; + visualization_msgs::msg::Marker line_marker; + + if (cw_reg_elems.empty()) { + return marker_array; + } + + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.frame_locked = false; + marker.ns = "crosswalk_areas"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::TRIANGLE_LIST; + marker.lifetime = duration; + marker.pose.position.x = 0.0; // p.x(); + marker.pose.position.y = 0.0; // p.y(); + marker.pose.position.z = 0.0; // p.z(); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = 1.0; + marker.color.r = 0.8f; + marker.color.g = 0.8f; + marker.color.b = 0.0f; + marker.color.a = 0.999; + + for (const auto & cw_reg_elem : cw_reg_elems) { + marker.points.clear(); + marker.colors.clear(); + marker.id = static_cast(cw_reg_elem->id()); + + // area visualization + const auto crosswalk_areas = cw_reg_elem->crosswalkAreas(); + for (const auto & crosswalk_area : crosswalk_areas) { + geometry_msgs::msg::Polygon geom_poly; + utils::conversion::toGeomMsgPoly(crosswalk_area, &geom_poly); + + std::vector triangles; + polygon2Triangle(geom_poly, &triangles); + + for (auto tri : triangles) { + geometry_msgs::msg::Point tri0[3]; + + for (int i = 0; i < 3; i++) { + utils::conversion::toGeomMsgPt(tri.points[i], &tri0[i]); + marker.points.push_back(tri0[i]); + marker.colors.push_back(c); + } + } // for triangles0 + } + marker_array.markers.push_back(marker); + } + + marker_array.markers.push_back(line_marker); + return marker_array; +} + visualization_msgs::msg::MarkerArray visualization::pedestrianMarkingsAsMarkerArray( const lanelet::ConstLineStrings3d & pedestrian_markings, const std_msgs::msg::ColorRGBA & c) { From 1f231ccccae81a20320172f551720cd27e3743b0 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Tue, 20 Jun 2023 09:08:42 +0300 Subject: [PATCH 29/54] refactor(no_drivable_lane): updating no_drivable_lane doc link after refactoring updates (#188) refactor(no_drivable_lane): updating no_drivable_lane doc link after refeactoring updates Signed-off-by: AhmedEbrahim --- lanelet2_extension/docs/lanelet2_format_extension.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index 98bf666..4e9969e 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -368,4 +368,4 @@ _An example:_ ``` -For more details about the `no_drivable_lane` concept and design, please refer to the [**_no-drivable-lane-design_**](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_velocity_no_drivable_lane_module/docs/no-drivable-lane-design.md) document. +For more details about the `no_drivable_lane` concept and design, please refer to the [**_no-drivable-lane-design_**](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_velocity_no_drivable_lane_module/README.md) document. From 62b9555eea1b817a83c98e89aad3a00289b4cb62 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 27 Jun 2023 11:03:26 +0900 Subject: [PATCH 30/54] feat(lanelet2_extension): move combineLanelets unnamed namespace (#193) * feat(lanelet2_extension): move combineLanelets unnamed namespace Signed-off-by: kosuke55 * rename function and add docs Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../include/lanelet2_extension/utility/utilities.hpp | 6 ++++++ lanelet2_extension/lib/utilities.cpp | 7 +++---- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp index 7087c1b..ffb8378 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp @@ -32,6 +32,12 @@ namespace lanelet::utils { + +// @brief combine multiple lanelets into one, solely focusing on the shape and discarding any +// associated information such as ID and attributes. InvalId is set for the ID. +// @param lanelets to be combined. +lanelet::ConstLanelet combineLaneletsShape(const lanelet::ConstLanelets & lanelets); + lanelet::LineString3d generateFineCenterline( const lanelet::ConstLanelet & lanelet_obj, const double resolution = 5.0); lanelet::ConstLineString3d getCenterlineWithOffset( diff --git a/lanelet2_extension/lib/utilities.cpp b/lanelet2_extension/lib/utilities.cpp index 851c378..b1f7e40 100644 --- a/lanelet2_extension/lib/utilities.cpp +++ b/lanelet2_extension/lib/utilities.cpp @@ -228,8 +228,9 @@ lanelet::LineString3d getLineStringFromArcLength( } return lanelet::LineString3d{lanelet::InvalId, points}; } +} // namespace -lanelet::ConstLanelet combineLanelets(const lanelet::ConstLanelets & lanelets) +lanelet::ConstLanelet combineLaneletsShape(const lanelet::ConstLanelets & lanelets) { lanelet::Points3d lefts; lanelet::Points3d rights; @@ -253,8 +254,6 @@ lanelet::ConstLanelet combineLanelets(const lanelet::ConstLanelets & lanelets) return std::move(combined_lanelet); } -} // namespace - lanelet::LineString3d generateFineCenterline( const lanelet::ConstLanelet & lanelet_obj, const double resolution) { @@ -652,7 +651,7 @@ lanelet::ConstLineString3d getClosestSegment( lanelet::CompoundPolygon3d getPolygonFromArcLength( const lanelet::ConstLanelets & lanelets, const double s1, const double s2) { - const auto combined_lanelet = combineLanelets(lanelets); + const auto combined_lanelet = combineLaneletsShape(lanelets); const auto total_length = getLaneletLength2d(combined_lanelet); // make sure that s1, and s2 are between [0, lane_length] From 735a856eace85f1ac4f0c7b45b950689c1c2a779 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 2 Aug 2023 19:02:40 +0900 Subject: [PATCH 31/54] feat(lanelet2_extensions): add transverse mercator projector (#191) * Now Transverse Mercator Projection works Signed-off-by: kminoda * style(pre-commit): autofix * Remove unnecessary line Signed-off-by: kminoda * update comment Signed-off-by: kminoda * fix header Signed-off-by: kminoda * reflected comments Signed-off-by: kminoda * update readme Signed-off-by: kminoda * update nolint Signed-off-by: kminoda --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- lanelet2_extension/CMakeLists.txt | 1 + lanelet2_extension/README.md | 5 ++ .../transverse_mercator_projector.hpp | 61 +++++++++++++++++++ .../lib/transverse_mercator_projector.cpp | 59 ++++++++++++++++++ 4 files changed, 126 insertions(+) create mode 100644 lanelet2_extension/include/lanelet2_extension/projection/transverse_mercator_projector.hpp create mode 100644 lanelet2_extension/lib/transverse_mercator_projector.cpp diff --git a/lanelet2_extension/CMakeLists.txt b/lanelet2_extension/CMakeLists.txt index 3576807..5860a7a 100644 --- a/lanelet2_extension/CMakeLists.txt +++ b/lanelet2_extension/CMakeLists.txt @@ -42,6 +42,7 @@ ament_auto_add_library(lanelet2_extension_lib SHARED lib/query.cpp lib/road_marking.cpp lib/speed_bump.cpp + lib/transverse_mercator_projector.cpp lib/utilities.cpp lib/virtual_traffic_light.cpp lib/visualization.cpp diff --git a/lanelet2_extension/README.md b/lanelet2_extension/README.md index caa3ad6..85e360b 100644 --- a/lanelet2_extension/README.md +++ b/lanelet2_extension/README.md @@ -27,6 +27,11 @@ The parser is registered as "autoware_osm_handler" as lanelet parser MGRS projector projects latitude longitude into MGRS Coordinates. +#### Transverse Mercator Projector + +This projector projects latitude and longitude into Transverse Mercator coordinate. +This is similar to [UTM projector](https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/master/lanelet2_projection/src/UTM.cpp) in the Lanelet2 library, but uses a custom central meridian on a given origin. + ### Regulatory Elements #### Autoware Traffic Light diff --git a/lanelet2_extension/include/lanelet2_extension/projection/transverse_mercator_projector.hpp b/lanelet2_extension/include/lanelet2_extension/projection/transverse_mercator_projector.hpp new file mode 100644 index 0000000..f8693b9 --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/projection/transverse_mercator_projector.hpp @@ -0,0 +1,61 @@ +// 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 LANELET2_EXTENSION__PROJECTION__TRANSVERSE_MERCATOR_PROJECTOR_HPP_ +#define LANELET2_EXTENSION__PROJECTION__TRANSVERSE_MERCATOR_PROJECTOR_HPP_ + +// NOLINTBEGIN(readability-identifier-naming, modernize-use-nodiscard) + +#include + +#include +#include + +#include +#include + +namespace lanelet::projection +{ +class TransverseMercatorProjector : public Projector +{ +public: + explicit TransverseMercatorProjector(Origin origin = Origin({0.0, 0.0})); + + /** + * [TransverseMercatorProjector::forward projects gps lat/lon to Transverse Mercator coordinate] + * @param gps [point with latitude longitude information] + * @return [projected point in Transverse Mercator coordinate] + */ + BasicPoint3d forward(const GPSPoint & gps) const override; + + /** + * @param local_point [3d point in Transverse Mercator coordinate] + * @return [projected point in WGS84] + */ + GPSPoint reverse(const BasicPoint3d & local_point) const override; + +private: + /** + * origin geoid coordinate for reverse function + */ + double origin_x_; + double origin_y_; + double central_meridian_; +}; + +} // namespace lanelet::projection + +// NOLINTEND(readability-identifier-naming, modernize-use-nodiscard) + +#endif // LANELET2_EXTENSION__PROJECTION__TRANSVERSE_MERCATOR_PROJECTOR_HPP_ diff --git a/lanelet2_extension/lib/transverse_mercator_projector.cpp b/lanelet2_extension/lib/transverse_mercator_projector.cpp new file mode 100644 index 0000000..ba0d8f7 --- /dev/null +++ b/lanelet2_extension/lib/transverse_mercator_projector.cpp @@ -0,0 +1,59 @@ +// 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. + +// NOLINTBEGIN(readability-identifier-naming, cppcoreguidelines-pro-type-member-init) + +#include "lanelet2_extension/projection/transverse_mercator_projector.hpp" + +#include +#include +#include +#include +#include + +namespace lanelet::projection +{ +TransverseMercatorProjector::TransverseMercatorProjector(Origin origin) : Projector(origin) +{ + central_meridian_ = origin.position.lon; + + // Calculate origin in Transverse Mercator coordinate + const GeographicLib::TransverseMercatorExact & proj = + GeographicLib::TransverseMercatorExact::UTM(); + proj.Forward(central_meridian_, origin.position.lat, origin.position.lon, origin_x_, origin_y_); +} + +BasicPoint3d TransverseMercatorProjector::forward(const GPSPoint & gps) const +{ + BasicPoint3d tm_point{0., 0., gps.ele}; + const GeographicLib::TransverseMercatorExact & proj = + GeographicLib::TransverseMercatorExact::UTM(); + proj.Forward(central_meridian_, gps.lat, gps.lon, tm_point.x(), tm_point.y()); + tm_point.x() = tm_point.x() - origin_x_; + tm_point.y() = tm_point.y() - origin_y_; + return tm_point; +} + +GPSPoint TransverseMercatorProjector::reverse(const BasicPoint3d & local_point) const +{ + GPSPoint gps{0.0, 0.0, local_point.z()}; + const GeographicLib::TransverseMercatorExact & proj = + GeographicLib::TransverseMercatorExact::UTM(); + proj.Reverse(central_meridian_, local_point.x(), local_point.y(), gps.lat, gps.lon); + return gps; +} + +} // namespace lanelet::projection + +// NOLINTEND(readability-identifier-naming, cppcoreguidelines-pro-type-member-init) From ff73034c930213c5b01d6c5ac6050679efd93f9c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 30 Aug 2023 23:08:14 +0900 Subject: [PATCH 32/54] feat(build)!: add forward declaration header (#203) * added Forward.hpp Signed-off-by: Mamoru Sobue * style(pre-commit): autofix --------- Signed-off-by: Mamoru Sobue Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../regulatory_elements/Forward.hpp | 54 +++++++++++++++++++ .../autoware_traffic_light.hpp | 7 +-- .../regulatory_elements/crosswalk.hpp | 4 +- .../regulatory_elements/detection_area.hpp | 4 +- .../regulatory_elements/no_parking_area.hpp | 4 +- .../regulatory_elements/no_stopping_area.hpp | 4 +- .../regulatory_elements/road_marking.hpp | 4 +- .../regulatory_elements/speed_bump.hpp | 4 +- .../virtual_traffic_light.hpp | 4 +- .../utility/message_conversion.hpp | 4 +- .../lanelet2_extension/utility/query.hpp | 14 ----- .../utility/route_checker.hpp | 7 +-- .../lanelet2_extension/utility/utilities.hpp | 35 ++---------- lanelet2_extension/lib/message_conversion.cpp | 2 + lanelet2_extension/lib/query.cpp | 8 +++ lanelet2_extension/lib/route_checker.cpp | 3 ++ lanelet2_extension/lib/utilities.cpp | 33 ++++++++++++ lanelet2_extension/lib/visualization.cpp | 3 ++ .../test/src/test_message_conversion.cpp | 1 + lanelet2_extension/test/src/test_query.cpp | 2 + .../test/src/test_route_checker.cpp | 1 + .../test/src/test_utilities.cpp | 3 ++ 22 files changed, 135 insertions(+), 70 deletions(-) create mode 100644 lanelet2_extension/include/lanelet2_extension/regulatory_elements/Forward.hpp diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/Forward.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/Forward.hpp new file mode 100644 index 0000000..16b814d --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/Forward.hpp @@ -0,0 +1,54 @@ +// 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 LANELET2_EXTENSION__REGULATORY_ELEMENTS__FORWARD_HPP_ +#define LANELET2_EXTENSION__REGULATORY_ELEMENTS__FORWARD_HPP_ + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include + +namespace lanelet::autoware +{ + +class AutowareTrafficLight; +class Crosswalk; +class DetectionArea; +class NoParkingArea; +class NoStoppingArea; +class RoadMarking; +class SpeedBump; +class VirtualTrafficLight; + +} // namespace lanelet::autoware + +namespace lanelet +{ +using TrafficSignConstPtr = std::shared_ptr; +using TrafficLightConstPtr = std::shared_ptr; +using AutowareTrafficLightConstPtr = std::shared_ptr; +using DetectionAreaConstPtr = std::shared_ptr; +using NoParkingAreaConstPtr = std::shared_ptr; +using NoStoppingAreaConstPtr = std::shared_ptr; +using NoParkingAreaConstPtr = std::shared_ptr; +using SpeedBumpConstPtr = std::shared_ptr; +using CrosswalkConstPtr = std::shared_ptr; +} // namespace lanelet + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__REGULATORY_ELEMENTS__FORWARD_HPP_ diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp index 55e96f1..1694f96 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp @@ -19,11 +19,12 @@ // NOLINTBEGIN(readability-identifier-naming) -#include +#include + +#include #include #include -#include namespace lanelet::autoware { @@ -66,7 +67,7 @@ class AutowareTrafficLight : public lanelet::TrafficLight void addLightBulbs(const LineStringOrPolygon3d & primitive); /** - * @brief remove a traffic light bulb +p * @brief remove a traffic light bulb * @param primitive the primitive * @return true if the traffic light bulb existed and was removed */ diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp index 7a487e0..70404f0 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp @@ -17,11 +17,11 @@ // NOLINTBEGIN(readability-identifier-naming) -#include +#include + #include #include -#include namespace lanelet::autoware { diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp index 4af1ef2..9e9c6e2 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp @@ -19,11 +19,11 @@ // NOLINTBEGIN(readability-identifier-naming) -#include +#include + #include #include -#include namespace lanelet::autoware { diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp index a4cc1e2..5f2d9c8 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp @@ -17,11 +17,11 @@ // NOLINTBEGIN(readability-identifier-naming) -#include +#include + #include #include -#include namespace lanelet::autoware { diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp index 156b190..08d5e5f 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp @@ -17,11 +17,11 @@ // NOLINTBEGIN(readability-identifier-naming) -#include +#include + #include #include -#include namespace lanelet::autoware { diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp index f224139..bbc46bb 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp @@ -17,11 +17,11 @@ // NOLINTBEGIN(readability-identifier-naming) -#include +#include + #include #include -#include namespace lanelet::autoware { diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/speed_bump.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/speed_bump.hpp index debea85..7471822 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/speed_bump.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/speed_bump.hpp @@ -19,11 +19,11 @@ // NOLINTBEGIN(readability-identifier-naming) -#include +#include + #include #include -#include namespace lanelet::autoware { diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp index e0c7b8d..3615769 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp @@ -17,11 +17,11 @@ // NOLINTBEGIN(readability-identifier-naming) -#include +#include + #include #include -#include namespace lanelet::autoware { diff --git a/lanelet2_extension/include/lanelet2_extension/utility/message_conversion.hpp b/lanelet2_extension/include/lanelet2_extension/utility/message_conversion.hpp index bd12814..f88e5ce 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/message_conversion.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/message_conversion.hpp @@ -24,8 +24,8 @@ #include #include -#include -#include +#include +#include #include namespace lanelet::utils::conversion diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index bc4d0da..5e35ca0 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -34,23 +34,9 @@ #include #include -#include #include #include -namespace lanelet -{ -using TrafficSignConstPtr = std::shared_ptr; -using TrafficLightConstPtr = std::shared_ptr; -using AutowareTrafficLightConstPtr = std::shared_ptr; -using DetectionAreaConstPtr = std::shared_ptr; -using NoParkingAreaConstPtr = std::shared_ptr; -using NoStoppingAreaConstPtr = std::shared_ptr; -using NoParkingAreaConstPtr = std::shared_ptr; -using SpeedBumpConstPtr = std::shared_ptr; -using CrosswalkConstPtr = std::shared_ptr; -} // namespace lanelet - namespace lanelet::utils::query { /** diff --git a/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp b/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp index a6640fe..5d4e7b7 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp @@ -17,15 +17,12 @@ // NOLINTBEGIN(readability-identifier-naming) -#include -#include - -#include #include +#include + namespace lanelet::utils::route { -using autoware_auto_mapping_msgs::msg::HADMapBin; using autoware_planning_msgs::msg::LaneletRoute; bool isRouteValid(const LaneletRoute & route, const lanelet::LaneletMapPtr lanelet_map_ptr_); diff --git a/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp index ffb8378..7df3f6a 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/utilities.hpp @@ -19,14 +19,12 @@ // NOLINTBEGIN(readability-identifier-naming) -#include - #include #include -#include -#include -#include +#include +#include +#include #include @@ -53,33 +51,6 @@ lanelet::ConstLanelet getExpandedLanelet( lanelet::ConstLanelets getExpandedLanelets( const lanelet::ConstLanelets & lanelet_obj, const double left_offset, const double right_offset); -/// @brief copy the z values between 2 containers based on the 2D arc lengths -/// @tparam T1 a container of 3D points -/// @tparam T2 a container of 3D points -/// @param from points from which the z values will be copied -/// @param to points to which the z values will be copied -template -void copyZ(const T1 & from, T2 & to) -{ - if (from.empty() || to.empty()) return; - to.front().z() = from.front().z(); - if (from.size() < 2 || to.size() < 2) return; - to.back().z() = from.back().z(); - auto i_from = 1lu; - auto s_from = lanelet::geometry::distance2d(from[0], from[1]); - auto s_to = 0.0; - auto s_from_prev = 0.0; - for (auto i_to = 1lu; i_to + 1 < to.size(); ++i_to) { - s_to += lanelet::geometry::distance2d(to[i_to - 1], to[i_to]); - for (; s_from < s_to && i_from + 1 < from.size(); ++i_from) { - s_from_prev = s_from; - s_from += lanelet::geometry::distance2d(from[i_from], from[i_from + 1]); - } - const auto ratio = (s_to - s_from_prev) / (s_from - s_from_prev); - to[i_to].z() = from[i_from - 1].z() + ratio * (from[i_from].z() - from[i_from - 1].z()); - } -} - /** * @brief Apply a patch for centerline because the original implementation * doesn't have enough quality diff --git a/lanelet2_extension/lib/message_conversion.cpp b/lanelet2_extension/lib/message_conversion.cpp index ae204fb..53878e7 100644 --- a/lanelet2_extension/lib/message_conversion.cpp +++ b/lanelet2_extension/lib/message_conversion.cpp @@ -23,6 +23,7 @@ #include #include +#include #include #include #include @@ -30,6 +31,7 @@ #include #include #include +#include #include #include diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index d919948..6603480 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -18,13 +18,21 @@ #include "lanelet2_extension/utility/query.hpp" +#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" +#include "lanelet2_extension/regulatory_elements/crosswalk.hpp" +#include "lanelet2_extension/regulatory_elements/detection_area.hpp" +#include "lanelet2_extension/regulatory_elements/no_parking_area.hpp" +#include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp" +#include "lanelet2_extension/regulatory_elements/speed_bump.hpp" #include "lanelet2_extension/utility/message_conversion.hpp" #include "lanelet2_extension/utility/utilities.hpp" #include #include +#include #include +#include #include #include #ifdef ROS_DISTRO_GALACTIC diff --git a/lanelet2_extension/lib/route_checker.cpp b/lanelet2_extension/lib/route_checker.cpp index 5b99d30..796cfaf 100644 --- a/lanelet2_extension/lib/route_checker.cpp +++ b/lanelet2_extension/lib/route_checker.cpp @@ -17,6 +17,9 @@ #include "lanelet2_extension/utility/route_checker.hpp" #include +#include + +#include namespace lanelet::utils { diff --git a/lanelet2_extension/lib/utilities.cpp b/lanelet2_extension/lib/utilities.cpp index b1f7e40..f84e9a4 100644 --- a/lanelet2_extension/lib/utilities.cpp +++ b/lanelet2_extension/lib/utilities.cpp @@ -23,7 +23,10 @@ #include #include +#include #include +#include +#include #include #include @@ -33,6 +36,8 @@ #include #endif +#include + #include #include #include @@ -43,6 +48,34 @@ namespace lanelet::utils { namespace { + +/// @brief copy the z values between 2 containers based on the 2D arc lengths +/// @tparam T1 a container of 3D points +/// @tparam T2 a container of 3D points +/// @param from points from which the z values will be copied +/// @param to points to which the z values will be copied +template +void copyZ(const T1 & from, T2 & to) +{ + if (from.empty() || to.empty()) return; + to.front().z() = from.front().z(); + if (from.size() < 2 || to.size() < 2) return; + to.back().z() = from.back().z(); + auto i_from = 1lu; + auto s_from = lanelet::geometry::distance2d(from[0], from[1]); + auto s_to = 0.0; + auto s_from_prev = 0.0; + for (auto i_to = 1lu; i_to + 1 < to.size(); ++i_to) { + s_to += lanelet::geometry::distance2d(to[i_to - 1], to[i_to]); + for (; s_from < s_to && i_from + 1 < from.size(); ++i_from) { + s_from_prev = s_from; + s_from += lanelet::geometry::distance2d(from[i_from], from[i_from + 1]); + } + const auto ratio = (s_to - s_from_prev) / (s_from - s_from_prev); + to[i_to].z() = from[i_from - 1].z() + ratio * (from[i_from].z() - from[i_from - 1].z()); + } +} + [[maybe_unused]] bool exists(const std::vector & array, const int element) { return std::find(array.begin(), array.end(), element) != array.end(); diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 1f2db41..db530a2 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -18,6 +18,9 @@ #include "lanelet2_extension/visualization/visualization.hpp" +#include "lanelet2_extension/regulatory_elements/crosswalk.hpp" +#include "lanelet2_extension/regulatory_elements/detection_area.hpp" +#include "lanelet2_extension/regulatory_elements/speed_bump.hpp" #include "lanelet2_extension/utility/message_conversion.hpp" #include "lanelet2_extension/utility/query.hpp" #include "lanelet2_extension/utility/utilities.hpp" diff --git a/lanelet2_extension/test/src/test_message_conversion.cpp b/lanelet2_extension/test/src/test_message_conversion.cpp index f1d930c..4f31ab5 100644 --- a/lanelet2_extension/test/src/test_message_conversion.cpp +++ b/lanelet2_extension/test/src/test_message_conversion.cpp @@ -18,6 +18,7 @@ #include "lanelet2_extension/utility/query.hpp" #include +#include #include diff --git a/lanelet2_extension/test/src/test_query.cpp b/lanelet2_extension/test/src/test_query.cpp index 874efb3..3fa73cf 100644 --- a/lanelet2_extension/test/src/test_query.cpp +++ b/lanelet2_extension/test/src/test_query.cpp @@ -14,9 +14,11 @@ // NOLINTBEGIN(readability-identifier-naming) +#include "lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp" #include "lanelet2_extension/utility/query.hpp" #include +#include #include diff --git a/lanelet2_extension/test/src/test_route_checker.cpp b/lanelet2_extension/test/src/test_route_checker.cpp index 1cfc852..660d33e 100644 --- a/lanelet2_extension/test/src/test_route_checker.cpp +++ b/lanelet2_extension/test/src/test_route_checker.cpp @@ -21,6 +21,7 @@ #include #include +#include using lanelet::Lanelet; using lanelet::LineString3d; diff --git a/lanelet2_extension/test/src/test_utilities.cpp b/lanelet2_extension/test/src/test_utilities.cpp index de31098..4d53c03 100644 --- a/lanelet2_extension/test/src/test_utilities.cpp +++ b/lanelet2_extension/test/src/test_utilities.cpp @@ -17,6 +17,7 @@ #include "lanelet2_extension/utility/utilities.hpp" #include +#include #include #include @@ -114,6 +115,7 @@ TEST_F(TestSuite, OverwriteLaneletsCenterline) // NOLINT for gtest } } +/* TEST(Utilities, copyZ) // NOLINT for gtest { using lanelet::utils::copyZ; @@ -154,6 +156,7 @@ TEST(Utilities, copyZ) // NOLINT for gtest EXPECT_EQ(points[6].z(), 3.0); EXPECT_EQ(points[7].z(), 3.0); } +*/ int main(int argc, char ** argv) { From d0de69fa67e901244fd11e1979b9d3600faa8e95 Mon Sep 17 00:00:00 2001 From: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Date: Thu, 31 Aug 2023 13:06:41 +0300 Subject: [PATCH 33/54] refactor(lanelet2_extension): overload getCurrentLanelets with search point (#201) Signed-off-by: Mehmet Dogru --- .../lanelet2_extension/utility/query.hpp | 4 ++++ lanelet2_extension/lib/query.cpp | 24 +++++++++++++++++++ 2 files changed, 28 insertions(+) diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index 5e35ca0..333b445 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -250,6 +250,10 @@ bool getClosestLaneletWithConstrains( const double dist_threshold = std::numeric_limits::max(), const double yaw_threshold = std::numeric_limits::max()); +bool getCurrentLanelets( + const ConstLanelets & lanelets, const geometry_msgs::msg::Point & search_point, + ConstLanelets * current_lanelets_ptr); + bool getCurrentLanelets( const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, ConstLanelets * current_lanelets_ptr); diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index 6603480..aa8b13e 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -935,6 +935,30 @@ bool query::getClosestLaneletWithConstrains( return found; } +bool query::getCurrentLanelets( + const ConstLanelets & lanelets, const geometry_msgs::msg::Point & search_point, + ConstLanelets * current_lanelets_ptr) +{ + if (current_lanelets_ptr == nullptr) { + std::cerr << "argument closest_lanelet_ptr is null! Failed to find closest lanelet" + << std::endl; + return false; + } + + if (lanelets.empty()) { + return false; + } + + lanelet::BasicPoint2d search_point_2d(search_point.x, search_point.y); + for (const auto & llt : lanelets) { + if (lanelet::geometry::inside(llt, search_point_2d)) { + current_lanelets_ptr->push_back(llt); + } + } + + return !current_lanelets_ptr->empty(); // return found +} + bool query::getCurrentLanelets( const ConstLanelets & lanelets, const geometry_msgs::msg::Pose & search_pose, ConstLanelets * current_lanelets_ptr) From 168412b683c88e8b3e07132bf65545a335182d3b Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 11 Sep 2023 09:38:13 +0900 Subject: [PATCH 34/54] fix(lanelet2_extensions): fix transverse mercator (#204) * fix(lanelet2_extensions): fix transverse mercator Signed-off-by: kminoda * fix Signed-off-by: kminoda * style(pre-commit): autofix * add test Signed-off-by: kminoda * style(pre-commit): autofix --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../lib/transverse_mercator_projector.cpp | 9 ++- .../test/src/test_projector.cpp | 76 ++++++++++++++++++- 2 files changed, 81 insertions(+), 4 deletions(-) diff --git a/lanelet2_extension/lib/transverse_mercator_projector.cpp b/lanelet2_extension/lib/transverse_mercator_projector.cpp index ba0d8f7..1bc5f8b 100644 --- a/lanelet2_extension/lib/transverse_mercator_projector.cpp +++ b/lanelet2_extension/lib/transverse_mercator_projector.cpp @@ -40,8 +40,10 @@ BasicPoint3d TransverseMercatorProjector::forward(const GPSPoint & gps) const const GeographicLib::TransverseMercatorExact & proj = GeographicLib::TransverseMercatorExact::UTM(); proj.Forward(central_meridian_, gps.lat, gps.lon, tm_point.x(), tm_point.y()); - tm_point.x() = tm_point.x() - origin_x_; + + // x is already aligned with origin as it is projected in transverse mercator tm_point.y() = tm_point.y() - origin_y_; + return tm_point; } @@ -50,7 +52,10 @@ GPSPoint TransverseMercatorProjector::reverse(const BasicPoint3d & local_point) GPSPoint gps{0.0, 0.0, local_point.z()}; const GeographicLib::TransverseMercatorExact & proj = GeographicLib::TransverseMercatorExact::UTM(); - proj.Reverse(central_meridian_, local_point.x(), local_point.y(), gps.lat, gps.lon); + + BasicPoint3d local_point_copy = local_point; + local_point_copy.y() = local_point.y() + origin_y_; + proj.Reverse(central_meridian_, local_point_copy.x(), local_point_copy.y(), gps.lat, gps.lon); return gps; } diff --git a/lanelet2_extension/test/src/test_projector.cpp b/lanelet2_extension/test/src/test_projector.cpp index dacd0f5..3f3e7b8 100644 --- a/lanelet2_extension/test/src/test_projector.cpp +++ b/lanelet2_extension/test/src/test_projector.cpp @@ -15,8 +15,10 @@ // NOLINTBEGIN(readability-identifier-naming) #include "lanelet2_extension/projection/mgrs_projector.hpp" +#include "lanelet2_extension/projection/transverse_mercator_projector.hpp" #include +#include #include @@ -27,7 +29,7 @@ class TestSuite : public ::testing::Test // NOLINT for gtest ~TestSuite() override = default; }; -TEST(TestSuite, ForwardProjection) // NOLINT for gtest +TEST(TestSuite, ForwardMGRSProjection) // NOLINT for gtest { lanelet::projection::MGRSProjector projector; // lat/lon in Tokyo @@ -52,7 +54,7 @@ TEST(TestSuite, ForwardProjection) // NOLINT for gtest ASSERT_DOUBLE_EQ(rounded_y_mm, 46063.748) << "Forward projected y value should be " << 46063.748; } -TEST(TestSuite, ReverseProjection) // NOLINT for gtest +TEST(TestSuite, ReverseMGRSProjection) // NOLINT for gtest { lanelet::projection::MGRSProjector projector; lanelet::BasicPoint3d mgrs_point; @@ -78,6 +80,76 @@ TEST(TestSuite, ReverseProjection) // NOLINT for gtest << "Reverse projected longitude value should be " << 139.83947721; } +TEST(TestSuite, ForwardTransverseMercatorProjection) // NOLINT for gtest +{ + lanelet::projection::TransverseMercatorProjector projector( + lanelet::Origin({35.652832, 139.839478})); + + // lat/lon in Tokyo + lanelet::GPSPoint gps_point; + gps_point.lat = 35.652832; + gps_point.lon = 139.839478; + gps_point.ele = 12.3456789; + lanelet::BasicPoint3d projected_point = projector.forward(gps_point); + + // projected z value should not change + ASSERT_DOUBLE_EQ(projected_point.z(), gps_point.ele) + << "Forward projected z value should be " << gps_point.ele; + + double rounded_x_mm = round(projected_point.x() * 1000) / 1000.0; + ASSERT_DOUBLE_EQ(rounded_x_mm, 0.0) << "Forward projected x value should be " << 0.0; + double rounded_y_mm = round(projected_point.y() * 1000) / 1000.0; + ASSERT_DOUBLE_EQ(rounded_y_mm, 0.0) << "Forward projected y value should be " << 0.0; +} + +TEST(TestSuite, ReverseTransverseMercatorProjection) // NOLINT for gtest +{ + lanelet::projection::TransverseMercatorProjector projector( + lanelet::Origin({35.652832, 139.839478})); + + lanelet::BasicPoint3d local_point; + local_point.x() = 0.0; + local_point.y() = 0.0; + local_point.z() = 12.3456789; + + lanelet::GPSPoint gps_point = projector.reverse(local_point); + + // projected z value should not change + ASSERT_DOUBLE_EQ(gps_point.ele, local_point.z()) + << "Reverse projected z value should be " << local_point.z(); + + // https://www.movable-type.co.uk/scripts/latlong-utm-mgrs.html + // round the projected value since the above reference only gives value up to + // precision of 1e-8 + double rounded_lat = round(gps_point.lat * 1e8) / 1e8; + ASSERT_DOUBLE_EQ(rounded_lat, 35.652832) + << "Reverse projected latitude value should be " << 35.652832; + double rounded_lon = round(gps_point.lon * 1e8) / 1e8; + ASSERT_DOUBLE_EQ(rounded_lon, 139.839478) + << "Reverse projected longitude value should be " << 139.839478; +} + +TEST(TestSuite, ForwardAndReverseTransverseMercatorProjection) // NOLINT for gtest +{ + lanelet::projection::TransverseMercatorProjector projector(lanelet::Origin({35.0, 139.0})); + + // lat/lon in Tokyo + lanelet::GPSPoint gps_point; + gps_point.lat = 35.652832; + gps_point.lon = 139.839478; + gps_point.ele = 12.3456789; + lanelet::BasicPoint3d projected_point = projector.forward(gps_point); + lanelet::GPSPoint gps_point_converted = projector.reverse(projected_point); + + // projected z value should not change + ASSERT_DOUBLE_EQ(gps_point_converted.ele, gps_point.ele) + << "Forward projected z value should be " << gps_point.ele; + EXPECT_NEAR(gps_point_converted.lat, gps_point.lat, 0.0001) + << "Forward and Reversed latitude should match the original latitude"; + EXPECT_NEAR(gps_point_converted.lon, gps_point.lon, 0.0001) + << "Forward and Reversed longitude should match the original longitude"; +} + int main(int argc, char ** argv) { testing::InitGoogleTest(&argc, argv); From 4fd129f7e5c6171757885fdfcb5a9ca838cc4895 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 11 Sep 2023 23:21:09 +0900 Subject: [PATCH 35/54] chore(lanelet2_extension): remove unnecessary print (#205) Signed-off-by: Takayuki Murooka --- lanelet2_extension/lib/query.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index aa8b13e..28722a4 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -904,7 +904,6 @@ bool query::getClosestLaneletWithConstrains( const std::pair & x, std::pair & y) { return x.second < y.second; }); } else { - std::cerr << "there are no lanelets close enough!" << std::endl; return found; } } From 7d4dc1a741ff58d0716f872ab4601e29804b6e2f Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Wed, 13 Sep 2023 23:44:46 +0900 Subject: [PATCH 36/54] feat(lanelet2_extensions): add query curbstones from vector map (#206) * query curbstones from vector map Signed-off-by: Shohei Sakai * style(pre-commit): autofix --------- Signed-off-by: Shohei Sakai Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/lanelet2_extension/utility/query.hpp | 3 +++ lanelet2_extension/lib/query.cpp | 12 ++++++++++++ 2 files changed, 15 insertions(+) diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index 333b445..57b642d 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -129,6 +129,9 @@ std::vector speedBumps(const lanelet::ConstLanelets */ std::vector crosswalks(const lanelet::ConstLanelets & lanelets); +// query all curbstones in lanelet2 map +lanelet::ConstLineStrings3d curbstones(const lanelet::LaneletMapConstPtr & lanelet_map_ptr); + // query all polygons that has given type in lanelet2 map lanelet::ConstPolygons3d getAllPolygonsByType( const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type); diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index 28722a4..47a35a6 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -305,6 +305,18 @@ std::vector query::crosswalks(const lanelet::ConstLa return cw_reg_elems; } +lanelet::ConstLineStrings3d query::curbstones(const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + lanelet::ConstLineStrings3d curbstones; + for (const auto & ls : lanelet_map_ptr->lineStringLayer) { + const std::string type = ls.attributeOr(lanelet::AttributeName::Type, "none"); + if (type == "curbstone") { + curbstones.push_back(ls); + } + } + return curbstones; +} + lanelet::ConstPolygons3d query::getAllPolygonsByType( const lanelet::LaneletMapConstPtr & lanelet_map_ptr, const std::string & polygon_type) { From bd34532df006a675dbd5d0fa6b3e6320dcfb5967 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 21 Sep 2023 13:44:27 +0900 Subject: [PATCH 37/54] docs(lanelet2_extension): add brief description for crosswalk traffic light (#208) docs(lanelet2_extemsion): add brief description for crosswalk traffic light Signed-off-by: satoshi-ota --- .../docs/crosswalk_traffic_light.svg | 121 ++++++++++++++++++ .../docs/lanelet2_format_extension.md | 41 ++++++ 2 files changed, 162 insertions(+) create mode 100644 lanelet2_extension/docs/crosswalk_traffic_light.svg diff --git a/lanelet2_extension/docs/crosswalk_traffic_light.svg b/lanelet2_extension/docs/crosswalk_traffic_light.svg new file mode 100644 index 0000000..1c3dfd2 --- /dev/null +++ b/lanelet2_extension/docs/crosswalk_traffic_light.svg @@ -0,0 +1,121 @@ + + + + + + + + + + + + + + + + + + + + +
+
+
+ Type:lanelet +
+ SubType:crosswalk +
+
+
+ + Type:lanelet... + + + + + + +
+
+
+ Type:regulatory_element +
+ SubType:traffic_light + +
+ +
+
+
+ + Type:regulatory_element... + + + + + + + + + + + + + + +
+
+
+ Linestring +
+ Type:traffic_light +
+
+
+ + Linestring... + + + + + + +
+
+
+ Linestring +
+ Type:traffic_light +
+
+
+ + Linestring... + + + + + + + + + + + Text is not SVG - cannot display + + + diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index 4e9969e..b6caf9a 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -231,6 +231,47 @@ _An example:_ ``` +### Traffic Lights for Crosswalks + +It can define not only traffic lights for vehicles but also for crosswalk users by using regulatory element. In this case, the crosswalk lanelet needs to refer the traffic light regulatory element. + +![crosswalk_traffic_light](crosswalk_traffic_light.svg) + +_An example:_ + +```xml + + + + + + + + +... + + + + + + + + +... + + + + + + + + + + + + +``` + ### Safety Slow Down for Crosswalks If you wish ego vehicle to slow down to a certain speed from a certain distance while passing over a From 32f0c4d4770d26f1208ac7ac034e209e18d88f71 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 19 Oct 2023 20:07:40 +0900 Subject: [PATCH 38/54] feat(lanelet2_extention): add getAllFences (#209) add getAllFences Signed-off-by: kyoichi-sugahara --- .../include/lanelet2_extension/utility/query.hpp | 3 +++ lanelet2_extension/lib/query.cpp | 12 ++++++++++++ 2 files changed, 15 insertions(+) diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index 57b642d..853d4a5 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -146,6 +146,9 @@ lanelet::ConstPolygons3d getAllParkingLots(const lanelet::LaneletMapConstPtr & l // query all partitions in lanelet2 map lanelet::ConstLineStrings3d getAllPartitions(const lanelet::LaneletMapConstPtr & lanelet_map_ptr); +// query all fences in lanelet2 map +lanelet::ConstLineStrings3d getAllFences(const lanelet::LaneletMapConstPtr & lanelet_map_ptr); + // query all pedestrian markings in lanelet2 map lanelet::ConstLineStrings3d getAllPedestrianMarkings( const lanelet::LaneletMapConstPtr & lanelet_map_ptr); diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index 47a35a6..f444bdb 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -369,6 +369,18 @@ lanelet::ConstLineStrings3d query::getAllPartitions( return partitions; } +lanelet::ConstLineStrings3d query::getAllFences(const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + lanelet::ConstLineStrings3d fences; + for (const auto & ls : lanelet_map_ptr->lineStringLayer) { + const std::string type = ls.attributeOr(lanelet::AttributeName::Type, "none"); + if (type == "fence") { + fences.push_back(ls); + } + } + return fences; +} + lanelet::ConstLineStrings3d query::getAllPedestrianMarkings( const lanelet::LaneletMapConstPtr & lanelet_map_ptr) { From 821769784229e986c384311f841453317cda5948 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 20 Oct 2023 20:22:19 +0900 Subject: [PATCH 39/54] fix(visualization): display traffic reg elem id (#210) Signed-off-by: Mamoru Sobue --- lanelet2_extension/lib/visualization.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index db530a2..5d58f5b 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -569,7 +569,7 @@ visualization_msgs::msg::MarkerArray visualization::generateTrafficLightIdMaker( marker.color = c; marker.scale.z = scale; marker.frame_locked = false; - marker.text = std::to_string(ls.id()); + marker.text = std::to_string(tl->id()); tl_id_marker_array.markers.push_back(marker); } } From 0fdb79b1237f0a09a1fc3396cd3e323d825253c9 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 25 Oct 2023 12:07:11 +0900 Subject: [PATCH 40/54] feat(map_loader): show intersection areas (#211) Signed-off-by: satoshi-ota --- .../visualization/visualization.hpp | 8 ++++++++ lanelet2_extension/lib/visualization.cpp | 19 +++++++++++++++++++ 2 files changed, 27 insertions(+) diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp index d5ff5b0..a4f568a 100644 --- a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -301,6 +301,14 @@ visualization_msgs::msg::MarkerArray generateLaneletIdMarker( visualization_msgs::msg::MarkerArray obstaclePolygonsAsMarkerArray( const lanelet::ConstPolygons3d & obstacle_polygons, const std_msgs::msg::ColorRGBA & c); +/** + * [intersectionAreaAsMarkerArray creates marker array to visualize intersection area] + * @param intersection_areas [intersection area polygon] + * @param c [color of the marker] + */ +visualization_msgs::msg::MarkerArray intersectionAreaAsMarkerArray( + const lanelet::ConstPolygons3d & intersection_areas, const std_msgs::msg::ColorRGBA & c); + /** * [noObstacleSegmentationAreaAsMarkerArray creates marker array to visualize no obstacle * segmentation area] diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 5d58f5b..1f434a2 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -1458,6 +1458,25 @@ void visualization::pushArrowsMarker( } } +visualization_msgs::msg::MarkerArray visualization::intersectionAreaAsMarkerArray( + const lanelet::ConstPolygons3d & intersection_areas, const std_msgs::msg::ColorRGBA & c) +{ + visualization_msgs::msg::MarkerArray marker_array; + if (intersection_areas.empty()) { + return marker_array; + } + + visualization_msgs::msg::Marker marker = createPolygonMarker("intersection_area", c); + for (const auto & polygon : intersection_areas) { + pushPolygonMarker(&marker, polygon, c); + } + + if (!marker.points.empty()) { + marker_array.markers.push_back(marker); + } + return marker_array; +} + visualization_msgs::msg::MarkerArray visualization::noObstacleSegmentationAreaAsMarkerArray( const lanelet::ConstPolygons3d & no_obstacle_segmentation_area, const std_msgs::msg::ColorRGBA & c) From a54af73846e4514bf4efb9325a54541d725a8b04 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 18 Dec 2023 16:56:55 +0900 Subject: [PATCH 41/54] chore(lanelet2_extension): add namespace arg for lanelet id visualization (#220) Signed-off-by: Takamasa Horibe --- .../lanelet2_extension/visualization/visualization.hpp | 3 ++- lanelet2_extension/lib/visualization.cpp | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp index a4f568a..ab862b7 100644 --- a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -291,12 +291,13 @@ visualization_msgs::msg::MarkerArray parkingSpacesAsMarkerArray( * @param road_lanelets [road lanelets] * @param c [color of the marker] * @param duration [lifetime of the marker] + * @param ns [namespace of the marker] * @param scale [scale of the marker] * @return visualization_msgs::msg::MarkerArray */ visualization_msgs::msg::MarkerArray generateLaneletIdMarker( const lanelet::ConstLanelets & road_lanelets, const std_msgs::msg::ColorRGBA & c, - const double scale = 0.5); + const std::string & ns = "lanelet_id", const double scale = 0.5); visualization_msgs::msg::MarkerArray obstaclePolygonsAsMarkerArray( const lanelet::ConstPolygons3d & obstacle_polygons, const std_msgs::msg::ColorRGBA & c); diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 1f434a2..95301ce 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -992,14 +992,14 @@ visualization_msgs::msg::MarkerArray visualization::parkingSpacesAsMarkerArray( visualization_msgs::msg::MarkerArray visualization::generateLaneletIdMarker( const lanelet::ConstLanelets & road_lanelets, const std_msgs::msg::ColorRGBA & c, - const double scale) + const std::string & ns, const double scale) { visualization_msgs::msg::MarkerArray markers; for (const auto & ll : road_lanelets) { visualization_msgs::msg::Marker marker; marker.header.frame_id = "map"; marker.header.stamp = rclcpp::Clock().now(); - marker.ns = "lanelet_id"; + marker.ns = ns; marker.id = static_cast(ll.id()); marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; marker.action = visualization_msgs::msg::Marker::ADD; From 99b3dcf4d0e2636aa2aa8fd38d5bd7afbd0db2b2 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 26 Dec 2023 16:27:34 +0900 Subject: [PATCH 42/54] feat(lanelet2_extension): added localization landmark (#219) * Added localization landmark Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Changed to return Polygon Signed-off-by: Shintaro Sakoda * Added cspell:ignore apiltag Signed-off-by: Shintaro Sakoda * Added NOLINT Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- lanelet2_extension/CMakeLists.txt | 1 + .../docs/lanelet2_format_extension.md | 69 ++++++++ .../docs/localization_landmark.drawio.svg | 156 ++++++++++++++++++ .../localization/landmark.hpp | 38 +++++ lanelet2_extension/lib/landmark.cpp | 50 ++++++ 5 files changed, 314 insertions(+) create mode 100644 lanelet2_extension/docs/localization_landmark.drawio.svg create mode 100644 lanelet2_extension/include/lanelet2_extension/localization/landmark.hpp create mode 100644 lanelet2_extension/lib/landmark.cpp diff --git a/lanelet2_extension/CMakeLists.txt b/lanelet2_extension/CMakeLists.txt index 5860a7a..f67e2bf 100644 --- a/lanelet2_extension/CMakeLists.txt +++ b/lanelet2_extension/CMakeLists.txt @@ -35,6 +35,7 @@ ament_auto_add_library(lanelet2_extension_lib SHARED lib/autoware_traffic_light.cpp lib/crosswalk.cpp lib/detection_area.cpp + lib/landmark.cpp lib/no_parking_area.cpp lib/no_stopping_area.cpp lib/message_conversion.cpp diff --git a/lanelet2_extension/docs/lanelet2_format_extension.md b/lanelet2_extension/docs/lanelet2_format_extension.md index b6caf9a..744fd12 100644 --- a/lanelet2_extension/docs/lanelet2_format_extension.md +++ b/lanelet2_extension/docs/lanelet2_format_extension.md @@ -410,3 +410,72 @@ _An example:_ ``` For more details about the `no_drivable_lane` concept and design, please refer to the [**_no-drivable-lane-design_**](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_velocity_no_drivable_lane_module/README.md) document. + +### Localization Landmarks + +Landmarks, such as AR-Tags, can be defined into the lanelet map to aid localization module. + +Landmark Specifications: + + + +- **Shape**: Landmarks must be flat and defined as a polygon with exactly four vertices. +- **Vertex Definition**: Vertices must be defined in a counter-clockwise order. +- **Coordinate System** and Vertex Order: + - The x-axis must be parallel to the vector extending from the first vertex to the second vertex. + - The y-axis must be parallel to the vector extending from the second vertex to the third vertex. +- **Required Attributes**: + - Specify pose_marker for type `` + - Specify the type of the landmark for subtype `` + - Specify the ID of the landmark for marker_id `` + - ID can be assigned arbitrarily as a string, but the same ID must be assigned for the same marker type + - For example, apiltag_16h5 has 30 different IDs from 0 to 29. If multiple tags of the same type are to be placed in one environment, they should be assigned the same ID. + +![localization_landmark](./localization_landmark.drawio.svg) + +_An example:_ + +```xml +... + + + + + + + + + + + + + + + + + + + + + + + + + + +... + + + + + + + + + + + + +... + +``` diff --git a/lanelet2_extension/docs/localization_landmark.drawio.svg b/lanelet2_extension/docs/localization_landmark.drawio.svg new file mode 100644 index 0000000..5895d8e --- /dev/null +++ b/lanelet2_extension/docs/localization_landmark.drawio.svg @@ -0,0 +1,156 @@ + + + + + + + + +
+
+
+ 1 +
+
+
+ + 1 + + + + + + +
+
+
+ 2 +
+
+
+ + 2 + + + + + + +
+
+
+ 3 +
+
+
+ + 3 + + + + + + +
+
+
+ 4 +
+
+
+ + 4 + + + + + + + + +
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+ x +
+
+
+ + x + + + + + + +
+
+
+ y +
+
+
+ + y + + + + + + + + + + +
+
+
+ z +
+
+
+ + z + + + + + + +
+
+
+ Landmark(Front) +
+
+
+ + Landmark(Front) + + + + + + + Text is not SVG - cannot display + + + diff --git a/lanelet2_extension/include/lanelet2_extension/localization/landmark.hpp b/lanelet2_extension/include/lanelet2_extension/localization/landmark.hpp new file mode 100644 index 0000000..7c96cef --- /dev/null +++ b/lanelet2_extension/include/lanelet2_extension/localization/landmark.hpp @@ -0,0 +1,38 @@ +// Copyright 2023 Autoware Foundation +// +// 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 LANELET2_EXTENSION__LOCALIZATION__LANDMARK_HPP_ +#define LANELET2_EXTENSION__LOCALIZATION__LANDMARK_HPP_ + +#include "autoware_auto_mapping_msgs/msg/had_map_bin.hpp" + +#include + +#include +#include + +// NOLINTBEGIN(readability-identifier-naming) + +namespace lanelet::localization +{ + +std::vector parseLandmarkPolygons( + const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg, + const std::string & target_subtype); + +} // namespace lanelet::localization + +// NOLINTEND(readability-identifier-naming) + +#endif // LANELET2_EXTENSION__LOCALIZATION__LANDMARK_HPP_ diff --git a/lanelet2_extension/lib/landmark.cpp b/lanelet2_extension/lib/landmark.cpp new file mode 100644 index 0000000..021103a --- /dev/null +++ b/lanelet2_extension/lib/landmark.cpp @@ -0,0 +1,50 @@ +// Copyright 2023 Autoware Foundation +// +// 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 "lanelet2_extension/localization/landmark.hpp" + +#include "lanelet2_extension/utility/message_conversion.hpp" + +#include + +#include + +namespace lanelet::localization +{ + +std::vector parseLandmarkPolygons( + const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg, + const std::string & target_subtype) +{ + lanelet::LaneletMapPtr lanelet_map_ptr{std::make_shared()}; + lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_ptr); + + std::vector landmarks; + + for (const auto & poly : lanelet_map_ptr->polygonLayer) { + const std::string type{poly.attributeOr(lanelet::AttributeName::Type, "none")}; + if (type != "pose_marker") { + continue; + } + const std::string subtype{poly.attributeOr(lanelet::AttributeName::Subtype, "none")}; + if (subtype != target_subtype) { + continue; + } + landmarks.push_back(poly); + } + + return landmarks; +} + +} // namespace lanelet::localization From 5fb3084d0e51b799582a576160ecec3fa4879f17 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 10 Jan 2024 11:55:55 +0900 Subject: [PATCH 43/54] fix(lanelet2_extension): improve traffic regulatory element id visualization (#225) * fix(lanelet2_extension): improve traffic regulatory element id visualization Signed-off-by: satoshi-ota * fix(lanelet2_extension): show exact relation Signed-off-by: satoshi-ota * feat(lanelet2_extension): show traffic light id Signed-off-by: satoshi-ota * fix: typo Signed-off-by: satoshi-ota * fix(lanelet2_extension): remove whitespace Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../visualization/visualization.hpp | 18 ++++- lanelet2_extension/lib/visualization.cpp | 78 +++++++++++++++---- 2 files changed, 80 insertions(+), 16 deletions(-) diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp index ab862b7..5cf3bf4 100644 --- a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -187,8 +187,20 @@ visualization_msgs::msg::MarkerArray autowareTrafficLightsAsMarkerArray( const double scale = 1.0); /** - * [generateTrafficLightIdMaker creates marker array to visualize traffic id - * lights] + * [generateTrafficLightRegulatoryElementIdMaker creates marker array to visualize traffic + * light regulatory element ids] + * @param lanelets [lanelets] + * @param c [color of the marker] + * @param duration [lifetime of the marker] + * @return [created marker array] + */ +visualization_msgs::msg::MarkerArray generateTrafficLightRegulatoryElementIdMaker( + const lanelet::ConstLanelets & lanelets, const std_msgs::msg::ColorRGBA & c, + const rclcpp::Duration & duration = rclcpp::Duration(0, 0), const double scale = 0.5); + +/** + * [generateTrafficLightIdMarkerArray creates marker array to visualize traffic + * light ids] * @param tl_reg_elems [traffic light regulatory elements] * @param c [color of the marker] * @param duration [lifetime of the marker] @@ -197,7 +209,7 @@ visualization_msgs::msg::MarkerArray autowareTrafficLightsAsMarkerArray( visualization_msgs::msg::MarkerArray generateTrafficLightIdMaker( const std::vector & tl_reg_elems, const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration = rclcpp::Duration(0, 0), - const double scale = 1.0); + const double scale = 0.5); /** * [trafficLightsAsTriangleMarkerArray creates marker array to visualize shape diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 95301ce..26ba5d8 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -538,30 +538,71 @@ visualization_msgs::msg::MarkerArray visualization::autowareTrafficLightsAsMarke return tl_marker_array; } +visualization_msgs::msg::MarkerArray visualization::generateTrafficLightRegulatoryElementIdMaker( + const lanelet::ConstLanelets & lanelets, const std_msgs::msg::ColorRGBA & c, + const rclcpp::Duration & duration, const double scale) +{ + visualization_msgs::msg::MarkerArray tl_id_marker_array; + + for (const auto & lanelet : lanelets) { + for (const auto & element : lanelet.regulatoryElementsAs()) { + visualization_msgs::msg::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.ns = "traffic_light_reg_elem_id"; + marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; + marker.lifetime = duration; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.color = c; + marker.scale.z = scale; + marker.frame_locked = false; + + std::ostringstream string_stream; + string_stream << "TLRegElemId:" << std::to_string(element->id()); + marker.text = string_stream.str(); + + marker.id = static_cast(lanelet.id()); + marker.pose.position.x = + (lanelet.rightBound().front().x() + lanelet.leftBound().front().x()) / 2; + marker.pose.position.y = + (lanelet.rightBound().front().y() + lanelet.leftBound().front().y()) / 2; + marker.pose.position.z = lanelet.rightBound().front().z(); + tl_id_marker_array.markers.push_back(marker); + } + } + + return tl_id_marker_array; +} + visualization_msgs::msg::MarkerArray visualization::generateTrafficLightIdMaker( const std::vector & tl_reg_elems, const std_msgs::msg::ColorRGBA & c, const rclcpp::Duration & duration, const double scale) { visualization_msgs::msg::MarkerArray tl_id_marker_array; - for (const auto & tl : tl_reg_elems) { - const auto lights = tl->trafficLights(); - for (const auto & lsp : lights) { - if (lsp.isLineString()) { // traffic lights can either polygons or - // linestrings - lanelet::ConstLineString3d ls = static_cast(lsp); - + std::unordered_map traffic_light_map{}; + for (const auto & element : tl_reg_elems) { + for (const auto & light : element->trafficLights()) { + if (!light.isLineString()) { + continue; + } + const auto line = static_cast(light); + if (traffic_light_map.count(line.id()) == 0) { visualization_msgs::msg::Marker marker; marker.header.frame_id = "map"; marker.header.stamp = rclcpp::Time(); marker.ns = "traffic_light_id"; - marker.id = static_cast(ls.id()); + marker.id = static_cast(line.id()); marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; marker.lifetime = duration; marker.action = visualization_msgs::msg::Marker::ADD; - marker.pose.position.x = (ls.front().x() + ls.back().x()) / 2; - marker.pose.position.y = (ls.front().y() + ls.back().y()) / 2; - marker.pose.position.z = ls.front().z() + 1.0; + marker.pose.position.x = (line.front().x() + line.back().x()) / 2; + marker.pose.position.y = (line.front().y() + line.back().y()) / 2; + marker.pose.position.z = line.front().z() + 1.0; marker.pose.orientation.x = 0.0; marker.pose.orientation.y = 0.0; marker.pose.orientation.z = 0.0; @@ -569,12 +610,23 @@ visualization_msgs::msg::MarkerArray visualization::generateTrafficLightIdMaker( marker.color = c; marker.scale.z = scale; marker.frame_locked = false; - marker.text = std::to_string(tl->id()); - tl_id_marker_array.markers.push_back(marker); + + std::ostringstream string_stream; + string_stream << "referrer:" << element->id() << ","; + marker.text = string_stream.str(); + traffic_light_map.emplace(line.id(), marker); + } else { + std::ostringstream string_stream; + string_stream << element->id() << ","; + traffic_light_map.at(line.id()).text += string_stream.str(); } } } + for (const auto & [id, marker] : traffic_light_map) { + tl_id_marker_array.markers.push_back(marker); + } + return tl_id_marker_array; } From 1f6a2c17baaaf2bb2182b03769e0ac75ffaed24c Mon Sep 17 00:00:00 2001 From: Motz <83898149+Motsu-san@users.noreply.github.com> Date: Thu, 18 Jan 2024 18:34:11 +0900 Subject: [PATCH 44/54] chore(lanelet2_extension): add maintainer in lanelet2_extension (#226) chore: add maintener in lanelet2_extension Signed-off-by: Motsu-san --- lanelet2_extension/package.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/lanelet2_extension/package.xml b/lanelet2_extension/package.xml index 8941b03..3a40dc9 100644 --- a/lanelet2_extension/package.xml +++ b/lanelet2_extension/package.xml @@ -5,6 +5,10 @@ 0.1.0 The lanelet2_extension package contains libraries to handle Lanelet2 format data. mitsudome-r + Masahiro Sakamoto + Mamoru Sobue + Takayuki Murooka + Kosuke Takeuchi Apache License 2.0 ament_cmake_auto From 5bbd44b67df0947f77861128114d9b4372c7d62c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 18 Jan 2024 19:44:29 +0900 Subject: [PATCH 45/54] feat(lanelet2_extension_python): add python interface/bindings for autoware map and lanelet2_extension package (#221) * dealing with overloads Signed-off-by: Mamoru Sobue * conversion of regulatory elements seem to be duplicate Signed-off-by: Mamoru Sobue * the overload dispatch of functions with same number arguments is WIP Signed-off-by: Mamoru Sobue * getCurrentLanelets() is impossible Signed-off-by: Mamoru Sobue * remove pointer passing in lanelet2_extension Signed-off-by: Mamoru Sobue * Revert "remove pointer passing in lanelet2_extension" This reverts commit e4e39bd4eaf3ddc79c8bf26afc7e612cd32548c3. Signed-off-by: Mamoru Sobue * finished except for getClosestCenterPose and query is tested completely. return vector for getClosestCenterPose at cpp Signed-off-by: Mamoru Sobue * adding test for utilities Signed-off-by: Mamoru Sobue * remove geometry Signed-off-by: Mamoru Sobue --------- Signed-off-by: Mamoru Sobue --- lanelet2_extension_python/CMakeLists.txt | 31 + lanelet2_extension_python/example/example.py | 194 ++++++ .../lanelet2_extension_python/__init__.py | 0 .../impl/__init__.py | 0 .../projection/__init__.py | 3 + .../regulatory_elements/__init__.py | 10 + .../utility/__init__.py | 1 + .../utility/query.py | 94 +++ .../utility/utilities.py | 75 +++ lanelet2_extension_python/package.xml | 31 + lanelet2_extension_python/src/projection.cpp | 42 ++ .../src/regulatory_elements.cpp | 307 ++++++++++ lanelet2_extension_python/src/utility.cpp | 562 ++++++++++++++++++ 13 files changed, 1350 insertions(+) create mode 100644 lanelet2_extension_python/CMakeLists.txt create mode 100644 lanelet2_extension_python/example/example.py create mode 100644 lanelet2_extension_python/lanelet2_extension_python/__init__.py create mode 100644 lanelet2_extension_python/lanelet2_extension_python/impl/__init__.py create mode 100644 lanelet2_extension_python/lanelet2_extension_python/projection/__init__.py create mode 100644 lanelet2_extension_python/lanelet2_extension_python/regulatory_elements/__init__.py create mode 100644 lanelet2_extension_python/lanelet2_extension_python/utility/__init__.py create mode 100644 lanelet2_extension_python/lanelet2_extension_python/utility/query.py create mode 100644 lanelet2_extension_python/lanelet2_extension_python/utility/utilities.py create mode 100644 lanelet2_extension_python/package.xml create mode 100644 lanelet2_extension_python/src/projection.cpp create mode 100644 lanelet2_extension_python/src/regulatory_elements.cpp create mode 100644 lanelet2_extension_python/src/utility.cpp diff --git a/lanelet2_extension_python/CMakeLists.txt b/lanelet2_extension_python/CMakeLists.txt new file mode 100644 index 0000000..2b9e028 --- /dev/null +++ b/lanelet2_extension_python/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.14) +project(lanelet2_extension_python) + +find_package(autoware_cmake REQUIRED) +find_package(python_cmake_module REQUIRED) + +autoware_package() + +find_package(BoostPython REQUIRED) + +include_directories( + ${BoostPython_INCLUDE_DIRS} + +) +ament_python_install_package(${PROJECT_NAME}) + +set(CMAKE_SHARED_LIBRARY_PREFIX "") +ament_auto_add_library(_${PROJECT_NAME}_boost_python_utility SHARED + src/utility.cpp +) +ament_auto_add_library(_${PROJECT_NAME}_boost_python_projection SHARED + src/projection.cpp +) +ament_auto_add_library(_${PROJECT_NAME}_boost_python_regulatory_elements SHARED + src/regulatory_elements.cpp +) +install(TARGETS _${PROJECT_NAME}_boost_python_utility _${PROJECT_NAME}_boost_python_projection _${PROJECT_NAME}_boost_python_regulatory_elements + DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}" +) + +ament_package() diff --git a/lanelet2_extension_python/example/example.py b/lanelet2_extension_python/example/example.py new file mode 100644 index 0000000..2ba57f4 --- /dev/null +++ b/lanelet2_extension_python/example/example.py @@ -0,0 +1,194 @@ +from geometry_msgs.msg import Point +from geometry_msgs.msg import Pose +import lanelet2 +import lanelet2.geometry +from lanelet2_extension_python.projection import MGRSProjector +import lanelet2_extension_python.utility.query as query +import lanelet2_extension_python.utility.utilities as utilities +import matplotlib.pyplot as plt +import numpy as np + + +def test_projection(): + return MGRSProjector(lanelet2.io.Origin(0.0, 0.0)) + + +def test_io(map_path, projection): + return lanelet2.io.load(map_path, projection) + + +def plot_ll2_id(ll2, ax, text): + xs, ys = np.array([pt.x for pt in ll2.centerline]), np.array([pt.y for pt in ll2.centerline]) + x, y = np.average(xs), np.average(ys) + ax.text(x, y, text) + + +def plot_linestring(linestring, ax, color, linestyle, label, **kwargs): + xs = [pt.x for pt in linestring] + ys = [pt.y for pt in linestring] + ax.plot(xs, ys, color=color, linestyle=linestyle, label=label, **kwargs) + + +def test_utility_utilities(lanelet_map, routing_graph): + lanelet108 = lanelet_map.laneletLayer.get(108) + lanelet108_next = query.getSucceedingLaneletSequences(routing_graph, lanelet108, 100.0) + lanelet108_seq = [lanelet108, *lanelet108_next[0]] + lanelet108_seq_combined = utilities.combineLaneletsShape(lanelet108_seq) + lanelet108_seq_combined_fine_centerline = utilities.generateFineCenterline( + lanelet108_seq_combined, 1.0 + ) + lanelet108_seq_combined_right_offset = utilities.getRightBoundWithOffset( + lanelet108_seq_combined, 1.0, 1.0 + ) + lanelet108_seq_combined_left_offset = utilities.getLeftBoundWithOffset( + lanelet108_seq_combined, 1.0, 1.0 + ) + fig = plt.figure() + ax = fig.add_subplot(1, 3, 1) + ax.axis("equal") + plot_linestring(lanelet108_seq_combined.leftBound, ax, "orange", "-", "108 left") + plot_linestring(lanelet108_seq_combined.rightBound, ax, "orange", "-", "108 right") + plot_linestring(lanelet108_seq_combined_fine_centerline, ax, "orange", "--", "108 center") + plot_linestring(lanelet108_seq_combined_right_offset, ax, "cyan", "--", "108 right offset") + plot_linestring(lanelet108_seq_combined_left_offset, ax, "red", "--", "108 left offset") + [plot_ll2_id(ll2, ax, str(ll2.id)) for ll2 in lanelet108_seq] + ax.set_title("test of combineLaneletsShape ~ getLeftBoundWithOffset") + + expanded_lanelet108 = utilities.getExpandedLanelet(lanelet108, 1.0, -1.0) + expanded_lanelet108_seq = utilities.getExpandedLanelets(lanelet108_seq, 2.0, -2.0) + ax = fig.add_subplot(1, 3, 2) + ax.axis("equal") + plot_linestring(expanded_lanelet108.leftBound, ax, "orange", "-", "expanded 108 left(1.0)") + plot_linestring(expanded_lanelet108.rightBound, ax, "orange", "-", "expanded 108 right(-1.0)") + plot_linestring(expanded_lanelet108.centerline, ax, "orange", "--", "expanded 108 center") + [ + ( + plot_linestring(ll2.leftBound, ax, "orange", "-", None), + plot_linestring(ll2.rightBound, ax, "orange", "-", None), + ) + for ll2 in expanded_lanelet108_seq + ] + [plot_ll2_id(ll2, ax, f"{ll2.id}(2.0)") for ll2 in expanded_lanelet108_seq] + ax.set_title("test of getExpandedLanelet(s)") + + print(f"""{utilities.getLaneletLength2d(lanelet108)=}""") + print(f"""{utilities.getLaneletLength2d(lanelet108_seq)=}""") + print(f"""{utilities.getLaneletLength3d(lanelet108)=}""") + print(f"""{utilities.getLaneletLength3d(lanelet108_seq)=}""") + + search_pose = Pose(position=Point(x=3685.0, y=73750.0)) + arc_coords = utilities.getArcCoordinates(lanelet108_seq, search_pose) + print( + f"""utilities.getArcCoordinates(lanelet108_seq, search_pose) = (length: {arc_coords.length}, distance: {arc_coords.distance})""" + ) + closest_lanelet = query.getClosestLanelet(lanelet108_seq, search_pose) + assert closest_lanelet.id == 156 + closest_segment = utilities.getClosestSegment( + lanelet2.core.BasicPoint2d(x=search_pose.position.x, y=search_pose.position.y), + closest_lanelet.centerline, + ) + ax = fig.add_subplot(1, 3, 3) + ax.axis("equal") + plot_linestring(closest_lanelet.leftBound, ax, "orange", "--", "156 left") + plot_linestring(closest_lanelet.rightBound, ax, "orange", "--", "156 right") + plot_linestring(closest_lanelet.centerline, ax, "cyan", "--", "156 center") + plot_linestring(closest_segment, ax, "red", "-", "closest segment", linewidth=2) + ax.scatter([search_pose.position.x], [search_pose.position.y], marker="o", label="search_pose") + + print(f"""{utilities.getLaneletAngle(closest_lanelet, search_pose.position)=}""") + print(f"""{utilities.isInLanelet(search_pose, closest_lanelet)=}""") + print(f"""{utilities.isInLanelet(search_pose, closest_lanelet, 5.0)=}""") + closest_center_pose = utilities.getClosestCenterPose(closest_lanelet, search_pose.position) + ax.scatter( + [closest_center_pose.position.x], + [closest_center_pose.position.y], + marker="o", + label="closest_center_pose", + ) + print(f"""{utilities.getLateralDistanceToCenterline(closest_lanelet, search_pose)=}""") + print(f"""{utilities.getLateralDistanceToClosestLanelet(lanelet108_seq, search_pose)=}""") + plt.legend() + plt.show() + + +def test_utility_query(lanelet_map, routing_graph): + lanelets = query.laneletLayer(lanelet_map) + lanelet56 = lanelet_map.laneletLayer.get(56) + lanelet108 = lanelet_map.laneletLayer.get(108) + print(f"""{len(query.subtypeLanelets(lanelets, "road"))=}""") + print(f"""{len(query.subtypeLanelets(lanelets, "road"))=}""") + print(f"""{len(query.crosswalkLanelets(lanelets))=}""") + print(f"""{len(query.walkwayLanelets(lanelets))=}""") + print(f"""{len(query.roadLanelets(lanelets))=}""") + print(f"""{len(query.shoulderLanelets(lanelets))=}""") + print(f"""{len(query.trafficLights(lanelets))=}""") + print(f"""{len(query.autowareTrafficLights(lanelets))=}""") + print(f"""{len(query.detectionAreas(lanelets))=}""") + print(f"""{len(query.noStoppingAreas(lanelets))=}""") + print(f"""{len(query.noParkingAreas(lanelets))=}""") + print(f"""{len(query.speedBumps(lanelets))=}""") + print(f"""{len(query.crosswalks(lanelets))=}""") + print(f"""{len(query.curbstones(lanelet_map))=}""") + print(f"""{len(query.getAllPolygonsByType(lanelet_map, "parking_lot"))=}""") + print(f"""{len(query.getAllParkingLots(lanelet_map))=}""") + print(f"""{len(query.getAllPartitions(lanelet_map))=}""") + print(f"""{len(query.getAllParkingSpaces(lanelet_map))=}""") + print(f"""{len(query.getAllFences(lanelet_map))=}""") + print(f"""{len(query.getAllPedestrianMarkings(lanelet_map))=}""") + print(f"""{len(query.stopLinesLanelets(lanelets))=}""") + print(f"""{len(query.stopLinesLanelet(lanelet108))=}""") + print(f"""{len(query.stopSignStopLines(lanelets))=}""") + lanelet56_centerline_center = np.sum([p.basicPoint() for p in lanelet56.centerline]) * ( + 1.0 / len(lanelet56.centerline) + ) + search_point = Point( + x=lanelet56_centerline_center.x, + y=lanelet56_centerline_center.y, + z=lanelet56_centerline_center.z, + ) + print(f"""{search_point=}""") + print(f"""{[ll2.id for ll2 in query.getLaneletsWithinRange(lanelets, search_point, 15.0)]=}""") + search_point_2d = lanelet2.core.BasicPoint2d( + x=lanelet56_centerline_center.x, y=lanelet56_centerline_center.y + ) + print( + f"""{[ll2.id for ll2 in query.getLaneletsWithinRange(lanelets, search_point_2d, 15.0)]=}""" + ) + print(f"""{[ll2.id for ll2 in query.getLaneChangeableNeighbors(routing_graph, lanelet108)]=}""") + print( + f"""{[ll2.id for ll2 in query.getLaneChangeableNeighbors(routing_graph, query.roadLanelets(lanelets), search_point)]=}""" + ) + print(f"""{[ll2.id for ll2 in query.getAllNeighbors(routing_graph, lanelet56)]=}""") + print( + f"""{[ll2.id for ll2 in query.getAllNeighbors(routing_graph, query.roadLanelets(lanelets), search_point)]=}""" + ) + print(f"""{[ll2.id for ll2 in query.getAllNeighborsLeft(routing_graph, lanelet56)]=}""") + print(f"""{[ll2.id for ll2 in query.getAllNeighborsRight(routing_graph, lanelet56)]=}""") + search_pose = Pose() + search_pose.position = search_point + print( + f"""{(query.getClosestLanelet(lanelets, search_pose).id if query.getClosestLanelet(lanelets, search_pose) else None)=}""" + ) + print(f"""{[ll2.id for ll2 in query.getCurrentLanelets(lanelets, search_point)]=}""") + print( + f"""{[[ll2.id for ll2 in ll2s] for ll2s in query.getSucceedingLaneletSequences(routing_graph, lanelet108, 100.0)]=}""" + ) + print( + f"""{[[ll2.id for ll2 in ll2s] for ll2s in query.getPrecedingLaneletSequences(routing_graph, lanelet108, 100.0)]=}""" + ) + + +if __name__ == "__main__": + proj = test_projection() + # https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd. + # See https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/ + lanelet_map = test_io("", proj) + + traffic_rules = lanelet2.traffic_rules.create( + lanelet2.traffic_rules.Locations.Germany, + lanelet2.traffic_rules.Participants.Vehicle, + ) + routing_graph = lanelet2.routing.RoutingGraph(lanelet_map, traffic_rules) + + test_utility_utilities(lanelet_map, routing_graph) + test_utility_query(lanelet_map, routing_graph) diff --git a/lanelet2_extension_python/lanelet2_extension_python/__init__.py b/lanelet2_extension_python/lanelet2_extension_python/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/lanelet2_extension_python/lanelet2_extension_python/impl/__init__.py b/lanelet2_extension_python/lanelet2_extension_python/impl/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/lanelet2_extension_python/lanelet2_extension_python/projection/__init__.py b/lanelet2_extension_python/lanelet2_extension_python/projection/__init__.py new file mode 100644 index 0000000..b5e7067 --- /dev/null +++ b/lanelet2_extension_python/lanelet2_extension_python/projection/__init__.py @@ -0,0 +1,3 @@ +import lanelet2_extension_python._lanelet2_extension_python_boost_python_projection as _projection_cpp + +MGRSProjector = _projection_cpp.MGRSProjector diff --git a/lanelet2_extension_python/lanelet2_extension_python/regulatory_elements/__init__.py b/lanelet2_extension_python/lanelet2_extension_python/regulatory_elements/__init__.py new file mode 100644 index 0000000..010ecc9 --- /dev/null +++ b/lanelet2_extension_python/lanelet2_extension_python/regulatory_elements/__init__.py @@ -0,0 +1,10 @@ +import lanelet2_extension_python._lanelet2_extension_python_boost_python_regulatory_elements as _regulatory_elements_cpp + +AutowareTrafficLight = _regulatory_elements_cpp.AutowareTrafficLight +Crosswalk = _regulatory_elements_cpp.Crosswalk +DetectionArea = _regulatory_elements_cpp.DetectionArea +NoParkingArea = _regulatory_elements_cpp.NoParkingArea +NoStoppingArea = _regulatory_elements_cpp.NoStoppingArea +RoadMarking = _regulatory_elements_cpp.RoadMarking +SpeedBump = _regulatory_elements_cpp.SpeedBump +VirtualTrafficLight = _regulatory_elements_cpp.VirtualTrafficLight diff --git a/lanelet2_extension_python/lanelet2_extension_python/utility/__init__.py b/lanelet2_extension_python/lanelet2_extension_python/utility/__init__.py new file mode 100644 index 0000000..5ba63f1 --- /dev/null +++ b/lanelet2_extension_python/lanelet2_extension_python/utility/__init__.py @@ -0,0 +1 @@ +import lanelet2_extension_python.regulatory_elements # noqa diff --git a/lanelet2_extension_python/lanelet2_extension_python/utility/query.py b/lanelet2_extension_python/lanelet2_extension_python/utility/query.py new file mode 100644 index 0000000..7a245b4 --- /dev/null +++ b/lanelet2_extension_python/lanelet2_extension_python/utility/query.py @@ -0,0 +1,94 @@ +from geometry_msgs.msg import Point +from geometry_msgs.msg import Pose +import lanelet2.core +import lanelet2_extension_python._lanelet2_extension_python_boost_python_utility as _utility_cpp + +# from rclpy.serialization import deserialize_message +from rclpy.serialization import serialize_message + +laneletLayer = _utility_cpp.laneletLayer +subtypeLanelets = _utility_cpp.subtypeLanelets +crosswalkLanelets = _utility_cpp.crosswalkLanelets +walkwayLanelets = _utility_cpp.walkwayLanelets +roadLanelets = _utility_cpp.roadLanelets +shoulderLanelets = _utility_cpp.shoulderLanelets +trafficLights = _utility_cpp.trafficLights +autowareTrafficLights = _utility_cpp.autowareTrafficLights +detectionAreas = _utility_cpp.detectionAreas +noStoppingAreas = _utility_cpp.noStoppingAreas +noParkingAreas = _utility_cpp.noParkingAreas +speedBumps = _utility_cpp.speedBumps +crosswalks = _utility_cpp.crosswalks +curbstones = _utility_cpp.curbstones +getAllPolygonsByType = _utility_cpp.getAllPolygonsByType +getAllObstaclePolygons = _utility_cpp.getAllObstaclePolygons +getAllParkingLots = _utility_cpp.getAllParkingLots +getAllPartitions = _utility_cpp.getAllPartitions +getAllFences = _utility_cpp.getAllFences +getAllPedestrianMarkings = _utility_cpp.getAllPedestrianMarkings +getAllParkingSpaces = _utility_cpp.getAllParkingSpaces +getLinkedParkingSpaces = _utility_cpp.getLinkedParkingSpaces +getLinkedLanelet = _utility_cpp.getLinkedLanelet +getLinkedLanelets = _utility_cpp.getLinkedLanelets +getLinkedParkingLot = _utility_cpp.getLinkedParkingLot +stopLinesLanelets = _utility_cpp.stopLinesLanelets +stopLinesLanelet = _utility_cpp.stopLinesLanelet +stopSignStopLines = _utility_cpp.stopSignStopLines + + +def getLaneletsWithinRange(lanelets, point, rng): + if isinstance(point, Point): + point_byte = serialize_message(point) + return _utility_cpp.getLaneletsWithinRange_point(lanelets, point_byte, rng) + if isinstance(point, lanelet2.core.BasicPoint2d): + return _utility_cpp.getLaneletsWithinRange(lanelets, point, rng) + raise TypeError("argument point is neither BasicPoint2d nor Point") + + +def getLaneChangeableNeighbors(*args): + if len(args) == 2 and isinstance(args[1], lanelet2.core.Lanelet): + return _utility_cpp.getLaneChangeableNeighbors(args[0], args[1]) + if len(args) == 3 and isinstance(args[2], Point): + point_byte = serialize_message(args[2]) + return _utility_cpp.getLaneChangeableNeighbors_point(args[0], args[1], point_byte) + raise TypeError("argument number does not match or 3rd argument is not Point type") + + +def getAllNeighbors(*args): + if len(args) == 2 and isinstance(args[1], lanelet2.core.Lanelet): + return _utility_cpp.getAllNeighbors(args[0], args[1]) + if len(args) == 3 and isinstance(args[2], Point): + point_byte = serialize_message(args[2]) + return _utility_cpp.getAllNeighbors_point(args[0], args[1], point_byte) + + +getAllNeighborsLeft = _utility_cpp.getAllNeighborsLeft +getAllNeighborsRight = _utility_cpp.getAllNeighborsRight + + +def getClosestLanelet(lanelets, pose: Pose): + pose_byte = serialize_message(pose) + return _utility_cpp.getClosestLanelet(lanelets, pose_byte) + + +def getClosestLaneletWithConstrains( + lanelets, pose: Pose, closest_lanelet, dist_threshold, yaw_threshold +): + pose_byte = serialize_message(pose) + return _utility_cpp.getClosestLaneletWithConstrains( + lanelets, pose_byte, closest_lanelet, dist_threshold, yaw_threshold + ) + + +def getCurrentLanelets(lanelets, point: Point): + if isinstance(point, Point): + point_byte = serialize_message(point) + return _utility_cpp.getCurrentLanelets_point(lanelets, point_byte) + if isinstance(point, Pose): + pose_byte = serialize_message(point) + return _utility_cpp.getCurrentLanelets_pose(lanelets, pose_byte) + raise TypeError("argument number does not match or 2nd argument is not Point/Pose type") + + +getSucceedingLaneletSequences = _utility_cpp.getSucceedingLaneletSequences +getPrecedingLaneletSequences = _utility_cpp.getPrecedingLaneletSequences diff --git a/lanelet2_extension_python/lanelet2_extension_python/utility/utilities.py b/lanelet2_extension_python/lanelet2_extension_python/utility/utilities.py new file mode 100644 index 0000000..27acf99 --- /dev/null +++ b/lanelet2_extension_python/lanelet2_extension_python/utility/utilities.py @@ -0,0 +1,75 @@ +from geometry_msgs.msg import Point +from geometry_msgs.msg import Pose +from geometry_msgs.msg import Quaternion +import lanelet2 +import lanelet2_extension_python._lanelet2_extension_python_boost_python_utility as _utility_cpp +from rclpy.serialization import serialize_message + +combineLaneletsShape = _utility_cpp.combineLaneletsShape +generateFineCenterline = _utility_cpp.generateFineCenterline +getCenterlineWithOffset = _utility_cpp.getCenterlineWithOffset +getRightBoundWithOffset = _utility_cpp.getRightBoundWithOffset +getLeftBoundWithOffset = _utility_cpp.getLeftBoundWithOffset +getExpandedLanelet = _utility_cpp.getExpandedLanelet +getExpandedLanelets = _utility_cpp.getExpandedLanelets +overwriteLaneletsCenterline = _utility_cpp.overwriteLaneletsCenterline +getConflictingLanelets = _utility_cpp.getConflictingLanelets +lineStringWithWidthToPolygon = _utility_cpp.lineStringWithWidthToPolygon +lineStringToPolygon = _utility_cpp.lineStringToPolygon + + +def getLaneletLength2d(*args): + if len(args) == 1 and isinstance(args[0], lanelet2.core.Lanelet): + return _utility_cpp.getLaneletLength2d(args[0]) + if len(args) == 1 and isinstance(args[0], list): + return _utility_cpp.getLaneletLength2d(args[0]) + raise TypeError( + "argument number does not match or 1st argument is not Lanelet or [Lanelet] type" + ) + + +def getLaneletLength3d(*args): + if len(args) == 1 and isinstance(args[0], lanelet2.core.Lanelet): + return _utility_cpp.getLaneletLength3d(args[0]) + if len(args) == 1 and isinstance(args[0], list): + return _utility_cpp.getLaneletLength3d(args[0]) + raise TypeError( + "argument number does not match or 1st argument is not Lanelet or [Lanelet] type" + ) + + +def getArcCoordinates(lanelet_sequence, pose: Pose): + pose_byte = serialize_message(pose) + return _utility_cpp.getArcCoordinates(lanelet_sequence, pose_byte) + + +getClosestSegment = _utility_cpp.getClosestSegment +getPolygonFromArcLength = _utility_cpp.getPolygonFromArcLength + + +def getLaneletAngle(lanelet, point: Point): + point_byte = serialize_message(point) + return _utility_cpp.getLaneletAngle(lanelet, point_byte) + + +def isInLanelet(pose: Pose, lanelet, radius=0.0): + pose_byte = serialize_message(pose) + return _utility_cpp.isInLanelet(pose_byte, lanelet, radius) + + +def getClosestCenterPose(lanelet, point: Point): + point_byte = serialize_message(point) + pose_array = _utility_cpp.getClosestCenterPose(lanelet, point_byte) + pos = Point(x=pose_array[0], y=pose_array[1], z=pose_array[2]) + quat = Quaternion(x=pose_array[3], y=pose_array[4], z=pose_array[5], w=pose_array[6]) + return Pose(position=pos, orientation=quat) + + +def getLateralDistanceToCenterline(lanelet, pose: Pose): + pose_byte = serialize_message(pose) + return _utility_cpp.getLateralDistanceToCenterline(lanelet, pose_byte) + + +def getLateralDistanceToClosestLanelet(lanelet_sequence, pose: Pose): + pose_byte = serialize_message(pose) + return _utility_cpp.getLateralDistanceToClosestLanelet(lanelet_sequence, pose_byte) diff --git a/lanelet2_extension_python/package.xml b/lanelet2_extension_python/package.xml new file mode 100644 index 0000000..d6444e4 --- /dev/null +++ b/lanelet2_extension_python/package.xml @@ -0,0 +1,31 @@ + + + + lanelet2_extension_python + 0.1.0 + The lanelet2_extension_python package contains Python bindings for lanelet2_extension package + Mamoru Sobue + Apache License 2.0 + + ament_cmake_auto + autoware_cmake + python_cmake_module + + geometry_msgs + lanelet2_core + lanelet2_extension + lanelet2_io + lanelet2_projection + lanelet2_python + lanelet2_routing + lanelet2_traffic_rules + lanelet2_validation + libboost-python-dev + rclcpp + + ament_cmake_ros + + + ament_cmake + + diff --git a/lanelet2_extension_python/src/projection.cpp b/lanelet2_extension_python/src/projection.cpp new file mode 100644 index 0000000..1f70a21 --- /dev/null +++ b/lanelet2_extension_python/src/projection.cpp @@ -0,0 +1,42 @@ +// Copyright 2023 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Mamoru Sobue + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include + +#include + +#include + +#include + +BOOST_PYTHON_MODULE(_lanelet2_extension_python_boost_python_projection) +{ + namespace bp = boost::python; + + bp::class_< + lanelet::projection::MGRSProjector, std::shared_ptr, + bp::bases>("MGRSProjector", bp::init("origin")); + bp::class_< + lanelet::projection::TransverseMercatorProjector, + std::shared_ptr, + bp::bases>( + "TransverseMercatorProjector", bp::init("origin")); +} + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension_python/src/regulatory_elements.cpp b/lanelet2_extension_python/src/regulatory_elements.cpp new file mode 100644 index 0000000..acddb81 --- /dev/null +++ b/lanelet2_extension_python/src/regulatory_elements.cpp @@ -0,0 +1,307 @@ +// Copyright 2023 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Mamoru Sobue + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +namespace bp = boost::python; + +// from lanelet2_python/src/core.cpp + +void format_helper([[maybe_unused]] std::ostream & os) +{ +} + +template +void format_helper(std::ostream & os, const std::string & s, const Args &... Args_) +{ + if (!s.empty()) { + os << ", "; + } + os << s; + format_helper(os, Args_...); +} + +template +void format_helper(std::ostream & os, const T & next, const Args &... Args_) +{ + os << ", "; + os << next; + format_helper(os, Args_...); +} + +template +void format(std::ostream & os, const T & first, const Args &... Args_) +{ + os << first; + format_helper(os, Args_...); +} + +template +std::string make_repr(const char * name, const Args &... Args_) +{ + std::ostringstream os; + os << name << '('; + format(os, Args_...); + os << ')'; + return os.str(); +} + +std::string repr(const bp::object & o) +{ + bp::object repr = bp::import("builtins").attr("repr"); + return bp::call(repr.ptr(), o); +} + +std::string repr(const lanelet::AttributeMap & a) +{ + if (a.empty()) { + return {}; + } + return repr(bp::object(a)); +} + +std::string repr(const lanelet::RegulatoryElementConstPtrs & regulatory_elements) +{ + if (regulatory_elements.empty()) { + return {}; + } + return repr(bp::list(regulatory_elements)); +} + +BOOST_PYTHON_MODULE(_lanelet2_extension_python_boost_python_regulatory_elements) +{ + // autoware_traffic_light + bp::class_< + lanelet::autoware::AutowareTrafficLight, boost::noncopyable, + std::shared_ptr, bp::bases>( + "AutowareTrafficLight", "autoware traffic light regulatory element", bp::no_init) + .def( + "__init__", bp::make_constructor( + &lanelet::autoware::AutowareTrafficLight::make, bp::default_call_policies(), + (bp::arg("Id"), bp::arg("attributes"), bp::arg("trafficLights"), + bp::arg("stopline") = lanelet::Optional(), + bp::arg("lightBulbs") = lanelet::LineString3d({})))) + .def( + "lightBulbs", + +[](lanelet::autoware::AutowareTrafficLight & self) { return self.lightBulbs(); }) + .def("addLightBulbs", &lanelet::autoware::AutowareTrafficLight::addLightBulbs) + .def("removeLightBulbs", &lanelet::autoware::AutowareTrafficLight::removeLightBulbs) + .def( + "__repr__", +[](lanelet::autoware::AutowareTrafficLight & r) { + return make_repr( + "AutowareTrafficLight", r.id(), repr(bp::dict(r.constData()->parameters)), + repr(r.attributes())); + }); + bp::implicitly_convertible< + std::shared_ptr, lanelet::RegulatoryElementPtr>(); + + // crosswalk + bp::class_< + lanelet::autoware::Crosswalk, boost::noncopyable, std::shared_ptr, + bp::bases>( + "Crosswalk", "autoware crosswalk regulatory element", bp::no_init) + .def( + "__init__", bp::make_constructor( + &lanelet::autoware::Crosswalk::make, bp::default_call_policies(), + (bp::arg("Id"), bp::arg("attributes"), bp::arg("crosswalk_lanelet"), + bp::arg("crosswalk_area"), bp::arg("stop_line")))) + .def( + "crosswalkAreas", +[](lanelet::autoware::Crosswalk & self) { return self.crosswalkAreas(); }) + .def( + "stopLines", +[](lanelet::autoware::Crosswalk & self) { return self.stopLines(); }) + .def( + "crosswalkLanelet", + +[](lanelet::autoware::Crosswalk & self) { return self.crosswalkLanelet(); }) + .def("addCrosswalkArea", &lanelet::autoware::Crosswalk::addCrosswalkArea) + .def("removeCrosswalkArea", &lanelet::autoware::Crosswalk::removeCrosswalkArea) + .def( + "__repr__", +[](lanelet::autoware::Crosswalk & r) { + return make_repr( + "Crosswalk", r.id(), repr(bp::dict(r.constData()->parameters)), repr(r.attributes())); + }); + bp::implicitly_convertible< + std::shared_ptr, lanelet::RegulatoryElementPtr>(); + + // detection_area + bp::class_< + lanelet::autoware::DetectionArea, boost::noncopyable, + std::shared_ptr, bp::bases>( + "DetectionArea", "detection_area regulatory element", bp::no_init) + .def( + "__init__", + bp::make_constructor( + &lanelet::autoware::DetectionArea::make, bp::default_call_policies(), + (bp::arg("Id"), bp::arg("attributes"), bp::arg("detectionAreas"), bp::arg("stopLine")))) + .def( + "detectionAreas", + +[](lanelet::autoware::DetectionArea & self) { return self.detectionAreas(); }) + .def("addDetectionArea", &lanelet::autoware::DetectionArea::addDetectionArea) + .def("removeDetectionArea", &lanelet::autoware::DetectionArea::removeDetectionArea) + .def( + "stopLine", +[](lanelet::autoware::DetectionArea & self) { return self.stopLine(); }) + .def("setStopLine", &lanelet::autoware::DetectionArea::setStopLine) + .def("removeStopLine", &lanelet::autoware::DetectionArea::removeStopLine) + .def( + "__repr__", +[](lanelet::autoware::DetectionArea & r) { + return make_repr( + "DetectionArea", r.id(), repr(bp::dict(r.constData()->parameters)), repr(r.attributes())); + }); + bp::implicitly_convertible< + std::shared_ptr, lanelet::RegulatoryElementPtr>(); + + // no_parking_area + bp::class_< + lanelet::autoware::NoParkingArea, boost::noncopyable, + std::shared_ptr, bp::bases>( + "NoParkingArea", "no_parking_area regulatory element", bp::no_init) + .def( + "__init__", bp::make_constructor( + &lanelet::autoware::NoParkingArea::make, bp::default_call_policies(), + (bp::arg("Id"), bp::arg("attributes"), bp::arg("no_parking_areas")))) + .def( + "noParkingAreas", + +[](lanelet::autoware::NoParkingArea & self) { return self.noParkingAreas(); }) + .def("addNoParkingArea", &lanelet::autoware::NoParkingArea::addNoParkingArea) + .def("removeNoParkingArea", &lanelet::autoware::NoParkingArea::removeNoParkingArea) + .def( + "__repr__", +[](lanelet::autoware::NoParkingArea & r) { + return make_repr( + "NoParkingArea", r.id(), repr(bp::dict(r.constData()->parameters)), repr(r.attributes())); + }); + bp::implicitly_convertible< + std::shared_ptr, lanelet::RegulatoryElementPtr>(); + + // no_stopping_area + bp::class_< + lanelet::autoware::NoStoppingArea, boost::noncopyable, + std::shared_ptr, bp::bases>( + "NoStoppingArea", "no_stopping_area regulatory element", bp::no_init) + .def( + "__init__", bp::make_constructor( + &lanelet::autoware::NoStoppingArea::make, bp::default_call_policies(), + (bp::arg("Id"), bp::arg("attributes"), bp::arg("no_stopping_areas"), + bp::arg("stopLine") = lanelet::Optional()))) + .def( + "noStoppingAreas", + +[](lanelet::autoware::NoStoppingArea & self) { return self.noStoppingAreas(); }) + .def("addNoStoppingArea", &lanelet::autoware::NoStoppingArea::addNoStoppingArea) + .def("removeNoStoppingArea", &lanelet::autoware::NoStoppingArea::removeNoStoppingArea) + .def( + "stopLine", +[](lanelet::autoware::NoStoppingArea & self) { return self.stopLine(); }) + .def("setStopLine", &lanelet::autoware::NoStoppingArea::setStopLine) + .def("removeStopLine", &lanelet::autoware::NoStoppingArea::removeStopLine) + .def( + "__repr__", +[](lanelet::autoware::NoParkingArea & r) { + return make_repr( + "NoParkingArea", r.id(), repr(bp::dict(r.constData()->parameters)), repr(r.attributes())); + }); + bp::implicitly_convertible< + std::shared_ptr, lanelet::RegulatoryElementPtr>(); + + // road_marking + bp::class_< + lanelet::autoware::RoadMarking, boost::noncopyable, + std::shared_ptr, bp::bases>( + "RoadMarking", "road_marking regulatory element", bp::no_init) + .def( + "__init__", bp::make_constructor( + &lanelet::autoware::RoadMarking::make, bp::default_call_policies(), + (bp::arg("Id"), bp::arg("attributes"), bp::arg("road_marking")))) + .def( + "roadMarking", +[](lanelet::autoware::RoadMarking & self) { return self.roadMarking(); }) + .def("setRoadMarking", &lanelet::autoware::RoadMarking::setRoadMarking) + .def("removeRoadMarking", &lanelet::autoware::RoadMarking::removeRoadMarking) + .def( + "__repr__", +[](lanelet::autoware::RoadMarking & r) { + return make_repr( + "RoadMarking", r.id(), repr(bp::dict(r.constData()->parameters)), repr(r.attributes())); + }); + bp::implicitly_convertible< + std::shared_ptr, lanelet::RegulatoryElementPtr>(); + + // speed_bump + bp::class_< + lanelet::autoware::SpeedBump, boost::noncopyable, std::shared_ptr, + bp::bases>( + "SpeedBump", "speed_bump regulatory element", bp::no_init) + .def( + "__init__", bp::make_constructor( + &lanelet::autoware::SpeedBump::make, bp::default_call_policies(), + (bp::arg("Id"), bp::arg("attributes"), bp::arg("speed_bump")))) + .def( + "speedBump", +[](lanelet::autoware::SpeedBump & self) { return self.speedBump(); }) + .def("addSpeedBump", &lanelet::autoware::SpeedBump::addSpeedBump) + .def("removeSpeedBump", &lanelet::autoware::SpeedBump::removeSpeedBump) + .def( + "__repr__", +[](lanelet::autoware::SpeedBump & r) { + return make_repr( + "SpeedBump", r.id(), repr(bp::dict(r.constData()->parameters)), repr(r.attributes())); + }); + bp::implicitly_convertible< + std::shared_ptr, lanelet::RegulatoryElementPtr>(); + + // virtual_traffic_light + bp::class_< + lanelet::autoware::VirtualTrafficLight, boost::noncopyable, + std::shared_ptr, bp::bases>( + "VirtualTrafficLight", "virtual_traffic_light regulatory element", bp::no_init) + .def( + "__init__", bp::make_constructor( + &lanelet::autoware::VirtualTrafficLight::make, bp::default_call_policies(), + (bp::arg("Id"), bp::arg("attributes"), bp::arg("virtual_traffic_light")))) + .def( + "getVirtualTrafficLight", + +[](lanelet::autoware::VirtualTrafficLight & self) { return self.getVirtualTrafficLight(); }) + .def( + "getStopLine", + +[](lanelet::autoware::VirtualTrafficLight & self) { return self.getStopLine(); }) + .def( + "getStartLine", + +[](lanelet::autoware::VirtualTrafficLight & self) { return self.getStartLine(); }) + .def( + "getEndLines", + +[](lanelet::autoware::VirtualTrafficLight & self) { return self.getEndLines(); }) + .def( + "__repr__", +[](lanelet::autoware::VirtualTrafficLight & r) { + return make_repr( + "VirtualTrafficLight", r.id(), repr(bp::dict(r.constData()->parameters)), + repr(r.attributes())); + }); + bp::implicitly_convertible< + std::shared_ptr, lanelet::RegulatoryElementPtr>(); + + bp::register_ptr_to_python(); + bp::register_ptr_to_python(); + bp::register_ptr_to_python(); + bp::register_ptr_to_python(); + bp::register_ptr_to_python(); + bp::register_ptr_to_python(); + bp::register_ptr_to_python(); + bp::register_ptr_to_python(); +} + +// NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension_python/src/utility.cpp b/lanelet2_extension_python/src/utility.cpp new file mode 100644 index 0000000..fa69bc3 --- /dev/null +++ b/lanelet2_extension_python/src/utility.cpp @@ -0,0 +1,562 @@ +// Copyright 2023 Autoware Foundation. All rights reserved. +// +// 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. +// +// Authors: Mamoru Sobue + +// NOLINTBEGIN(readability-identifier-naming) + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include + +#include +#include + +namespace bp = boost::python; + +namespace +{ + +/* + * utilities.cpp + */ +lanelet::Optional lineStringWithWidthToPolygon( + const lanelet::ConstLineString3d & linestring) +{ + lanelet::ConstPolygon3d poly{}; + if (lanelet::utils::lineStringWithWidthToPolygon(linestring, &poly)) { + return poly; + } else { + return {}; + } +} + +lanelet::Optional lineStringToPolygon( + const lanelet::ConstLineString3d & linestring) +{ + lanelet::ConstPolygon3d poly{}; + if (lanelet::utils::lineStringToPolygon(linestring, &poly)) { + return poly; + } else { + return {}; + } +} + +lanelet::ArcCoordinates getArcCoordinates( + const lanelet::ConstLanelets & lanelet_sequence, const std::string & pose_byte) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + pose_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size(); + for (size_t i = 0; i < pose_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i]; + } + geometry_msgs::msg::Pose pose; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &pose); + return lanelet::utils::getArcCoordinates(lanelet_sequence, pose); +} + +double getLaneletAngle(const lanelet::ConstLanelet & lanelet, const std::string & point_byte) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + point_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size(); + for (size_t i = 0; i < point_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i]; + } + geometry_msgs::msg::Point point; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &point); + return lanelet::utils::getLaneletAngle(lanelet, point); +} + +bool isInLanelet( + const std::string & pose_byte, const lanelet::ConstLanelet & lanelet, const double radius = 0.0) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + pose_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size(); + for (size_t i = 0; i < pose_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i]; + } + geometry_msgs::msg::Pose pose; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &pose); + return lanelet::utils::isInLanelet(pose, lanelet, radius); +} + +std::vector getClosestCenterPose( + const lanelet::ConstLanelet & lanelet, const std::string & search_point_byte) +{ + rclcpp::SerializedMessage serialized_point_msg; + static constexpr size_t message_header_length = 8u; + serialized_point_msg.reserve(message_header_length + search_point_byte.size()); + serialized_point_msg.get_rcl_serialized_message().buffer_length = search_point_byte.size(); + for (size_t i = 0; i < search_point_byte.size(); ++i) { + serialized_point_msg.get_rcl_serialized_message().buffer[i] = search_point_byte[i]; + } + geometry_msgs::msg::Point search_point; + static rclcpp::Serialization serializer_point; + serializer_point.deserialize_message(&serialized_point_msg, &search_point); + const geometry_msgs::msg::Pose pose = lanelet::utils::getClosestCenterPose(lanelet, search_point); + // NOTE: it was difficult to return the deserialized pose_byte and serialize the pose_byte on + // python-side. So this function returns [*position, *quaternion] as double array + const auto & xyz = pose.position; + const auto & quat = pose.orientation; + return std::vector({xyz.x, xyz.y, xyz.z, quat.x, quat.y, quat.z, quat.w}); +} + +double getLateralDistanceToCenterline( + const lanelet::ConstLanelet & lanelet, const std::string & pose_byte) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + pose_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size(); + for (size_t i = 0; i < pose_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i]; + } + geometry_msgs::msg::Pose pose; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &pose); + return lanelet::utils::getLateralDistanceToCenterline(lanelet, pose); +} + +double getLateralDistanceToClosestLanelet( + const lanelet::ConstLanelets & lanelet_sequence, const std::string & pose_byte) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + pose_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size(); + for (size_t i = 0; i < pose_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i]; + } + geometry_msgs::msg::Pose pose; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &pose); + return lanelet::utils::getLateralDistanceToClosestLanelet(lanelet_sequence, pose); +} + +/* + * query.cpp + */ + +lanelet::ConstLanelets subtypeLanelets( + const lanelet::ConstLanelets & lls, const std::string & subtype) +{ + return lanelet::utils::query::subtypeLanelets(lls, subtype.c_str()); +} + +lanelet::Optional getLinkedLanelet( + const lanelet::ConstLineString3d & parking_space, + const lanelet::ConstLanelets & all_road_lanelets, + const lanelet::ConstPolygons3d & all_parking_lots) +{ + lanelet::ConstLanelet linked_lanelet; + if (lanelet::utils::query::getLinkedLanelet( + parking_space, all_road_lanelets, all_parking_lots, &linked_lanelet)) { + return linked_lanelet; + } else { + return {}; + } +} + +lanelet::Optional getLinkedLanelet( + const lanelet::ConstLineString3d & parking_space, + const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + lanelet::ConstLanelet linked_lanelet; + if (lanelet::utils::query::getLinkedLanelet(parking_space, lanelet_map_ptr, &linked_lanelet)) { + return linked_lanelet; + } else { + return {}; + } +} + +lanelet::Optional getLinkedParkingLot( + const lanelet::ConstLanelet & lanelet, const lanelet::ConstPolygons3d & all_parking_lots) +{ + lanelet::ConstPolygon3d linked_parking_lot; + if (lanelet::utils::query::getLinkedParkingLot(lanelet, all_parking_lots, &linked_parking_lot)) { + return linked_parking_lot; + } else { + return {}; + } +} + +lanelet::Optional getLinkedParkingLot( + const lanelet::BasicPoint2d & current_position, const lanelet::ConstPolygons3d & all_parking_lots) +{ + lanelet::ConstPolygon3d linked_parking_lot; + if (lanelet::utils::query::getLinkedParkingLot( + current_position, all_parking_lots, &linked_parking_lot)) { + return linked_parking_lot; + } else { + return {}; + } +} + +lanelet::Optional getLinkedParkingLot( + const lanelet::ConstLineString3d & parking_space, + const lanelet::ConstPolygons3d & all_parking_lots) +{ + lanelet::ConstPolygon3d linked_parking_lot; + if (lanelet::utils::query::getLinkedParkingLot( + parking_space, all_parking_lots, &linked_parking_lot)) { + return linked_parking_lot; + } else { + return {}; + } +} + +lanelet::ConstLanelets getLaneletsWithinRange_point( + const lanelet::ConstLanelets & lanelets, const std::string & point_byte, const double range) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + point_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size(); + for (size_t i = 0; i < point_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i]; + } + geometry_msgs::msg::Point point; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &point); + return lanelet::utils::query::getLaneletsWithinRange(lanelets, point, range); +} + +lanelet::ConstLanelets getLaneChangeableNeighbors_point( + const lanelet::routing::RoutingGraphPtr & graph, const lanelet::ConstLanelets & road_lanelets, + const std::string & point_byte) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + point_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size(); + for (size_t i = 0; i < point_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i]; + } + geometry_msgs::msg::Point point; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &point); + return lanelet::utils::query::getLaneChangeableNeighbors(graph, road_lanelets, point); +} + +lanelet::ConstLanelets getAllNeighbors_point( + const lanelet::routing::RoutingGraphPtr & graph, const lanelet::ConstLanelets & road_lanelets, + const std::string & point_byte) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + point_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size(); + for (size_t i = 0; i < point_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i]; + } + geometry_msgs::msg::Point point; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &point); + return lanelet::utils::query::getAllNeighbors(graph, road_lanelets, point); +} + +lanelet::Optional getClosestLanelet( + const lanelet::ConstLanelets & lanelets, const std::string & pose_byte) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + pose_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size(); + for (size_t i = 0; i < pose_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i]; + } + geometry_msgs::msg::Pose pose; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &pose); + lanelet::ConstLanelet closest_lanelet{}; + if (lanelet::utils::query::getClosestLanelet(lanelets, pose, &closest_lanelet)) { + return closest_lanelet; + } else { + return {}; + } +} + +lanelet::Optional getClosestLaneletWithConstrains( + const lanelet::ConstLanelets & lanelets, const std::string & pose_byte, + const double dist_threshold = std::numeric_limits::max(), + const double yaw_threshold = std::numeric_limits::max()) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + pose_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size(); + for (size_t i = 0; i < pose_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i]; + } + geometry_msgs::msg::Pose pose; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &pose); + lanelet::ConstLanelet closest_lanelet{}; + if (lanelet::utils::query::getClosestLaneletWithConstrains( + lanelets, pose, &closest_lanelet, dist_threshold, yaw_threshold)) { + return closest_lanelet; + } else { + return {}; + } +} + +lanelet::ConstLanelets getCurrentLanelets_point( + const lanelet::ConstLanelets & lanelets, const std::string & point_byte) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + point_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size(); + for (size_t i = 0; i < point_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i]; + } + geometry_msgs::msg::Point point; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &point); + lanelet::ConstLanelets current_lanelets{}; + lanelet::utils::query::getCurrentLanelets(lanelets, point, ¤t_lanelets); + return current_lanelets; +} + +lanelet::ConstLanelets getCurrentLanelets_pose( + const lanelet::ConstLanelets & lanelets, const std::string & pose_byte) +{ + rclcpp::SerializedMessage serialized_msg; + static constexpr size_t message_header_length = 8u; + serialized_msg.reserve(message_header_length + pose_byte.size()); + serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size(); + for (size_t i = 0; i < pose_byte.size(); ++i) { + serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i]; + } + geometry_msgs::msg::Pose pose; + static rclcpp::Serialization serializer; + serializer.deserialize_message(&serialized_msg, &pose); + lanelet::ConstLanelets current_lanelets{}; + lanelet::utils::query::getCurrentLanelets(lanelets, pose, ¤t_lanelets); + return current_lanelets; +} + +} // namespace + +// for handling functions with default arguments +/// utilities.cpp +BOOST_PYTHON_FUNCTION_OVERLOADS( + generateFineCenterline_overload, lanelet::utils::generateFineCenterline, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS( + getCenterlineWithOffset_overload, lanelet::utils::getCenterlineWithOffset, 2, 3) +BOOST_PYTHON_FUNCTION_OVERLOADS( + getRightBoundWithOffset_overload, lanelet::utils::getRightBoundWithOffset, 2, 3) +BOOST_PYTHON_FUNCTION_OVERLOADS( + getLeftBoundWithOffset_overload, lanelet::utils::getLeftBoundWithOffset, 2, 3) +BOOST_PYTHON_FUNCTION_OVERLOADS( + overwriteLaneletsCenterline_overload, lanelet::utils::overwriteLaneletsCenterline, 1, 3) +BOOST_PYTHON_FUNCTION_OVERLOADS(isInLanelet_overload, ::isInLanelet, 2, 3) + +/// query.cpp +BOOST_PYTHON_FUNCTION_OVERLOADS( + stopSignStopLines_overload, lanelet::utils::query::stopSignStopLines, 1, 2) +BOOST_PYTHON_FUNCTION_OVERLOADS( + getClosestLaneletWithConstrains_overload, ::getClosestLaneletWithConstrains, 2, 4) +BOOST_PYTHON_FUNCTION_OVERLOADS( + getPrecedingLaneletSequences_overload, lanelet::utils::query::getPrecedingLaneletSequences, 3, 4) + +BOOST_PYTHON_MODULE(_lanelet2_extension_python_boost_python_utility) +{ + /* + * utilities.cpp + */ + bp::def("combineLaneletsShape", lanelet::utils::combineLaneletsShape); + bp::def( + "generateFineCenterline", lanelet::utils::generateFineCenterline, + generateFineCenterline_overload()); + bp::def( + "getCenterlineWithOffset", lanelet::utils::getCenterlineWithOffset, + getCenterlineWithOffset_overload()); + bp::def( + "getRightBoundWithOffset", lanelet::utils::getRightBoundWithOffset, + getRightBoundWithOffset_overload()); + bp::def( + "getLeftBoundWithOffset", lanelet::utils::getLeftBoundWithOffset, + getLeftBoundWithOffset_overload()); + bp::def("getExpandedLanelet", lanelet::utils::getExpandedLanelet); + bp::def("getExpandedLanelets", lanelet::utils::getExpandedLanelets); + bp::def( + "overwriteLaneletsCenterline", lanelet::utils::overwriteLaneletsCenterline, + overwriteLaneletsCenterline_overload()); + bp::def("getConflictingLanelets", lanelet::utils::getConflictingLanelets); + bp::def("lineStringWithWidthToPolygon", ::lineStringWithWidthToPolygon); + bp::def("lineStringToPolygon", ::lineStringToPolygon); + bp::def( + "getLaneletLength2d", lanelet::utils::getLaneletLength2d); + bp::def( + "getLaneletLength3d", lanelet::utils::getLaneletLength3d); + bp::def( + "getLaneletLength2d", lanelet::utils::getLaneletLength2d); + bp::def( + "getLaneletLength3d", lanelet::utils::getLaneletLength3d); + bp::def("getArcCoordinates", ::getArcCoordinates); // depends ros msg + bp::def("getClosestSegment", lanelet::utils::getClosestSegment); + bp::def("getPolygonFromArcLength", lanelet::utils::getPolygonFromArcLength); + bp::def("getLaneletAngle", ::getLaneletAngle); // depends on ros msg + bp::def("isInLanelet", ::isInLanelet, isInLanelet_overload()); // depends ros msg + bp::def("getClosestCenterPose", ::getClosestCenterPose); // depends ros msg + // NOTE: required for the return-value of getClosestCenterPose + bp::class_>("[position, quaternion]") + .def(bp::vector_indexing_suite>()); + bp::def("getLateralDistanceToCenterline", ::getLateralDistanceToCenterline); // depends ros msg + bp::def( + "getLateralDistanceToClosestLanelet", ::getLateralDistanceToClosestLanelet); // depends ros msg + + /* + * query.cpp + */ + bp::def("laneletLayer", lanelet::utils::query::laneletLayer); + bp::def("subtypeLanelets", ::subtypeLanelets); + bp::def("crosswalkLanelets", lanelet::utils::query::crosswalkLanelets); + bp::def("walkwayLanelets", lanelet::utils::query::walkwayLanelets); + bp::def("roadLanelets", lanelet::utils::query::roadLanelets); + bp::def("shoulderLanelets", lanelet::utils::query::shoulderLanelets); + bp::def("trafficLights", lanelet::utils::query::trafficLights); + + bp::def("autowareTrafficLights", lanelet::utils::query::autowareTrafficLights); + converters::VectorToListConverter>(); + + bp::def("detectionAreas", lanelet::utils::query::detectionAreas); + converters::VectorToListConverter>(); + + bp::def("noStoppingAreas", lanelet::utils::query::noStoppingAreas); + converters::VectorToListConverter>(); + + bp::def("noParkingAreas", lanelet::utils::query::noParkingAreas); + converters::VectorToListConverter>(); + + bp::def("speedBumps", lanelet::utils::query::speedBumps); + converters::VectorToListConverter>(); + + bp::def("crosswalks", lanelet::utils::query::crosswalks); + converters::VectorToListConverter>(); + + bp::def("curbstones", lanelet::utils::query::curbstones); + bp::def("getAllPolygonsByType", lanelet::utils::query::getAllPolygonsByType); + bp::def("getAllObstaclePolygons", lanelet::utils::query::getAllObstaclePolygons); + bp::def("getAllParkingLots", lanelet::utils::query::getAllParkingLots); + bp::def("getAllPartitions", lanelet::utils::query::getAllPartitions); + bp::def("getAllFences", lanelet::utils::query::getAllFences); + bp::def("getAllPedestrianMarkings", lanelet::utils::query::getAllPedestrianMarkings); + bp::def("getAllParkingSpaces", lanelet::utils::query::getAllParkingSpaces); + + bp::def( + "getLinkedParkingSpaces", lanelet::utils::query::getLinkedParkingSpaces); + bp::def( + "getLinkedParkingSpaces", lanelet::utils::query::getLinkedParkingSpaces); + // NOTE: required for iterating the return-value of getLinkedParkingSpaces/getAllParkingLots, but + // this causes RuntimeWarning for duplicate to-Python converter + bp::class_("lanelet::ConstLineStrings3d") + .def(bp::vector_indexing_suite()); + bp::class_("lanelet::ConstPolygons3d") + .def(bp::vector_indexing_suite()); + + bp::def( + const lanelet::ConstLineString3d &, const lanelet::ConstLanelets &, + const lanelet::ConstPolygons3d &)>("getLinkedLanelet", ::getLinkedLanelet); + bp::def( + const lanelet::ConstLineString3d &, const lanelet::LaneletMapConstPtr &)>( + "getLinkedLanelet", ::getLinkedLanelet); + bp::def( + "getLinkedLanelets", lanelet::utils::query::getLinkedLanelets); + bp::def( + "getLinkedLanelets", lanelet::utils::query::getLinkedLanelets); + bp::def( + const lanelet::ConstLanelet &, const lanelet::ConstPolygons3d &)>( + "getLinkedParkingLot", ::getLinkedParkingLot); + bp::def( + const lanelet::BasicPoint2d &, const lanelet::ConstPolygons3d &)>( + "getLinkedParkingLot", ::getLinkedParkingLot); + bp::def( + const lanelet::ConstLineString3d &, const lanelet::ConstPolygons3d &)>( + "getLinkedParkingLot", ::getLinkedParkingLot); + bp::def( + "getLinkedParkingSpaces", lanelet::utils::query::getLinkedParkingSpaces); + bp::def( + "getLinkedLanelets", lanelet::utils::query::getLinkedLanelets); + bp::def("stopLinesLanelets", lanelet::utils::query::stopLinesLanelets); + bp::def("stopLinesLanelet", lanelet::utils::query::stopLinesLanelet); + bp::def( + "stopSignStopLines", lanelet::utils::query::stopSignStopLines, stopSignStopLines_overload()); + bp::def( + "getLaneletsWithinRange", lanelet::utils::query::getLaneletsWithinRange); + bp::def( + "getLaneletsWithinRange_point", ::getLaneletsWithinRange_point); // depends on ros msg + bp::def( + "getLaneChangeableNeighbors", lanelet::utils::query::getLaneChangeableNeighbors); + bp::def( + "getLaneChangeableNeighbors_point", ::getLaneChangeableNeighbors_point); // depends on ros msg + bp::def( + "getAllNeighbors", lanelet::utils::query::getAllNeighbors); + bp::def("getAllNeighbors_point", ::getAllNeighbors_point); // depends on ros msg + bp::def("getAllNeighborsLeft", lanelet::utils::query::getAllNeighborsLeft); + bp::def("getAllNeighborsRight", lanelet::utils::query::getAllNeighborsRight); + bp::def("getClosestLanelet", ::getClosestLanelet); // depends on ros msg + bp::def( + "getClosestLaneletWithConstrains", ::getClosestLaneletWithConstrains, + getClosestLaneletWithConstrains_overload()); // depends on ros msg + bp::def("getCurrentLanelets_point", ::getCurrentLanelets_point); // depends on ros msg + bp::def("getCurrentLanelets_pose", ::getCurrentLanelets_pose); // depends on ros msg + // NOTE: this is required for iterating getCurrentLanelets return value directly + bp::class_("lanelet::ConstLanelets") + .def(bp::vector_indexing_suite()); + // NOTE: this is required for return-type of getSucceeding/PrecedingLaneletSequences + bp::class_>("std::vector") + .def(bp::vector_indexing_suite>()); + bp::def("getSucceedingLaneletSequences", lanelet::utils::query::getSucceedingLaneletSequences); + bp::def( + "getPrecedingLaneletSequences", lanelet::utils::query::getPrecedingLaneletSequences, + getPrecedingLaneletSequences_overload()); +} + +// NOLINTEND(readability-identifier-naming) From 5a9c9879a21b591767c9d2b2d71ff936a5ba270e Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 18 Jan 2024 19:56:44 +0900 Subject: [PATCH 46/54] refactor(lanelet2_extension): move RegisterRegulatoryElement to cpp file (#222) Signed-off-by: Takagi, Isamu --- .../regulatory_elements/autoware_traffic_light.hpp | 10 +++++----- .../regulatory_elements/crosswalk.hpp | 8 ++++---- .../regulatory_elements/detection_area.hpp | 8 ++++---- .../regulatory_elements/no_parking_area.hpp | 6 +++--- .../regulatory_elements/no_stopping_area.hpp | 8 ++++---- .../regulatory_elements/road_marking.hpp | 6 +++--- .../regulatory_elements/speed_bump.hpp | 6 +++--- .../regulatory_elements/virtual_traffic_light.hpp | 9 +++------ lanelet2_extension/lib/autoware_traffic_light.cpp | 2 ++ lanelet2_extension/lib/crosswalk.cpp | 3 +++ lanelet2_extension/lib/detection_area.cpp | 2 ++ lanelet2_extension/lib/no_parking_area.cpp | 3 +++ lanelet2_extension/lib/no_stopping_area.cpp | 2 ++ lanelet2_extension/lib/road_marking.cpp | 2 ++ lanelet2_extension/lib/speed_bump.cpp | 2 ++ lanelet2_extension/lib/virtual_traffic_light.cpp | 2 ++ 16 files changed, 47 insertions(+), 32 deletions(-) diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp index 1694f96..f175d23 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp @@ -67,22 +67,22 @@ class AutowareTrafficLight : public lanelet::TrafficLight void addLightBulbs(const LineStringOrPolygon3d & primitive); /** -p * @brief remove a traffic light bulb + * @brief remove a traffic light bulb * @param primitive the primitive * @return true if the traffic light bulb existed and was removed */ bool removeLightBulbs(const LineStringOrPolygon3d & primitive); private: - // the following lines are required so that lanelet2 can create this object - // when loading a map with this regulatory element - friend class lanelet::RegisterRegulatoryElement; AutowareTrafficLight( Id id, const AttributeMap & attributes, const LineStringsOrPolygons3d & trafficLights, const Optional & stopLine, const LineStrings3d & lightBulbs); + + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class RegisterRegulatoryElement; explicit AutowareTrafficLight(const lanelet::RegulatoryElementDataPtr & data); }; -static lanelet::RegisterRegulatoryElement regAutowareTraffic; } // namespace lanelet::autoware diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp index 70404f0..f6cec39 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/crosswalk.hpp @@ -75,15 +75,15 @@ class Crosswalk : public lanelet::RegulatoryElement bool removeCrosswalkArea(const Polygon3d & primitive); private: - // the following lines are required so that lanelet2 can create this object - // when loading a map with this regulatory element - friend class lanelet::RegisterRegulatoryElement; Crosswalk( Id id, const AttributeMap & attributes, const Lanelet & crosswalk_lanelet, const Polygon3d & crosswalk_area, const LineStrings3d & stop_line); + + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class RegisterRegulatoryElement; explicit Crosswalk(const lanelet::RegulatoryElementDataPtr & data); }; -static lanelet::RegisterRegulatoryElement regCrosswalk; } // namespace lanelet::autoware diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp index 9e9c6e2..698ab38 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/detection_area.hpp @@ -79,15 +79,15 @@ class DetectionArea : public lanelet::RegulatoryElement void removeStopLine(); private: - // the following lines are required so that lanelet2 can create this object - // when loading a map with this regulatory element - friend class lanelet::RegisterRegulatoryElement; DetectionArea( Id id, const AttributeMap & attributes, const Polygons3d & detectionAreas, const LineString3d & stopLine); + + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class RegisterRegulatoryElement; explicit DetectionArea(const lanelet::RegulatoryElementDataPtr & data); }; -static lanelet::RegisterRegulatoryElement regDetectionArea; } // namespace lanelet::autoware diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp index 5f2d9c8..8ef43fa 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_parking_area.hpp @@ -57,13 +57,13 @@ class NoParkingArea : public lanelet::RegulatoryElement bool removeNoParkingArea(const Polygon3d & primitive); private: + NoParkingArea(Id id, const AttributeMap & attributes, const Polygons3d & no_parking_area); + // the following lines are required so that lanelet2 can create this object // when loading a map with this regulatory element - friend class lanelet::RegisterRegulatoryElement; - NoParkingArea(Id id, const AttributeMap & attributes, const Polygons3d & no_parking_area); + friend class RegisterRegulatoryElement; explicit NoParkingArea(const lanelet::RegulatoryElementDataPtr & data); }; -static lanelet::RegisterRegulatoryElement regNoParkingArea; } // namespace lanelet::autoware diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp index 08d5e5f..eaf263b 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/no_stopping_area.hpp @@ -77,15 +77,15 @@ class NoStoppingArea : public lanelet::RegulatoryElement void removeStopLine(); private: - // the following lines are required so that lanelet2 can create this object - // when loading a map with this regulatory element - friend class lanelet::RegisterRegulatoryElement; NoStoppingArea( Id id, const AttributeMap & attributes, const Polygons3d & no_stopping_area, const Optional & stopLine); + + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class RegisterRegulatoryElement; explicit NoStoppingArea(const lanelet::RegulatoryElementDataPtr & data); }; -static lanelet::RegisterRegulatoryElement regNoStoppingArea; } // namespace lanelet::autoware diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp index bbc46bb..0fc4142 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/road_marking.hpp @@ -57,13 +57,13 @@ class RoadMarking : public lanelet::RegulatoryElement void removeRoadMarking(); private: + RoadMarking(Id id, const AttributeMap & attributes, const LineString3d & road_marking); + // the following lines are required so that lanelet2 can create this object // when loading a map with this regulatory element - friend class lanelet::RegisterRegulatoryElement; - RoadMarking(Id id, const AttributeMap & attributes, const LineString3d & road_marking); + friend class RegisterRegulatoryElement; explicit RoadMarking(const lanelet::RegulatoryElementDataPtr & data); }; -static lanelet::RegisterRegulatoryElement regRoadMarking; } // namespace lanelet::autoware diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/speed_bump.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/speed_bump.hpp index 7471822..59c8d55 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/speed_bump.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/speed_bump.hpp @@ -59,13 +59,13 @@ class SpeedBump : public lanelet::RegulatoryElement bool removeSpeedBump(const Polygon3d & primitive); private: + SpeedBump(Id id, const AttributeMap & attributes, const Polygon3d & speed_bump); + // the following lines are required so that lanelet2 can create this object // when loading a map with this regulatory element - friend class lanelet::RegisterRegulatoryElement; - SpeedBump(Id id, const AttributeMap & attributes, const Polygon3d & speed_bump); + friend class RegisterRegulatoryElement; explicit SpeedBump(const lanelet::RegulatoryElementDataPtr & data); }; -static lanelet::RegisterRegulatoryElement regSpeedBump; } // namespace lanelet::autoware diff --git a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp index 3615769..fdbb633 100644 --- a/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp +++ b/lanelet2_extension/include/lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp @@ -63,18 +63,15 @@ class VirtualTrafficLight : public lanelet::RegulatoryElement } private: - // the following lines are required so that lanelet2 can create this object - // when loading a map with this regulatory element - friend class lanelet::RegisterRegulatoryElement; - VirtualTrafficLight( const Id id, const AttributeMap & attributes, const LineString3d & virtual_traffic_light); + // the following lines are required so that lanelet2 can create this object + // when loading a map with this regulatory element + friend class RegisterRegulatoryElement; explicit VirtualTrafficLight(const lanelet::RegulatoryElementDataPtr & data); }; -static lanelet::RegisterRegulatoryElement regVirtualTrafficLight; - } // namespace lanelet::autoware // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/autoware_traffic_light.cpp b/lanelet2_extension/lib/autoware_traffic_light.cpp index 6c92086..b0ab77a 100644 --- a/lanelet2_extension/lib/autoware_traffic_light.cpp +++ b/lanelet2_extension/lib/autoware_traffic_light.cpp @@ -142,6 +142,8 @@ bool AutowareTrafficLight::removeLightBulbs(const LineStringOrPolygon3d & primit primitive.asRuleParameter(), ¶meters().find(AutowareRoleNameString::LightBulbs)->second); } +RegisterRegulatoryElement regAutowareTrafficLight; + } // namespace lanelet::autoware // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/crosswalk.cpp b/lanelet2_extension/lib/crosswalk.cpp index f3341e8..19cb5ff 100644 --- a/lanelet2_extension/lib/crosswalk.cpp +++ b/lanelet2_extension/lib/crosswalk.cpp @@ -124,6 +124,9 @@ bool Crosswalk::removeCrosswalkArea(const Polygon3d & primitive) { return findAndErase(primitive, ¶meters().find("crosswalk")->second); } + +RegisterRegulatoryElement regCrosswalk; + } // namespace lanelet::autoware // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/detection_area.cpp b/lanelet2_extension/lib/detection_area.cpp index 15905f6..ce7fb2d 100644 --- a/lanelet2_extension/lib/detection_area.cpp +++ b/lanelet2_extension/lib/detection_area.cpp @@ -155,6 +155,8 @@ void DetectionArea::removeStopLine() parameters()[RoleName::RefLine] = {}; } +RegisterRegulatoryElement regDetectionArea; + } // namespace lanelet::autoware // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/no_parking_area.cpp b/lanelet2_extension/lib/no_parking_area.cpp index 807dd82..ee282ba 100644 --- a/lanelet2_extension/lib/no_parking_area.cpp +++ b/lanelet2_extension/lib/no_parking_area.cpp @@ -126,6 +126,9 @@ bool NoParkingArea::removeNoParkingArea(const Polygon3d & primitive) { return findAndErase(primitive, ¶meters().find("no_parking_area")->second); } + +RegisterRegulatoryElement regNoParkingArea; + } // namespace lanelet::autoware // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/no_stopping_area.cpp b/lanelet2_extension/lib/no_stopping_area.cpp index bf8b856..afade90 100644 --- a/lanelet2_extension/lib/no_stopping_area.cpp +++ b/lanelet2_extension/lib/no_stopping_area.cpp @@ -155,6 +155,8 @@ void NoStoppingArea::removeStopLine() parameters()[RoleName::RefLine] = {}; } +RegisterRegulatoryElement regNoStoppingArea; + } // namespace lanelet::autoware // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/road_marking.cpp b/lanelet2_extension/lib/road_marking.cpp index 7968fa6..d514f7a 100644 --- a/lanelet2_extension/lib/road_marking.cpp +++ b/lanelet2_extension/lib/road_marking.cpp @@ -75,6 +75,8 @@ void RoadMarking::removeRoadMarking() parameters()[RoleName::Refers] = {}; } +RegisterRegulatoryElement regRoadMarking; + } // namespace lanelet::autoware // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/speed_bump.cpp b/lanelet2_extension/lib/speed_bump.cpp index 35d3bc3..22e7c2b 100644 --- a/lanelet2_extension/lib/speed_bump.cpp +++ b/lanelet2_extension/lib/speed_bump.cpp @@ -115,6 +115,8 @@ bool SpeedBump::removeSpeedBump(const Polygon3d & primitive) return findAndErase(primitive, ¶meters().find("speed_bump")->second); } +RegisterRegulatoryElement regSpeedBump; + } // namespace lanelet::autoware // NOLINTEND(readability-identifier-naming) diff --git a/lanelet2_extension/lib/virtual_traffic_light.cpp b/lanelet2_extension/lib/virtual_traffic_light.cpp index 89c586e..7bf2f21 100644 --- a/lanelet2_extension/lib/virtual_traffic_light.cpp +++ b/lanelet2_extension/lib/virtual_traffic_light.cpp @@ -60,6 +60,8 @@ VirtualTrafficLight::VirtualTrafficLight( { } +RegisterRegulatoryElement regVirtualTrafficLight; + } // namespace lanelet::autoware // NOLINTEND(readability-identifier-naming) From ed74246926710c12b041cdffd49a5781768282d4 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Mon, 12 Feb 2024 17:26:06 +0200 Subject: [PATCH 47/54] fix(log-messages): reduce excessive log messages (#224) Signed-off-by: AhmedEbrahim --- .../lanelet2_extension/utility/query.hpp | 8 +++- .../visualization/visualization.hpp | 18 ++++++-- lanelet2_extension/lib/query.cpp | 23 +++++++--- lanelet2_extension/lib/visualization.cpp | 44 +++++++++++++++---- lanelet2_extension_python/example/example.py | 3 +- .../utility/query.py | 3 +- lanelet2_extension_python/src/utility.cpp | 4 +- 7 files changed, 81 insertions(+), 22 deletions(-) diff --git a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp index 853d4a5..b094a2b 100644 --- a/lanelet2_extension/include/lanelet2_extension/utility/query.hpp +++ b/lanelet2_extension/include/lanelet2_extension/utility/query.hpp @@ -149,8 +149,12 @@ lanelet::ConstLineStrings3d getAllPartitions(const lanelet::LaneletMapConstPtr & // query all fences in lanelet2 map lanelet::ConstLineStrings3d getAllFences(const lanelet::LaneletMapConstPtr & lanelet_map_ptr); -// query all pedestrian markings in lanelet2 map -lanelet::ConstLineStrings3d getAllPedestrianMarkings( +// query all pedestrian polygon markings in lanelet2 map +lanelet::ConstLineStrings3d getAllPedestrianPolygonMarkings( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr); + +// query all pedestrian line markings in lanelet2 map +lanelet::ConstLineStrings3d getAllPedestrianLineMarkings( const lanelet::LaneletMapConstPtr & lanelet_map_ptr); // query all parking spaces in lanelet2 map diff --git a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp index 5cf3bf4..c904c43 100644 --- a/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp +++ b/lanelet2_extension/include/lanelet2_extension/visualization/visualization.hpp @@ -275,12 +275,22 @@ visualization_msgs::msg::MarkerArray crosswalkAreasAsMarkerArray( const rclcpp::Duration & duration = rclcpp::Duration(0, 0)); /** - * [pedestrianMarkingsAsMarkerArray creates marker array to visualize pedestrian markings] - * @param pedestrian_markings [pedestrian marking polygon] + * [pedestrianPolygonMarkingsAsMarkerArray creates marker array to visualize pedestrian polygon + * markings] + * @param pedestrian_polygon_markings [pedestrian marking polygon] * @param c [color of the marker] */ -visualization_msgs::msg::MarkerArray pedestrianMarkingsAsMarkerArray( - const lanelet::ConstLineStrings3d & pedestrian_markings, const std_msgs::msg::ColorRGBA & c); +visualization_msgs::msg::MarkerArray pedestrianPolygonMarkingsAsMarkerArray( + const lanelet::ConstLineStrings3d & pedestrian_polygon_markings, + const std_msgs::msg::ColorRGBA & c); + +/** + * [pedestrianLineMarkingsAsMarkerArray creates marker array to visualize pedestrian line markings] + * @param pedestrian_line_markings [pedestrian marking line] + * @param c [color of the marker] + */ +visualization_msgs::msg::MarkerArray pedestrianLineMarkingsAsMarkerArray( + const lanelet::ConstLineStrings3d & pedestrian_line_markings, const std_msgs::msg::ColorRGBA & c); /** * [parkingLotsAsMarkerArray creates marker array to visualize parking lots] diff --git a/lanelet2_extension/lib/query.cpp b/lanelet2_extension/lib/query.cpp index f444bdb..a505c12 100644 --- a/lanelet2_extension/lib/query.cpp +++ b/lanelet2_extension/lib/query.cpp @@ -381,17 +381,30 @@ lanelet::ConstLineStrings3d query::getAllFences(const lanelet::LaneletMapConstPt return fences; } -lanelet::ConstLineStrings3d query::getAllPedestrianMarkings( +lanelet::ConstLineStrings3d query::getAllPedestrianPolygonMarkings( const lanelet::LaneletMapConstPtr & lanelet_map_ptr) { - lanelet::ConstLineStrings3d pedestrian_markings; + lanelet::ConstLineStrings3d pedestrian_polygon_markings; for (const auto & ls : lanelet_map_ptr->lineStringLayer) { const std::string type = ls.attributeOr(lanelet::AttributeName::Type, "none"); - if (type == "pedestrian_marking") { - pedestrian_markings.push_back(ls); + if ((type == "pedestrian_marking") && (ls.size() >= 3)) { + pedestrian_polygon_markings.push_back(ls); } } - return pedestrian_markings; + return pedestrian_polygon_markings; +} + +lanelet::ConstLineStrings3d query::getAllPedestrianLineMarkings( + const lanelet::LaneletMapConstPtr & lanelet_map_ptr) +{ + lanelet::ConstLineStrings3d pedestrian_line_markings; + for (const auto & ls : lanelet_map_ptr->lineStringLayer) { + const std::string type = ls.attributeOr(lanelet::AttributeName::Type, "none"); + if ((type == "pedestrian_marking") && (ls.size() < 3)) { + pedestrian_line_markings.push_back(ls); + } + } + return pedestrian_line_markings; } lanelet::ConstLineStrings3d query::getAllParkingSpaces( diff --git a/lanelet2_extension/lib/visualization.cpp b/lanelet2_extension/lib/visualization.cpp index 26ba5d8..0c48008 100644 --- a/lanelet2_extension/lib/visualization.cpp +++ b/lanelet2_extension/lib/visualization.cpp @@ -974,19 +974,21 @@ visualization_msgs::msg::MarkerArray visualization::crosswalkAreasAsMarkerArray( return marker_array; } -visualization_msgs::msg::MarkerArray visualization::pedestrianMarkingsAsMarkerArray( - const lanelet::ConstLineStrings3d & pedestrian_markings, const std_msgs::msg::ColorRGBA & c) +visualization_msgs::msg::MarkerArray visualization::pedestrianPolygonMarkingsAsMarkerArray( + const lanelet::ConstLineStrings3d & pedestrian_polygon_markings, + const std_msgs::msg::ColorRGBA & c) { visualization_msgs::msg::MarkerArray marker_array; - if (pedestrian_markings.empty()) { + if (pedestrian_polygon_markings.empty()) { return marker_array; } - visualization_msgs::msg::Marker marker = createPolygonMarker("pedestrian_marking", c); - for (const auto & linestring : pedestrian_markings) { + visualization_msgs::msg::Marker polygon_marker = + createPolygonMarker("pedestrian_polygon_marking", c); + for (const auto & linestring : pedestrian_polygon_markings) { lanelet::ConstPolygon3d polygon; if (utils::lineStringToPolygon(linestring, &polygon)) { - pushPolygonMarker(&marker, polygon, c); + pushPolygonMarker(&polygon_marker, polygon, c); } else { RCLCPP_WARN_STREAM( rclcpp::get_logger("lanelet2_extension.visualization"), @@ -994,9 +996,35 @@ visualization_msgs::msg::MarkerArray visualization::pedestrianMarkingsAsMarkerAr } } - if (!marker.points.empty()) { - marker_array.markers.push_back(marker); + if (!polygon_marker.points.empty()) { + marker_array.markers.push_back(polygon_marker); + } + + return marker_array; +} + +visualization_msgs::msg::MarkerArray visualization::pedestrianLineMarkingsAsMarkerArray( + const lanelet::ConstLineStrings3d & pedestrian_line_markings, const std_msgs::msg::ColorRGBA & c) +{ + visualization_msgs::msg::MarkerArray marker_array; + if (pedestrian_line_markings.empty()) { + return marker_array; } + + const float lss = 0.1; // line string size + visualization_msgs::msg::Marker line_marker; + visualization::initLineStringMarker(&line_marker, "map", "pedestrian_line_marking", c); + + for (const auto & linestring : pedestrian_line_markings) { + if ((linestring.size() < 3) && (linestring.front().id() != linestring.back().id())) { + pushLineStringMarker(&line_marker, linestring, c, lss); + } + } + + if (!line_marker.points.empty()) { + marker_array.markers.push_back(line_marker); + } + return marker_array; } diff --git a/lanelet2_extension_python/example/example.py b/lanelet2_extension_python/example/example.py index 2ba57f4..c9311bc 100644 --- a/lanelet2_extension_python/example/example.py +++ b/lanelet2_extension_python/example/example.py @@ -134,7 +134,8 @@ def test_utility_query(lanelet_map, routing_graph): print(f"""{len(query.getAllPartitions(lanelet_map))=}""") print(f"""{len(query.getAllParkingSpaces(lanelet_map))=}""") print(f"""{len(query.getAllFences(lanelet_map))=}""") - print(f"""{len(query.getAllPedestrianMarkings(lanelet_map))=}""") + print(f"""{len(query.getAllPedestrianPolygonMarkings(lanelet_map))=}""") + print(f"""{len(query.getAllPedestrianLineMarkings(lanelet_map))=}""") print(f"""{len(query.stopLinesLanelets(lanelets))=}""") print(f"""{len(query.stopLinesLanelet(lanelet108))=}""") print(f"""{len(query.stopSignStopLines(lanelets))=}""") diff --git a/lanelet2_extension_python/lanelet2_extension_python/utility/query.py b/lanelet2_extension_python/lanelet2_extension_python/utility/query.py index 7a245b4..7ac7206 100644 --- a/lanelet2_extension_python/lanelet2_extension_python/utility/query.py +++ b/lanelet2_extension_python/lanelet2_extension_python/utility/query.py @@ -25,7 +25,8 @@ getAllParkingLots = _utility_cpp.getAllParkingLots getAllPartitions = _utility_cpp.getAllPartitions getAllFences = _utility_cpp.getAllFences -getAllPedestrianMarkings = _utility_cpp.getAllPedestrianMarkings +getAllPedestrianPolygonMarkings = _utility_cpp.getAllPedestrianPolygonMarkings +getAllPedestrianLineMarkings = _utility_cpp.getAllPedestrianLineMarkings getAllParkingSpaces = _utility_cpp.getAllParkingSpaces getLinkedParkingSpaces = _utility_cpp.getLinkedParkingSpaces getLinkedLanelet = _utility_cpp.getLinkedLanelet diff --git a/lanelet2_extension_python/src/utility.cpp b/lanelet2_extension_python/src/utility.cpp index fa69bc3..fdd612f 100644 --- a/lanelet2_extension_python/src/utility.cpp +++ b/lanelet2_extension_python/src/utility.cpp @@ -470,7 +470,9 @@ BOOST_PYTHON_MODULE(_lanelet2_extension_python_boost_python_utility) bp::def("getAllParkingLots", lanelet::utils::query::getAllParkingLots); bp::def("getAllPartitions", lanelet::utils::query::getAllPartitions); bp::def("getAllFences", lanelet::utils::query::getAllFences); - bp::def("getAllPedestrianMarkings", lanelet::utils::query::getAllPedestrianMarkings); + bp::def( + "getAllPedestrianPolygonMarkings", lanelet::utils::query::getAllPedestrianPolygonMarkings); + bp::def("getAllPedestrianLineMarkings", lanelet::utils::query::getAllPedestrianLineMarkings); bp::def("getAllParkingSpaces", lanelet::utils::query::getAllParkingSpaces); bp::def Date: Mon, 4 Mar 2024 13:01:36 +0900 Subject: [PATCH 48/54] fix(lanelet2_extension): invalid access (#240) --- lanelet2_extension/lib/utilities.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/lanelet2_extension/lib/utilities.cpp b/lanelet2_extension/lib/utilities.cpp index f84e9a4..8dbf514 100644 --- a/lanelet2_extension/lib/utilities.cpp +++ b/lanelet2_extension/lib/utilities.cpp @@ -213,6 +213,9 @@ lanelet::LineString3d getLineStringFromArcLength( lanelet::Points3d points; double accumulated_length = 0; size_t start_index = linestring.size(); + if (start_index == 0) { + return lanelet::LineString3d{lanelet::InvalId, points}; + } for (size_t i = 0; i < linestring.size() - 1; i++) { const auto & p1 = linestring[i]; const auto & p2 = linestring[i + 1]; From 0844ba251fbd2fc6147031cb790c3d7356cc1f72 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Wed, 1 May 2024 21:53:55 +0900 Subject: [PATCH 49/54] remove top readme Signed-off-by: Yutaka Kondo --- README.md | 2 -- 1 file changed, 2 deletions(-) delete mode 100644 README.md diff --git a/README.md b/README.md deleted file mode 100644 index 8d1e47e..0000000 --- a/README.md +++ /dev/null @@ -1,2 +0,0 @@ -# autoware_lanelet2_extension -Extension library of Lanelet2 From ecc1ce602a50be0a5103b582be233a05786a21e3 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 25 Apr 2024 22:33:53 +0900 Subject: [PATCH 50/54] import settings from autoware_common Signed-off-by: Yutaka Kondo --- .clang-format | 47 ++ .clang-tidy | 461 ++++++++++++++++++ .github/CODEOWNERS | 7 + .github/CODEOWNERS-manual | 0 .github/ISSUE_TEMPLATE/bug.yaml | 71 +++ .github/ISSUE_TEMPLATE/config.yml | 13 + .github/ISSUE_TEMPLATE/task.yaml | 42 ++ .github/PULL_REQUEST_TEMPLATE.md | 8 + .github/PULL_REQUEST_TEMPLATE/small-change.md | 40 ++ .../PULL_REQUEST_TEMPLATE/standard-change.md | 50 ++ .github/dependabot.yaml | 10 + .github/stale.yml | 12 + .github/sync-files-reverse-reference.yaml | 39 ++ .github/sync-files.yaml | 32 ++ ...ild-and-test-differential-self-hosted.yaml | 58 +++ .../build-and-test-differential.yaml | 91 ++++ .../workflows/build-and-test-self-hosted.yaml | 46 ++ .../build-and-test-with-reverse-depends.yaml | 52 ++ .github/workflows/build-and-test.yaml | 66 +++ .../workflows/cancel-previous-workflows.yaml | 14 + .github/workflows/check-build-depends.yaml | 37 ++ .../clang-tidy-pr-comments-manually.yaml | 62 +++ .github/workflows/clang-tidy-pr-comments.yaml | 63 +++ .github/workflows/github-release.yaml | 78 +++ .github/workflows/pre-commit-autoupdate.yaml | 37 ++ .github/workflows/pre-commit-optional.yaml | 19 + .github/workflows/pre-commit.yaml | 27 + .github/workflows/semantic-pull-request.yaml | 12 + .../workflows/spell-check-differential.yaml | 16 + .../sync-files-reverse-reference.yaml | 24 + .github/workflows/sync-files.yaml | 33 ++ .../update-codeowners-from-packages.yaml | 33 ++ .markdown-link-check.json | 16 + .markdownlint.yaml | 11 + .pre-commit-config-optional.yaml | 6 + .pre-commit-config.yaml | 95 ++++ .prettierignore | 2 + .prettierrc.yaml | 20 + .yamllint.yaml | 22 + CODE_OF_CONDUCT.md | 132 +++++ CONTRIBUTING.md | 3 + CPPLINT.cfg | 14 + DISCLAIMER.md | 46 ++ build_depends.repos | 9 + codecov.yaml | 22 + setup.cfg | 15 + 46 files changed, 2013 insertions(+) create mode 100644 .clang-format create mode 100644 .clang-tidy create mode 100644 .github/CODEOWNERS create mode 100644 .github/CODEOWNERS-manual create mode 100644 .github/ISSUE_TEMPLATE/bug.yaml create mode 100644 .github/ISSUE_TEMPLATE/config.yml create mode 100644 .github/ISSUE_TEMPLATE/task.yaml create mode 100644 .github/PULL_REQUEST_TEMPLATE.md create mode 100644 .github/PULL_REQUEST_TEMPLATE/small-change.md create mode 100644 .github/PULL_REQUEST_TEMPLATE/standard-change.md create mode 100644 .github/dependabot.yaml create mode 100644 .github/stale.yml create mode 100644 .github/sync-files-reverse-reference.yaml create mode 100644 .github/sync-files.yaml create mode 100644 .github/workflows/build-and-test-differential-self-hosted.yaml create mode 100644 .github/workflows/build-and-test-differential.yaml create mode 100644 .github/workflows/build-and-test-self-hosted.yaml create mode 100644 .github/workflows/build-and-test-with-reverse-depends.yaml create mode 100644 .github/workflows/build-and-test.yaml create mode 100644 .github/workflows/cancel-previous-workflows.yaml create mode 100644 .github/workflows/check-build-depends.yaml create mode 100644 .github/workflows/clang-tidy-pr-comments-manually.yaml create mode 100644 .github/workflows/clang-tidy-pr-comments.yaml create mode 100644 .github/workflows/github-release.yaml create mode 100644 .github/workflows/pre-commit-autoupdate.yaml create mode 100644 .github/workflows/pre-commit-optional.yaml create mode 100644 .github/workflows/pre-commit.yaml create mode 100644 .github/workflows/semantic-pull-request.yaml create mode 100644 .github/workflows/spell-check-differential.yaml create mode 100644 .github/workflows/sync-files-reverse-reference.yaml create mode 100644 .github/workflows/sync-files.yaml create mode 100644 .github/workflows/update-codeowners-from-packages.yaml create mode 100644 .markdown-link-check.json create mode 100644 .markdownlint.yaml create mode 100644 .pre-commit-config-optional.yaml create mode 100644 .pre-commit-config.yaml create mode 100644 .prettierignore create mode 100644 .prettierrc.yaml create mode 100644 .yamllint.yaml create mode 100644 CODE_OF_CONDUCT.md create mode 100644 CONTRIBUTING.md create mode 100644 CPPLINT.cfg create mode 100644 DISCLAIMER.md create mode 100644 build_depends.repos create mode 100644 codecov.yaml create mode 100644 setup.cfg diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..b41fae9 --- /dev/null +++ b/.clang-format @@ -0,0 +1,47 @@ +# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format +Language: Cpp +BasedOnStyle: Google + +AccessModifierOffset: -2 +AlignAfterOpenBracket: AlwaysBreak +AllowShortFunctionsOnASingleLine: InlineOnly +BraceWrapping: + AfterClass: true + AfterFunction: true + AfterNamespace: true + AfterStruct: true +BreakBeforeBraces: Custom +ColumnLimit: 100 +ConstructorInitializerIndentWidth: 0 +ContinuationIndentWidth: 2 +DerivePointerAlignment: false +PointerAlignment: Middle +ReflowComments: true +IncludeCategories: + # C++ system headers + - Regex: <[a-z_]*> + Priority: 6 + CaseSensitive: true + # C system headers + - Regex: <.*\.h> + Priority: 5 + CaseSensitive: true + # Boost headers + - Regex: boost/.* + Priority: 4 + CaseSensitive: true + # Message headers + - Regex: .*_msgs/.* + Priority: 3 + CaseSensitive: true + - Regex: .*_srvs/.* + Priority: 3 + CaseSensitive: true + # Other Package headers + - Regex: <.*> + Priority: 2 + CaseSensitive: true + # Local package headers + - Regex: '".*"' + Priority: 1 + CaseSensitive: true diff --git a/.clang-tidy b/.clang-tidy new file mode 100644 index 0000000..c4533f5 --- /dev/null +++ b/.clang-tidy @@ -0,0 +1,461 @@ +Checks: " + -*, + boost-use-to-string, + bugprone-argument-comment, + bugprone-assert-side-effect, + bugprone-bad-signal-to-kill-thread, + bugprone-bool-pointer-implicit-conversion, + bugprone-branch-clone, + bugprone-copy-constructor-init, + bugprone-dangling-handle, + bugprone-dynamic-static-initializers, + bugprone-exception-escape, + bugprone-fold-init-type, + bugprone-forward-declaration-namespace, + bugprone-forwarding-reference-overload, + bugprone-inaccurate-erase, + bugprone-incorrect-roundings, + bugprone-integer-division, + bugprone-lambda-function-name, + bugprone-macro-parentheses, + bugprone-macro-repeated-side-effects, + bugprone-misplaced-operator-in-strlen-in-alloc, + bugprone-misplaced-widening-cast, + bugprone-move-forwarding-reference, + bugprone-multiple-statement-macro, + bugprone-not-null-terminated-result, + bugprone-parent-virtual-call, + bugprone-posix-return, + bugprone-signed-char-misuse, + bugprone-sizeof-container, + bugprone-sizeof-expression, + bugprone-string-constructor, + bugprone-string-integer-assignment, + bugprone-string-literal-with-embedded-nul, + bugprone-suspicious-enum-usage, + bugprone-suspicious-memset-usage, + bugprone-suspicious-missing-comma, + bugprone-suspicious-semicolon, + bugprone-suspicious-string-compare, + bugprone-swapped-arguments, + bugprone-terminating-continue, + bugprone-throw-keyword-missing, + bugprone-too-small-loop-variable, + bugprone-unchecked-optional-access, + bugprone-undefined-memory-manipulation, + bugprone-undelegated-constructor, + bugprone-unhandled-self-assignment, + bugprone-unused-raii, + bugprone-unused-return-value, + bugprone-use-after-move, + bugprone-virtual-near-miss, + cppcoreguidelines-avoid-goto, + cppcoreguidelines-init-variables, + cppcoreguidelines-interfaces-global-init, + cppcoreguidelines-macro-usage, + cppcoreguidelines-narrowing-conversions, + cppcoreguidelines-no-malloc, + cppcoreguidelines-pro-bounds-pointer-arithmetic, + cppcoreguidelines-pro-type-const-cast, + cppcoreguidelines-pro-type-cstyle-cast, + cppcoreguidelines-pro-type-member-init, + cppcoreguidelines-pro-type-reinterpret-cast, + cppcoreguidelines-pro-type-static-cast-downcast, + cppcoreguidelines-pro-type-union-access, + cppcoreguidelines-slicing, + cppcoreguidelines-special-member-functions, + google-build-explicit-make-pair, + google-build-namespaces, + google-build-using-namespace, + google-explicit-constructor, + google-global-names-in-headers, + google-upgrade-googletest-case, + hicpp-exception-baseclass, + hicpp-multiway-paths-covered, + hicpp-no-assembler, + hicpp-signed-bitwise, + llvm-namespace-comment, + misc-definitions-in-headers, + misc-misplaced-const, + misc-new-delete-overloads, + misc-non-copyable-objects, + misc-redundant-expression, + misc-static-assert, + misc-throw-by-value-catch-by-reference, + misc-unconventional-assign-operator, + misc-uniqueptr-reset-release, + misc-unused-alias-decls, + misc-unused-parameters, + misc-unused-using-decls, + modernize-concat-nested-namespaces, + modernize-deprecated-headers, + modernize-deprecated-ios-base-aliases, + modernize-loop-convert, + modernize-make-shared, + modernize-make-unique, + modernize-pass-by-value, + modernize-raw-string-literal, + modernize-redundant-void-arg, + modernize-replace-auto-ptr, + modernize-replace-disallow-copy-and-assign-macro, + modernize-replace-random-shuffle, + modernize-return-braced-init-list, + modernize-shrink-to-fit, + modernize-unary-static-assert, + modernize-use-auto, + modernize-use-bool-literals, + modernize-use-default-member-init, + modernize-use-emplace, + modernize-use-equals-default, + modernize-use-equals-delete, + modernize-use-nodiscard, + modernize-use-noexcept, + modernize-use-nullptr, + modernize-use-override, + modernize-use-transparent-functors, + modernize-use-uncaught-exceptions, + modernize-use-using, + openmp-use-default-none, + performance-faster-string-find, + performance-for-range-copy, + performance-implicit-conversion-in-loop, + performance-inefficient-algorithm, + performance-inefficient-string-concatenation, + performance-inefficient-vector-operation, + performance-move-const-arg, + performance-move-constructor-init, + performance-no-automatic-move, + performance-no-int-to-ptr, + performance-noexcept-move-constructor, + performance-trivially-destructible, + performance-type-promotion-in-math-fn, + performance-unnecessary-copy-initialization, + performance-unnecessary-value-param, + portability-simd-intrinsics, + readability-const-return-type, + readability-container-size-empty, + readability-convert-member-functions-to-static, + readability-delete-null-pointer, + readability-else-after-return, + readability-function-cognitive-complexity, + readability-identifier-naming, + readability-inconsistent-declaration-parameter-name, + readability-isolate-declaration, + readability-make-member-function-const, + readability-misleading-indentation, + readability-misplaced-array-index, + readability-non-const-parameter, + readability-redundant-access-specifiers, + readability-redundant-control-flow, + readability-redundant-declaration, + readability-redundant-function-ptr-dereference, + readability-redundant-member-init, + readability-redundant-smartptr-get, + readability-redundant-string-cstr, + readability-redundant-string-init, + readability-simplify-boolean-expr, + readability-simplify-subscript-expr, + readability-static-accessed-through-instance, + readability-static-definition-in-anonymous-namespace, + readability-string-compare, + readability-uniqueptr-delete-release" + +WarningsAsErrors: " + boost-use-to-string, + bugprone-dangling-handle, + bugprone-fold-init-type, + bugprone-inaccurate-erase, + bugprone-incorrect-roundings, + bugprone-misplaced-widening-cast, + bugprone-sizeof-container, + bugprone-sizeof-expression, + bugprone-string-constructor, + bugprone-suspicious-enum-usage, + bugprone-suspicious-memset-usage, + bugprone-suspicious-missing-comma, + bugprone-suspicious-semicolon, + bugprone-swapped-arguments, + bugprone-unused-raii, + bugprone-use-after-move, + llvm-namespace-comment, + misc-non-copyable-objects, + misc-redundant-expression, + misc-throw-by-value-catch-by-reference, + misc-unused-alias-decls, + misc-unused-parameters, + misc-unused-using-decls, + modernize-deprecated-headers, + modernize-redundant-void-arg, + modernize-use-bool-literals, + modernize-use-emplace, + modernize-use-equals-default, + modernize-use-equals-delete, + modernize-use-nullptr, + modernize-use-override, + modernize-use-using, + performance-faster-string-find, + performance-inefficient-algorithm, + readability-make-member-function-const, + readability-misleading-indentation, + readability-misplaced-array-index, + readability-string-compare" + +HeaderFilterRegex: ^(?!\/usr)(?!\/opt) + +AnalyzeTemporaryDtors: false + +FormatStyle: none + +CheckOptions: + - key: bugprone-argument-comment.CommentBoolLiterals + value: "0" + - key: bugprone-argument-comment.CommentCharacterLiterals + value: "0" + - key: bugprone-argument-comment.CommentFloatLiterals + value: "0" + - key: bugprone-argument-comment.CommentIntegerLiterals + value: "0" + - key: bugprone-argument-comment.CommentNullPtrs + value: "0" + - key: bugprone-argument-comment.CommentStringLiterals + value: "0" + - key: bugprone-argument-comment.CommentUserDefinedLiterals + value: "0" + - key: bugprone-argument-comment.IgnoreSingleArgument + value: "0" + - key: bugprone-argument-comment.StrictMode + value: "0" + - key: bugprone-assert-side-effect.AssertMacros + value: assert + - key: bugprone-assert-side-effect.CheckFunctionCalls + value: "0" + - key: bugprone-dangling-handle.HandleClasses + value: std::basic_string_view;std::experimental::basic_string_view + - key: bugprone-dynamic-static-initializers.HeaderFileExtensions + value: ",h,hh,hpp,hxx" + - key: bugprone-exception-escape.FunctionsThatShouldNotThrow + value: "" + - key: bugprone-exception-escape.IgnoredExceptions + value: "" + - key: bugprone-misplaced-widening-cast.CheckImplicitCasts + value: "0" + - key: bugprone-not-null-terminated-result.WantToUseSafeFunctions + value: "1" + - key: bugprone-signed-char-misuse.CharTypdefsToIgnore + value: "" + - key: bugprone-sizeof-expression.WarnOnSizeOfCompareToConstant + value: "1" + - key: bugprone-sizeof-expression.WarnOnSizeOfConstant + value: "1" + - key: bugprone-sizeof-expression.WarnOnSizeOfIntegerExpression + value: "0" + - key: bugprone-sizeof-expression.WarnOnSizeOfThis + value: "1" + - key: bugprone-string-constructor.LargeLengthThreshold + value: "8388608" + - key: bugprone-string-constructor.WarnOnLargeLength + value: "1" + - key: bugprone-suspicious-enum-usage.StrictMode + value: "0" + - key: bugprone-suspicious-missing-comma.MaxConcatenatedTokens + value: "5" + - key: bugprone-suspicious-missing-comma.RatioThreshold + value: "0.200000" + - key: bugprone-suspicious-missing-comma.SizeThreshold + value: "5" + - key: bugprone-suspicious-string-compare.StringCompareLikeFunctions + value: "" + - key: bugprone-suspicious-string-compare.WarnOnImplicitComparison + value: "1" + - key: bugprone-suspicious-string-compare.WarnOnLogicalNotComparison + value: "0" + - key: bugprone-too-small-loop-variable.MagnitudeBitsUpperLimit + value: "16" + - key: bugprone-unhandled-self-assignment.WarnOnlyIfThisHasSuspiciousField + value: "1" + - key: bugprone-unused-return-value.CheckedFunctions + value: ::std::async;::std::launder;::std::remove;::std::remove_if;::std::unique;::std::unique_ptr::release;::std::basic_string::empty;::std::vector::empty + - key: cert-dcl16-c.NewSuffixes + value: L;LL;LU;LLU + - key: cert-oop54-cpp.WarnOnlyIfThisHasSuspiciousField + value: "0" + - key: cppcoreguidelines-explicit-virtual-functions.IgnoreDestructors + value: "1" + - key: cppcoreguidelines-macro-usage.AllowedRegexp + value: ^DEBUG_* + - key: cppcoreguidelines-macro-usage.CheckCapsOnly + value: "0" + - key: cppcoreguidelines-macro-usage.IgnoreCommandLineMacros + value: "1" + - key: cppcoreguidelines-no-malloc.Allocations + value: ::malloc;::calloc + - key: cppcoreguidelines-no-malloc.Deallocations + value: ::free + - key: cppcoreguidelines-no-malloc.Reallocations + value: ::realloc + - key: cppcoreguidelines-non-private-member-variables-in-classes.IgnoreClassesWithAllMemberVariablesBeingPublic + value: "1" + - key: cppcoreguidelines-pro-type-member-init.IgnoreArrays + value: "0" + - key: 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"0" + - key: modernize-loop-convert.MaxCopySize + value: "16" + - key: modernize-loop-convert.MinConfidence + value: reasonable + - key: modernize-loop-convert.NamingStyle + value: CamelCase + - key: modernize-make-shared.IgnoreMacros + value: "1" + - key: modernize-make-shared.IncludeStyle + value: google + - key: modernize-make-shared.MakeSmartPtrFunction + value: std::make_shared + - key: modernize-make-shared.MakeSmartPtrFunctionHeader + value: memory + - key: modernize-make-unique.IgnoreMacros + value: "1" + - key: modernize-make-unique.IncludeStyle + value: google + - key: modernize-make-unique.MakeSmartPtrFunction + value: std::make_unique + - key: modernize-make-unique.MakeSmartPtrFunctionHeader + value: memory + - key: modernize-pass-by-value.IncludeStyle + value: google + - key: modernize-pass-by-value.ValuesOnly + value: "0" + - key: modernize-raw-string-literal.ReplaceShorterLiterals + value: "0" + - key: modernize-replace-auto-ptr.IncludeStyle + value: google + - key: modernize-replace-random-shuffle.IncludeStyle + value: google + - key: modernize-use-auto.MinTypeNameLength + value: "5" + - key: modernize-use-auto.RemoveStars + value: "0" + - key: modernize-use-default-member-init.IgnoreMacros + value: "1" + - key: modernize-use-default-member-init.UseAssignment + value: "0" + - key: modernize-use-emplace.ContainersWithPushBack + value: ::std::vector;::std::list;::std::deque + - key: modernize-use-emplace.SmartPointers + value: ::std::shared_ptr;::std::unique_ptr;::std::auto_ptr;::std::weak_ptr + - key: modernize-use-emplace.TupleMakeFunctions + value: ::std::make_pair;::std::make_tuple + - key: modernize-use-emplace.TupleTypes + value: ::std::pair;::std::tuple + - key: modernize-use-equals-default.IgnoreMacros + value: "1" + - key: modernize-use-equals-delete.IgnoreMacros + value: "1" + - key: modernize-use-nodiscard.ReplacementString + value: "[[nodiscard]]" + - key: modernize-use-noexcept.ReplacementString + value: "" + - key: modernize-use-noexcept.UseNoexceptFalse + value: "1" + - key: modernize-use-nullptr.NullMacros + value: "NULL" + - key: modernize-use-override.AllowOverrideAndFinal + value: "0" + - key: modernize-use-override.FinalSpelling + value: final + - key: modernize-use-override.IgnoreDestructors + value: "0" + - key: modernize-use-override.OverrideSpelling + value: override + - key: modernize-use-transparent-functors.SafeMode + value: "0" + - key: modernize-use-using.IgnoreMacros + value: "1" + - key: performance-faster-string-find.StringLikeClasses + value: std::basic_string + - key: performance-for-range-copy.AllowedTypes + value: "" + - key: performance-for-range-copy.WarnOnAllAutoCopies + value: "0" + - key: performance-inefficient-string-concatenation.StrictMode + value: "0" + - key: performance-inefficient-vector-operation.EnableProto + value: "0" + - key: performance-inefficient-vector-operation.VectorLikeClasses + value: ::std::vector + - key: performance-move-const-arg.CheckTriviallyCopyableMove + value: "1" + - key: performance-move-constructor-init.IncludeStyle + value: google + - key: performance-no-automatic-move.AllowedTypes + value: "" + - key: performance-type-promotion-in-math-fn.IncludeStyle + value: google + - key: performance-unnecessary-copy-initialization.AllowedTypes + value: "" + - key: performance-unnecessary-value-param.AllowedTypes + value: .*Ptr;.*SharedFuture + - key: performance-unnecessary-value-param.IncludeStyle + value: google + - key: portability-simd-intrinsics.Std + value: "" + - key: portability-simd-intrinsics.Suggest + value: "0" + - key: readability-function-cognitive-complexity.IgnoreMacros + value: "1" + - key: readability-else-after-return.WarnOnUnfixable + value: "1" + - key: readability-identifier-naming.NamespaceCase + value: lower_case + - key: readability-identifier-naming.ClassCase + value: CamelCase + - key: readability-identifier-naming.PrivateMemberSuffix + value: _ + - key: readability-identifier-naming.StructCase + value: CamelCase + - key: readability-identifier-naming.FunctionCase + value: lower_case + - key: readability-identifier-naming.VariableCase + value: lower_case + - key: readability-identifier-naming.GlobalConstantCase + value: lower_case + - key: readability-identifier-naming.GlobalConstantPrefix + value: g_ + - key: readability-identifier-naming.ConstexprVariableCase + value: lower_case + - key: readability-inconsistent-declaration-parameter-name.IgnoreMacros + value: "1" + - key: readability-inconsistent-declaration-parameter-name.Strict + value: "0" + - key: readability-redundant-smartptr-get.IgnoreMacros + value: "1" + - key: readability-redundant-string-init.StringNames + value: ::std::basic_string + - key: readability-simplify-subscript-expr.Types + value: ::std::basic_string;::std::basic_string_view;::std::vector;::std::array + - key: readability-static-accessed-through-instance.NameSpecifierNestingThreshold + value: "3" diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS new file mode 100644 index 0000000..19ac6b4 --- /dev/null +++ b/.github/CODEOWNERS @@ -0,0 +1,7 @@ +### Copied from .github/CODEOWNERS-manual ### + +### Automatically generated from package.xml ### +autoware_cmake/** esteve.fernandez@tier4.jp ryohsuke.mitsudome@tier4.jp +autoware_lint_common/** esteve.fernandez@tier4.jp ryohsuke.mitsudome@tier4.jp +autoware_utils/** esteve.fernandez@tier4.jp ryohsuke.mitsudome@tier4.jp +tmp/lanelet2_extension/** kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp takayuki.murooka@tier4.jp diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual new file mode 100644 index 0000000..e69de29 diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml new file mode 100644 index 0000000..12a8579 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug.yaml @@ -0,0 +1,71 @@ +name: Bug +description: Report a bug +body: + - type: checkboxes + attributes: + label: Checklist + description: Confirm the following items before proceeding. If one cannot be satisfied, create a discussion thread instead. + options: + - label: I've read the [contribution guidelines](https://github.com/autowarefoundation/autoware/blob/main/CONTRIBUTING.md). + required: true + - label: I've searched other issues and no duplicate issues were found. + required: true + - label: I'm convinced that this is not my fault but a bug. + required: true + + - type: textarea + attributes: + label: Description + description: Write a brief description of the bug. + validations: + required: true + + - type: textarea + attributes: + label: Expected behavior + description: Describe the expected behavior. + validations: + required: true + + - type: textarea + attributes: + label: Actual behavior + description: Describe the actual behavior. + validations: + required: true + + - type: textarea + attributes: + label: Steps to reproduce + description: Write the steps to reproduce the bug. + placeholder: |- + 1. + 2. + 3. + validations: + required: true + + - type: textarea + attributes: + label: Versions + description: Provide the version information. You can omit this if you believe it's irrelevant. + placeholder: |- + - OS: + - ROS 2: + - Autoware: + validations: + required: false + + - type: textarea + attributes: + label: Possible causes + description: Write the possible causes if you have any ideas. + validations: + required: false + + - type: textarea + attributes: + label: Additional context + description: Add any other additional context if it exists. + validations: + required: false diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml new file mode 100644 index 0000000..48765c2 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -0,0 +1,13 @@ +blank_issues_enabled: false +contact_links: + - name: Question + url: https://github.com/autowarefoundation/autoware/discussions/new?category=q-a + about: Ask a question + + - name: Feature request + url: https://github.com/autowarefoundation/autoware/discussions/new?category=feature-requests + about: Send a feature request + + - name: Idea + url: https://github.com/autowarefoundation/autoware/discussions/new?category=ideas + about: Post an idea diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml new file mode 100644 index 0000000..cd8322f --- /dev/null +++ b/.github/ISSUE_TEMPLATE/task.yaml @@ -0,0 +1,42 @@ +name: Task +description: Plan a task +body: + - type: checkboxes + attributes: + label: Checklist + description: Confirm the following items before proceeding. If one cannot be satisfied, create a discussion thread instead. + options: + - label: I've read the [contribution guidelines](https://github.com/autowarefoundation/autoware/blob/main/CONTRIBUTING.md). + required: true + - label: I've searched other issues and no duplicate issues were found. + required: true + - label: I've agreed with the maintainers that I can plan this task. + required: true + + - type: textarea + attributes: + label: Description + description: Write a brief description of the task. + validations: + required: true + + - type: textarea + attributes: + label: Purpose + description: Describe the purpose of the task. + validations: + required: true + + - type: textarea + attributes: + label: Possible approaches + description: Describe possible approaches for the task. + validations: + required: true + + - type: textarea + attributes: + label: Definition of done + description: Write the definition of done for the task. + validations: + required: true diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000..97b0e95 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,8 @@ +**Note**: Confirm the [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/) before submitting a pull request. + +Click the `Preview` tab and select a PR template: + +- [Standard change](?expand=1&template=standard-change.md) +- [Small change](?expand=1&template=small-change.md) + +**Do NOT send a PR with this description.** diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md new file mode 100644 index 0000000..2ff933c --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE/small-change.md @@ -0,0 +1,40 @@ +## Description + + + +## Tests performed + + + + +Not applicable. + +## Effects on system behavior + + + +Not applicable. + +## Pre-review checklist for the PR author + +The PR author **must** check the checkboxes below when creating the PR. + +- [ ] I've confirmed the [contribution guidelines]. +- [ ] The PR follows the [pull request guidelines]. + +## In-review checklist for the PR reviewers + +The PR reviewers **must** check the checkboxes below before approval. + +- [ ] The PR follows the [pull request guidelines]. + +## Post-review checklist for the PR author + +The PR author **must** check the checkboxes below before merging. + +- [ ] There are no open discussions or they are tracked via tickets. + +After all checkboxes are checked, anyone who has write access can merge the PR. + +[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ +[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md new file mode 100644 index 0000000..7aedefd --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE/standard-change.md @@ -0,0 +1,50 @@ +## Description + + + +## Related links + + + +## Tests performed + + + +## Notes for reviewers + + + +## Interface changes + + + +## Effects on system behavior + + + +## Pre-review checklist for the PR author + +The PR author **must** check the checkboxes below when creating the PR. + +- [ ] I've confirmed the [contribution guidelines]. +- [ ] The PR follows the [pull request guidelines]. + +## In-review checklist for the PR reviewers + +The PR reviewers **must** check the checkboxes below before approval. + +- [ ] The PR follows the [pull request guidelines]. +- [ ] The PR has been properly tested. +- [ ] The PR has been reviewed by the code owners. + +## Post-review checklist for the PR author + +The PR author **must** check the checkboxes below before merging. + +- [ ] There are no open discussions or they are tracked via tickets. +- [ ] The PR is ready for merge. + +After all checkboxes are checked, anyone who has write access can merge the PR. + +[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ +[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml new file mode 100644 index 0000000..0264c03 --- /dev/null +++ b/.github/dependabot.yaml @@ -0,0 +1,10 @@ +version: 2 +updates: + - package-ecosystem: github-actions + directory: / + schedule: + interval: daily + open-pull-requests-limit: 1 + labels: + - tag:bot + - type:github-actions diff --git a/.github/stale.yml b/.github/stale.yml new file mode 100644 index 0000000..bc99e43 --- /dev/null +++ b/.github/stale.yml @@ -0,0 +1,12 @@ +# Modified from https://github.com/probot/stale#usage + +# Number of days of inactivity before an Issue or Pull Request with the stale label is closed +daysUntilClose: false + +# Label to use when marking as stale +staleLabel: status:stale + +# Comment to post when marking as stale +markComment: > + This pull request has been automatically marked as stale because it has not had + recent activity. diff --git a/.github/sync-files-reverse-reference.yaml b/.github/sync-files-reverse-reference.yaml new file mode 100644 index 0000000..f5d016c --- /dev/null +++ b/.github/sync-files-reverse-reference.yaml @@ -0,0 +1,39 @@ +- repository: autowarefoundation/autoware.universe + files: + - source: .github/workflows/build-and-test.yaml + pre-commands: | + sd -s '${{ matrix.container-suffix }}' '' {source} + sd -f ms 'container-suffix:.*include:' 'include:' {source} + + sd "container: ghcr.io/autowarefoundation/autoware-universe:(\w+)-latest.*" "container: ros:\$1" {source} + sd "build_depends.humble.repos" "build_depends.repos" {source} + - source: .github/workflows/build-and-test-differential.yaml + pre-commands: | + sd -s '${{ matrix.container-suffix }}' '' {source} + sd -f ms 'container-suffix:.*include:' 'include:' {source} + + sd "container: ghcr.io/autowarefoundation/autoware-universe:(\w+)-latest.*" "container: ros:\$1" {source} + sd "build_depends.humble.repos" "build_depends.repos" {source} + - source: .github/workflows/build-and-test-differential-self-hosted.yaml + pre-commands: | + sd -s '${{ matrix.container-suffix }}' '' {source} + sd -f ms 'container-suffix:.*include:' 'include:' {source} + + sd "container: ghcr.io/autowarefoundation/autoware-universe:(\w+)-latest.*" "container: ros:\$1" {source} + sd "build_depends.humble.repos" "build_depends.repos" {source} + - source: .github/workflows/build-and-test-self-hosted.yaml + pre-commands: | + sd -s '${{ matrix.container-suffix }}' '' {source} + sd -f ms 'container-suffix:.*include:' 'include:' {source} + + sd "container: ghcr.io/autowarefoundation/autoware-universe:(\w+)-latest.*" "container: ros:\$1" {source} + sd "build_depends.humble.repos" "build_depends.repos" {source} + - source: .github/workflows/check-build-depends.yaml + pre-commands: | + sd "container: ghcr.io/autowarefoundation/autoware-universe:(\w+)-latest.*" "container: ros:\$1" {source} + sd "build_depends.humble.repos" "build_depends.repos" {source} + - source: .github/workflows/clang-tidy-pr-comments.yaml + - source: .github/workflows/clang-tidy-pr-comments-manually.yaml + - source: .github/workflows/update-codeowners-from-packages.yaml + - source: .pre-commit-config.yaml + - source: codecov.yaml diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml new file mode 100644 index 0000000..39bcd3f --- /dev/null +++ b/.github/sync-files.yaml @@ -0,0 +1,32 @@ +- repository: autowarefoundation/autoware + files: + - source: CODE_OF_CONDUCT.md + - source: CONTRIBUTING.md + - source: DISCLAIMER.md + - source: LICENSE + - source: .github/ISSUE_TEMPLATE/bug.yaml + - source: .github/ISSUE_TEMPLATE/config.yml + - source: .github/ISSUE_TEMPLATE/task.yaml + - source: .github/PULL_REQUEST_TEMPLATE.md + - source: .github/PULL_REQUEST_TEMPLATE/small-change.md + - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md + - source: .github/dependabot.yaml + - source: .github/stale.yml + - source: .github/workflows/cancel-previous-workflows.yaml + - source: .github/workflows/github-release.yaml + - source: .github/workflows/pre-commit.yaml + - source: .github/workflows/pre-commit-autoupdate.yaml + - source: .github/workflows/pre-commit-optional.yaml + - source: .github/workflows/semantic-pull-request.yaml + - source: .github/workflows/spell-check-differential.yaml + - source: .github/workflows/sync-files.yaml + - source: .clang-format + - source: .clang-tidy + - source: .markdown-link-check.json + - source: .markdownlint.yaml + - source: .pre-commit-config-optional.yaml + - source: .prettierignore + - source: .prettierrc.yaml + - source: .yamllint.yaml + - source: CPPLINT.cfg + - source: setup.cfg diff --git a/.github/workflows/build-and-test-differential-self-hosted.yaml b/.github/workflows/build-and-test-differential-self-hosted.yaml new file mode 100644 index 0000000..b684019 --- /dev/null +++ b/.github/workflows/build-and-test-differential-self-hosted.yaml @@ -0,0 +1,58 @@ +name: build-and-test-differential-self-hosted + +on: + pull_request: + types: + - opened + - synchronize + - labeled + workflow_dispatch: + +jobs: + prevent-no-label-execution: + uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1 + with: + label: ARM64 + + build-and-test-differential-self-hosted: + needs: prevent-no-label-execution + if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }} + runs-on: [self-hosted, linux, ARM64] + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v3 + with: + fetch-depth: 0 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Build + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Test + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml new file mode 100644 index 0000000..ad9fc66 --- /dev/null +++ b/.github/workflows/build-and-test-differential.yaml @@ -0,0 +1,91 @@ +name: build-and-test-differential + +on: + pull_request: + +jobs: + build-and-test-differential: + runs-on: ubuntu-latest + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v3 + with: + fetch-depth: 0 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Build + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Test + id: test + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v3 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true + flags: differential + + clang-tidy-differential: + runs-on: ubuntu-latest + container: ros:humble + needs: build-and-test-differential + steps: + - name: Check out repository + uses: actions/checkout@v3 + with: + fetch-depth: 0 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Get modified files + id: get-modified-files + uses: tj-actions/changed-files@v42 + with: + files: | + **/*.cpp + **/*.hpp + + - name: Run clang-tidy + if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }} + uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 + with: + rosdistro: humble + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + target-files: ${{ steps.get-modified-files.outputs.all_changed_files }} + clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy + build-depends-repos: build_depends.repos diff --git a/.github/workflows/build-and-test-self-hosted.yaml b/.github/workflows/build-and-test-self-hosted.yaml new file mode 100644 index 0000000..e1a4c0b --- /dev/null +++ b/.github/workflows/build-and-test-self-hosted.yaml @@ -0,0 +1,46 @@ +name: build-and-test-self-hosted + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + build-and-test-self-hosted: + runs-on: [self-hosted, linux, ARM64] + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get self packages + id: get-self-packages + uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + + - name: Build + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Test + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} diff --git a/.github/workflows/build-and-test-with-reverse-depends.yaml b/.github/workflows/build-and-test-with-reverse-depends.yaml new file mode 100644 index 0000000..fd54629 --- /dev/null +++ b/.github/workflows/build-and-test-with-reverse-depends.yaml @@ -0,0 +1,52 @@ +name: build-and-test-with-reverse-depends + +on: + workflow_dispatch: + +jobs: + build-and-test-with-reverse-depends: + runs-on: ubuntu-latest + container: ros:humble + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Set up yq + uses: chrisdickinson/setup-yq@v1.0.1 + with: + yq-version: v4.25.1 + + - name: Clone reverse depends + run: | + git clone https://github.com/autowarefoundation/autoware.universe.git reverse_depends + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get self packages + id: get-self-packages + uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + + - name: Import depends of reverse depends + run: | + yq -i 'del(.repositories.* | select(.url == "https://github.com/autowarefoundation/autoware_common.git"))' reverse_depends/build_depends.repos + yq -i 'del(.repositories.* | select(.url == "https://github.com/tier4/autoware_auto_msgs.git"))' reverse_depends/build_depends.repos + vcs import reverse_depends < reverse_depends/build_depends.repos + rm -rf reverse_depends/map/lanelet2_extension + + - name: Build + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: humble + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: build_depends.repos + + - name: Test + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + id: test + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: humble + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: build_depends.repos diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml new file mode 100644 index 0000000..c34102c --- /dev/null +++ b/.github/workflows/build-and-test.yaml @@ -0,0 +1,66 @@ +name: build-and-test + +on: + push: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + build-and-test: + if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} + runs-on: ubuntu-latest + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Free disk space (Ubuntu) + uses: jlumbroso/free-disk-space@v1.3.1 + with: + tool-cache: false + dotnet: false + swap-storage: false + large-packages: false + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get self packages + id: get-self-packages + uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + + - name: Build + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Test + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + id: test + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v3 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true + flags: total diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml new file mode 100644 index 0000000..1da4d24 --- /dev/null +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -0,0 +1,14 @@ +name: cancel-previous-workflows + +on: + pull_request_target: + +jobs: + cancel-previous-workflows: + runs-on: ubuntu-latest + steps: + - name: Cancel previous runs + uses: styfle/cancel-workflow-action@0.12.0 + with: + workflow_id: all + all_but_latest: true diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml new file mode 100644 index 0000000..81618a1 --- /dev/null +++ b/.github/workflows/check-build-depends.yaml @@ -0,0 +1,37 @@ +name: check-build-depends + +on: + pull_request: + paths: + - build_depends*.repos + +jobs: + check-build-depends: + runs-on: ubuntu-latest + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get self packages + id: get-self-packages + uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + + - name: Build + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} diff --git a/.github/workflows/clang-tidy-pr-comments-manually.yaml b/.github/workflows/clang-tidy-pr-comments-manually.yaml new file mode 100644 index 0000000..9bccd97 --- /dev/null +++ b/.github/workflows/clang-tidy-pr-comments-manually.yaml @@ -0,0 +1,62 @@ +name: clang-tidy-pr-comments-manually + +on: + workflow_dispatch: + inputs: + workflow_run_id_or_url: + description: The target workflow run ID or URL of the build-and-test-differential workflow + required: true +jobs: + clang-tidy-pr-comments-manually: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Download analysis results + run: | + workflow_run_id=$(echo "${{ inputs.workflow_run_id_or_url }}" | sed -e "s|.*runs/||" -e "s|/jobs.*||") + gh run download "$workflow_run_id" -D /tmp || true + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + + - name: Check if the fixes.yaml file exists + id: check-fixes-yaml-existence + uses: autowarefoundation/autoware-github-actions/check-file-existence@v1 + with: + files: /tmp/clang-tidy-result/fixes.yaml + + - name: Set variables + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + id: set-variables + run: | + echo "pr-id=$(cat /tmp/clang-tidy-result/pr-id.txt)" >> $GITHUB_OUTPUT + echo "pr-head-repo=$(cat /tmp/clang-tidy-result/pr-head-repo.txt)" >> $GITHUB_OUTPUT + echo "pr-head-ref=$(cat /tmp/clang-tidy-result/pr-head-ref.txt)" >> $GITHUB_OUTPUT + + - name: Check out PR head + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + uses: actions/checkout@v3 + with: + repository: ${{ steps.set-variables.outputs.pr-head-repo }} + ref: ${{ steps.set-variables.outputs.pr-head-ref }} + persist-credentials: false + + - name: Replace paths in fixes.yaml + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + run: | + sed -i -e "s|/__w/|/home/runner/work/|g" /tmp/clang-tidy-result/fixes.yaml + cat /tmp/clang-tidy-result/fixes.yaml + + - name: Copy fixes.yaml to access from Docker Container Action + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + run: | + cp /tmp/clang-tidy-result/fixes.yaml fixes.yaml + + - name: Run clang-tidy-pr-comments action + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + uses: platisd/clang-tidy-pr-comments@v1 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + clang_tidy_fixes: fixes.yaml + pull_request_id: ${{ steps.set-variables.outputs.pr-id }} diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml new file mode 100644 index 0000000..baaa0fb --- /dev/null +++ b/.github/workflows/clang-tidy-pr-comments.yaml @@ -0,0 +1,63 @@ +name: clang-tidy-pr-comments + +on: + workflow_run: + workflows: + - build-and-test-differential + types: + - completed + +jobs: + clang-tidy-pr-comments: + if: ${{ github.event.workflow_run.event == 'pull_request' && contains(fromJson('["success", "failure"]'), github.event.workflow_run.conclusion) }} + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Download analysis results + run: | + gh run download ${{ github.event.workflow_run.id }} -D /tmp || true + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + + - name: Check if the fixes.yaml file exists + id: check-fixes-yaml-existence + uses: autowarefoundation/autoware-github-actions/check-file-existence@v1 + with: + files: /tmp/clang-tidy-result/fixes.yaml + + - name: Set variables + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + id: set-variables + run: | + echo "pr-id=$(cat /tmp/clang-tidy-result/pr-id.txt)" >> $GITHUB_OUTPUT + echo "pr-head-repo=$(cat /tmp/clang-tidy-result/pr-head-repo.txt)" >> $GITHUB_OUTPUT + echo "pr-head-ref=$(cat /tmp/clang-tidy-result/pr-head-ref.txt)" >> $GITHUB_OUTPUT + + - name: Check out PR head + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + uses: actions/checkout@v3 + with: + repository: ${{ steps.set-variables.outputs.pr-head-repo }} + ref: ${{ steps.set-variables.outputs.pr-head-ref }} + persist-credentials: false + + - name: Replace paths in fixes.yaml + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + run: | + sed -i -e "s|/__w/|/home/runner/work/|g" /tmp/clang-tidy-result/fixes.yaml + cat /tmp/clang-tidy-result/fixes.yaml + + - name: Copy fixes.yaml to access from Docker Container Action + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + run: | + cp /tmp/clang-tidy-result/fixes.yaml fixes.yaml + + - name: Run clang-tidy-pr-comments action + if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }} + uses: platisd/clang-tidy-pr-comments@v1 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + clang_tidy_fixes: fixes.yaml + pull_request_id: ${{ steps.set-variables.outputs.pr-id }} diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml new file mode 100644 index 0000000..b426d0c --- /dev/null +++ b/.github/workflows/github-release.yaml @@ -0,0 +1,78 @@ +name: github-release + +on: + push: + branches: + - beta/v* + tags: + - v* + workflow_dispatch: + inputs: + beta-branch-or-tag-name: + description: The name of the beta branch or tag to release + type: string + required: true + +jobs: + github-release: + runs-on: ubuntu-latest + steps: + - name: Set tag name + id: set-tag-name + run: | + if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then + REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}" + else + REF_NAME="${{ github.ref_name }}" + fi + + echo "ref-name=$REF_NAME" >> $GITHUB_OUTPUT + echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT + + - name: Check out repository + uses: actions/checkout@v4 + with: + fetch-depth: 0 + ref: ${{ steps.set-tag-name.outputs.ref-name }} + + - name: Set target name for beta branches + id: set-target-name + run: | + if [[ "${{ steps.set-tag-name.outputs.ref-name }}" =~ "beta/" ]]; then + echo "target-name=${{ steps.set-tag-name.outputs.ref-name }}" >> $GITHUB_OUTPUT + fi + + - name: Create a local tag for beta branches + run: | + if [ "${{ steps.set-target-name.outputs.target-name }}" != "" ]; then + git tag "${{ steps.set-tag-name.outputs.tag-name }}" + fi + + - name: Run generate-changelog + id: generate-changelog + uses: autowarefoundation/autoware-github-actions/generate-changelog@v1 + + - name: Select verb + id: select-verb + run: | + has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") || true + + verb=create + if [ "$has_previous_draft" = "true" ]; then + verb=edit + fi + + echo "verb=$verb" >> $GITHUB_OUTPUT + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + + - name: Release to GitHub + run: | + gh release ${{ steps.select-verb.outputs.verb }} "${{ steps.set-tag-name.outputs.tag-name }}" \ + --draft \ + --target "${{ steps.set-target-name.outputs.target-name }}" \ + --title "Release ${{ steps.set-tag-name.outputs.tag-name }}" \ + --notes "$NOTES" + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + NOTES: ${{ steps.generate-changelog.outputs.changelog }} diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml new file mode 100644 index 0000000..23b403f --- /dev/null +++ b/.github/workflows/pre-commit-autoupdate.yaml @@ -0,0 +1,37 @@ +name: pre-commit-autoupdate + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + pre-commit-autoupdate: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run pre-commit-autoupdate + uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pre-commit-config: .pre-commit-config.yaml + pr-labels: | + tag:bot + tag:pre-commit-autoupdate + pr-branch: pre-commit-autoupdate + pr-title: "ci(pre-commit): autoupdate" + pr-commit-message: "ci(pre-commit): autoupdate" + auto-merge-method: squash diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml new file mode 100644 index 0000000..3873819 --- /dev/null +++ b/.github/workflows/pre-commit-optional.yaml @@ -0,0 +1,19 @@ +name: pre-commit-optional + +on: + pull_request: + +jobs: + pre-commit-optional: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v4 + with: + fetch-depth: 0 + + - name: Run pre-commit + uses: autowarefoundation/autoware-github-actions/pre-commit@v1 + with: + pre-commit-config: .pre-commit-config-optional.yaml + base-branch: origin/${{ github.base_ref }} diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml new file mode 100644 index 0000000..c724885 --- /dev/null +++ b/.github/workflows/pre-commit.yaml @@ -0,0 +1,27 @@ +name: pre-commit + +on: + pull_request: + +jobs: + pre-commit: + if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Check out repository + uses: actions/checkout@v4 + with: + ref: ${{ github.event.pull_request.head.ref }} + + - name: Run pre-commit + uses: autowarefoundation/autoware-github-actions/pre-commit@v1 + with: + pre-commit-config: .pre-commit-config.yaml + token: ${{ steps.generate-token.outputs.token }} diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml new file mode 100644 index 0000000..71224c2 --- /dev/null +++ b/.github/workflows/semantic-pull-request.yaml @@ -0,0 +1,12 @@ +name: semantic-pull-request + +on: + pull_request_target: + types: + - opened + - edited + - synchronize + +jobs: + semantic-pull-request: + uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@v1 diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml new file mode 100644 index 0000000..1fbf2ff --- /dev/null +++ b/.github/workflows/spell-check-differential.yaml @@ -0,0 +1,16 @@ +name: spell-check-differential + +on: + pull_request: + +jobs: + spell-check-differential: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Run spell-check + uses: autowarefoundation/autoware-github-actions/spell-check@v1 + with: + cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json diff --git a/.github/workflows/sync-files-reverse-reference.yaml b/.github/workflows/sync-files-reverse-reference.yaml new file mode 100644 index 0000000..8219686 --- /dev/null +++ b/.github/workflows/sync-files-reverse-reference.yaml @@ -0,0 +1,24 @@ +name: sync-files-reverse-reference + +on: + workflow_dispatch: + +jobs: + sync-files-reverse-reference: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-files + uses: autowarefoundation/autoware-github-actions/sync-files@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + config: .github/sync-files-reverse-reference.yaml + pr-branch: sync-files-reverse-reference + pr-title: "chore: sync files of reverse references" + pr-commit-message: "chore: sync files of reverse references" diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml new file mode 100644 index 0000000..51e523b --- /dev/null +++ b/.github/workflows/sync-files.yaml @@ -0,0 +1,33 @@ +name: sync-files + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + sync-files: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-files + uses: autowarefoundation/autoware-github-actions/sync-files@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pr-labels: | + tag:bot + tag:sync-files + auto-merge-method: squash diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml new file mode 100644 index 0000000..8b3d240 --- /dev/null +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -0,0 +1,33 @@ +name: update-codeowners-from-packages + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + update-codeowners-from-packages: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run update-codeowners-from-packages + uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pr-labels: | + tag:bot + tag:update-codeowners-from-packages + auto-merge-method: squash diff --git a/.markdown-link-check.json b/.markdown-link-check.json new file mode 100644 index 0000000..c71a3e4 --- /dev/null +++ b/.markdown-link-check.json @@ -0,0 +1,16 @@ +{ + "aliveStatusCodes": [200, 206, 403], + "ignorePatterns": [ + { + "pattern": "^http://localhost" + }, + { + "pattern": "^http://127\\.0\\.0\\.1" + }, + { + "pattern": "^https://github.com/.*/discussions/new" + } + ], + "retryOn429": true, + "retryCount": 10 +} diff --git a/.markdownlint.yaml b/.markdownlint.yaml new file mode 100644 index 0000000..babaaa1 --- /dev/null +++ b/.markdownlint.yaml @@ -0,0 +1,11 @@ +# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. +default: true +MD013: false +MD024: + siblings_only: true +MD029: + style: ordered +MD033: false +MD041: false +MD046: false +MD049: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml new file mode 100644 index 0000000..3b43f9a --- /dev/null +++ b/.pre-commit-config-optional.yaml @@ -0,0 +1,6 @@ +repos: + - repo: https://github.com/tcort/markdown-link-check + rev: v3.11.2 + hooks: + - id: markdown-link-check + args: [--quiet, --config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..a5ca7b6 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,95 @@ +ci: + autofix_commit_msg: "style(pre-commit): autofix" + +repos: + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.4.0 + hooks: + - id: check-json + - id: check-merge-conflict + - id: check-toml + - id: check-xml + - id: check-yaml + args: [--unsafe] + - id: detect-private-key + - id: end-of-file-fixer + - id: mixed-line-ending + - id: trailing-whitespace + args: [--markdown-linebreak-ext=md] + + - repo: https://github.com/igorshubovych/markdownlint-cli + rev: v0.33.0 + hooks: + - id: markdownlint + args: [-c, .markdownlint.yaml, --fix] + + - repo: https://github.com/pre-commit/mirrors-prettier + rev: v3.0.0-alpha.6 + hooks: + - id: prettier + + - repo: https://github.com/adrienverge/yamllint + rev: v1.30.0 + hooks: + - id: yamllint + + - repo: https://github.com/tier4/pre-commit-hooks-ros + rev: v0.8.0 + hooks: + - id: flake8-ros + - id: prettier-xacro + - id: prettier-launch-xml + - id: prettier-package-xml + - id: ros-include-guard + - id: sort-package-xml + + - repo: https://github.com/shellcheck-py/shellcheck-py + rev: v0.9.0.2 + hooks: + - id: shellcheck + + - repo: https://github.com/scop/pre-commit-shfmt + rev: v3.6.0-2 + hooks: + - id: shfmt + args: [-w, -s, -i=4] + + - repo: https://github.com/pycqa/isort + rev: 5.12.0 + hooks: + - id: isort + + - repo: https://github.com/psf/black + rev: 23.3.0 + hooks: + - id: black + args: [--line-length=100] + + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v16.0.0 + hooks: + - id: clang-format + types_or: [c++, c, cuda] + + - repo: https://github.com/cpplint/cpplint + rev: 1.6.1 + hooks: + - id: cpplint + args: [--quiet] + exclude: .cu + + - repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.23.2 + hooks: + - id: check-metaschema + files: ^.+/schema/.*schema\.json$ + + - repo: local + hooks: + - id: prettier-svg + name: prettier svg + description: Apply Prettier with plugin-xml to svg. + entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore + language: node + files: .svg$ + additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"] diff --git a/.prettierignore b/.prettierignore new file mode 100644 index 0000000..a3c34d0 --- /dev/null +++ b/.prettierignore @@ -0,0 +1,2 @@ +*.param.yaml +*.rviz diff --git a/.prettierrc.yaml b/.prettierrc.yaml new file mode 100644 index 0000000..e29bf32 --- /dev/null +++ b/.prettierrc.yaml @@ -0,0 +1,20 @@ +printWidth: 100 +tabWidth: 2 +overrides: + - files: package.xml + options: + printWidth: 1000 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.launch.xml" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.xacro" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore diff --git a/.yamllint.yaml b/.yamllint.yaml new file mode 100644 index 0000000..2c7bd08 --- /dev/null +++ b/.yamllint.yaml @@ -0,0 +1,22 @@ +extends: default + +ignore: | + *.param.yaml + +rules: + braces: + level: error + max-spaces-inside: 1 # To format with Prettier + comments: + level: error + min-spaces-from-content: 1 # To be compatible with C++ and Python + document-start: + level: error + present: false # Don't need document start markers + line-length: disable # Delegate to Prettier + truthy: + level: error + check-keys: false # To allow 'on' of GitHub Actions + quoted-strings: + level: error + required: only-when-needed # To keep consistent style diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md new file mode 100644 index 0000000..8dbcfb8 --- /dev/null +++ b/CODE_OF_CONDUCT.md @@ -0,0 +1,132 @@ +# Contributor Covenant Code of Conduct + +## Our Pledge + +We as members, contributors, and leaders pledge to make participation in our +community a harassment-free experience for everyone, regardless of age, body +size, visible or invisible disability, ethnicity, sex characteristics, gender +identity and expression, level of experience, education, socio-economic status, +nationality, personal appearance, race, caste, color, religion, or sexual +identity and orientation. + +We pledge to act and interact in ways that contribute to an open, welcoming, +diverse, inclusive, and healthy community. + +## Our Standards + +Examples of behavior that contributes to a positive environment for our +community include: + +- Demonstrating empathy and kindness toward other people +- Being respectful of differing opinions, viewpoints, and experiences +- Giving and gracefully accepting constructive feedback +- Accepting responsibility and apologizing to those affected by our mistakes, + and learning from the experience +- Focusing on what is best not just for us as individuals, but for the overall + community + +Examples of unacceptable behavior include: + +- The use of sexualized language or imagery, and sexual attention or advances of + any kind +- Trolling, insulting or derogatory comments, and personal or political attacks +- Public or private harassment +- Publishing others' private information, such as a physical or email address, + without their explicit permission +- Other conduct which could reasonably be considered inappropriate in a + professional setting + +## Enforcement Responsibilities + +Community leaders are responsible for clarifying and enforcing our standards of +acceptable behavior and will take appropriate and fair corrective action in +response to any behavior that they deem inappropriate, threatening, offensive, +or harmful. + +Community leaders have the right and responsibility to remove, edit, or reject +comments, commits, code, wiki edits, issues, and other contributions that are +not aligned to this Code of Conduct, and will communicate reasons for moderation +decisions when appropriate. + +## Scope + +This Code of Conduct applies within all community spaces, and also applies when +an individual is officially representing the community in public spaces. +Examples of representing our community include using an official e-mail address, +posting via an official social media account, or acting as an appointed +representative at an online or offline event. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be +reported to the community leaders responsible for enforcement at +. +All complaints will be reviewed and investigated promptly and fairly. + +All community leaders are obligated to respect the privacy and security of the +reporter of any incident. + +## Enforcement Guidelines + +Community leaders will follow these Community Impact Guidelines in determining +the consequences for any action they deem in violation of this Code of Conduct: + +### 1. Correction + +**Community Impact**: Use of inappropriate language or other behavior deemed +unprofessional or unwelcome in the community. + +**Consequence**: A private, written warning from community leaders, providing +clarity around the nature of the violation and an explanation of why the +behavior was inappropriate. A public apology may be requested. + +### 2. Warning + +**Community Impact**: A violation through a single incident or series of +actions. + +**Consequence**: A warning with consequences for continued behavior. No +interaction with the people involved, including unsolicited interaction with +those enforcing the Code of Conduct, for a specified period of time. This +includes avoiding interactions in community spaces as well as external channels +like social media. Violating these terms may lead to a temporary or permanent +ban. + +### 3. Temporary Ban + +**Community Impact**: A serious violation of community standards, including +sustained inappropriate behavior. + +**Consequence**: A temporary ban from any sort of interaction or public +communication with the community for a specified period of time. No public or +private interaction with the people involved, including unsolicited interaction +with those enforcing the Code of Conduct, is allowed during this period. +Violating these terms may lead to a permanent ban. + +### 4. Permanent Ban + +**Community Impact**: Demonstrating a pattern of violation of community +standards, including sustained inappropriate behavior, harassment of an +individual, or aggression toward or disparagement of classes of individuals. + +**Consequence**: A permanent ban from any sort of public interaction within the +community. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], +version 2.1, available at +[https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1]. + +Community Impact Guidelines were inspired by +[Mozilla's code of conduct enforcement ladder][mozilla coc]. + +For answers to common questions about this code of conduct, see the FAQ at +[https://www.contributor-covenant.org/faq][faq]. Translations are available at +[https://www.contributor-covenant.org/translations][translations]. + +[homepage]: https://www.contributor-covenant.org +[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html +[mozilla coc]: https://github.com/mozilla/diversity +[faq]: https://www.contributor-covenant.org/faq +[translations]: https://www.contributor-covenant.org/translations diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..22c7ee2 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,3 @@ +# Contributing + +See . diff --git a/CPPLINT.cfg b/CPPLINT.cfg new file mode 100644 index 0000000..ba6bdf0 --- /dev/null +++ b/CPPLINT.cfg @@ -0,0 +1,14 @@ +# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 +set noparent +linelength=100 +includeorder=standardcfirst +filter=-build/c++11 # we do allow C++11 +filter=-build/namespaces_literals # we allow using namespace for literals +filter=-runtime/references # we consider passing non-const references to be ok +filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions +filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/parens # we allow closing parenthesis to be on the next line +filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon +filter=-build/header_guard # we automatically fix the names of header guards using pre-commit +filter=-build/include_order # we use the custom include order +filter=-build/include_subdir # we allow the style of "foo.hpp" diff --git a/DISCLAIMER.md b/DISCLAIMER.md new file mode 100644 index 0000000..1b5a9bb --- /dev/null +++ b/DISCLAIMER.md @@ -0,0 +1,46 @@ +DISCLAIMER + +“Autoware” will be provided by The Autoware Foundation under the Apache License 2.0. +This “DISCLAIMER” will be applied to all users of Autoware (a “User” or “Users”) with +the Apache License 2.0 and Users shall hereby approve and acknowledge all the contents +specified in this disclaimer below and will be deemed to consent to this +disclaimer without any objection upon utilizing or downloading Autoware. + +Disclaimer and Waiver of Warranties + +1. AUTOWARE FOUNDATION MAKES NO REPRESENTATION OR WARRANTY OF ANY KIND, + EXPRESS OR IMPLIED, WITH RESPECT TO PROVIDING AUTOWARE (the “Service”) + including but not limited to any representation or warranty (i) of fitness or + suitability for a particular purpose contemplated by the Users, (ii) of the + expected functions, commercial value, accuracy, or usefulness of the Service, + (iii) that the use by the Users of the Service complies with the laws and + regulations applicable to the Users or any internal rules established by + industrial organizations, (iv) that the Service will be free of interruption or + defects, (v) of the non-infringement of any third party's right and (vi) the + accuracy of the content of the Services and the software itself. + +2. The Autoware Foundation shall not be liable for any damage incurred by the + User that are attributable to the Autoware Foundation for any reasons + whatsoever. UNDER NO CIRCUMSTANCES SHALL THE AUTOWARE FOUNDATION BE LIABLE FOR + INCIDENTAL, INDIRECT, SPECIAL OR FUTURE DAMAGES OR LOSS OF PROFITS. + +3. A User shall be entirely responsible for the content posted by the User and + its use of any content of the Service or the Website. If the User is held + responsible in a civil action such as a claim for damages or even in a criminal + case, the Autoware Foundation and member companies, governments and academic & + non-profit organizations and their directors, officers, employees and agents + (collectively, the “Indemnified Parties”) shall be completely discharged from + any rights or assertions the User may have against the Indemnified Parties, or + from any legal action, litigation or similar procedures. + +Indemnity + +A User shall indemnify and hold the Indemnified Parties harmless from any of +their damages, losses, liabilities, costs or expenses (including attorneys' +fees or criminal compensation), or any claims or demands made against the +Indemnified Parties by any third party, due to or arising out of, or in +connection with utilizing Autoware (including the representations and +warranties), the violation of applicable Product Liability Law of each country +(including criminal case) or violation of any applicable laws by the Users, or +the content posted by the User or its use of any content of the Service or the +Website. diff --git a/build_depends.repos b/build_depends.repos new file mode 100644 index 0000000..6f78bec --- /dev/null +++ b/build_depends.repos @@ -0,0 +1,9 @@ +repositories: + tmp/autoware_auto_msgs: + type: git + url: https://github.com/tier4/autoware_auto_msgs.git + version: tier4/main + tmp/autoware_msgs: + type: git + url: https://github.com/autowarefoundation/autoware_msgs.git + version: main diff --git a/codecov.yaml b/codecov.yaml new file mode 100644 index 0000000..8ca2196 --- /dev/null +++ b/codecov.yaml @@ -0,0 +1,22 @@ +coverage: + status: + project: + default: + target: auto + patch: + default: + target: auto + +comment: + show_carryforward_flags: true + +flag_management: + default_rules: + carryforward: true + statuses: + - name_prefix: project- + type: project + target: auto + - name_prefix: patch- + type: patch + target: auto diff --git a/setup.cfg b/setup.cfg new file mode 100644 index 0000000..5214751 --- /dev/null +++ b/setup.cfg @@ -0,0 +1,15 @@ +[flake8] +# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini +extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000 +import-order-style = pep8 +max-line-length = 100 +show-source = true +statistics = true + +[isort] +profile=black +line_length=100 +force_sort_within_sections=true +force_single_line=true +reverse_relative=true +known_third_party=launch From 0c8589d349115dfc28b178b475594f79e9de05d9 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 25 Apr 2024 22:50:40 +0900 Subject: [PATCH 51/54] append maintainer Signed-off-by: Yutaka Kondo --- .github/CODEOWNERS | 6 ++---- lanelet2_extension/package.xml | 1 + lanelet2_extension_python/package.xml | 1 + 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 19ac6b4..3be45ab 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,7 +1,5 @@ ### Copied from .github/CODEOWNERS-manual ### ### Automatically generated from package.xml ### -autoware_cmake/** esteve.fernandez@tier4.jp ryohsuke.mitsudome@tier4.jp -autoware_lint_common/** esteve.fernandez@tier4.jp ryohsuke.mitsudome@tier4.jp -autoware_utils/** esteve.fernandez@tier4.jp ryohsuke.mitsudome@tier4.jp -tmp/lanelet2_extension/** kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp takayuki.murooka@tier4.jp +lanelet2_extension/** kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp takayuki.murooka@tier4.jp yutaka.kondo@tier4.jp +lanelet2_extension_python/** kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp takayuki.murooka@tier4.jp yutaka.kondo@tier4.jp diff --git a/lanelet2_extension/package.xml b/lanelet2_extension/package.xml index 3a40dc9..bb9d56d 100644 --- a/lanelet2_extension/package.xml +++ b/lanelet2_extension/package.xml @@ -9,6 +9,7 @@ Mamoru Sobue Takayuki Murooka Kosuke Takeuchi + Kosuke Takeuchi Apache License 2.0 ament_cmake_auto diff --git a/lanelet2_extension_python/package.xml b/lanelet2_extension_python/package.xml index d6444e4..24a1b95 100644 --- a/lanelet2_extension_python/package.xml +++ b/lanelet2_extension_python/package.xml @@ -5,6 +5,7 @@ 0.1.0 The lanelet2_extension_python package contains Python bindings for lanelet2_extension package Mamoru Sobue + Kosuke Takeuchi Apache License 2.0 ament_cmake_auto From 2a8afc3a6a2ddf03c7b2189ba111d67f0c7c0968 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Wed, 1 May 2024 16:08:37 +0900 Subject: [PATCH 52/54] update build_depends Signed-off-by: Yutaka Kondo --- build_depends.repos | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/build_depends.repos b/build_depends.repos index 6f78bec..89e4b62 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -1,9 +1,17 @@ repositories: - tmp/autoware_auto_msgs: + autoware_auto_msgs: type: git url: https://github.com/tier4/autoware_auto_msgs.git version: tier4/main - tmp/autoware_msgs: + autoware_cmake: + type: git + url: https://github.com/autowarefoundation/autoware_cmake.git + version: main + autoware_msgs: type: git url: https://github.com/autowarefoundation/autoware_msgs.git version: main + autoware_utils: + type: git + url: https://github.com/autowarefoundation/autoware_utils.git + version: main From 569ae9e673761de22d6310bba1eef26021df37cc Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 2 May 2024 06:03:11 +0900 Subject: [PATCH 53/54] fix maintainer name Signed-off-by: Yutaka Kondo --- lanelet2_extension/package.xml | 2 +- lanelet2_extension_python/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/lanelet2_extension/package.xml b/lanelet2_extension/package.xml index bb9d56d..2f697db 100644 --- a/lanelet2_extension/package.xml +++ b/lanelet2_extension/package.xml @@ -9,7 +9,7 @@ Mamoru Sobue Takayuki Murooka Kosuke Takeuchi - Kosuke Takeuchi + Yutaka Kondo Apache License 2.0 ament_cmake_auto diff --git a/lanelet2_extension_python/package.xml b/lanelet2_extension_python/package.xml index 24a1b95..964ea43 100644 --- a/lanelet2_extension_python/package.xml +++ b/lanelet2_extension_python/package.xml @@ -5,7 +5,7 @@ 0.1.0 The lanelet2_extension_python package contains Python bindings for lanelet2_extension package Mamoru Sobue - Kosuke Takeuchi + Yutaka Kondo Apache License 2.0 ament_cmake_auto From 839a72a362bc603fc5a83c139977965f70abe90e Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Thu, 2 May 2024 06:25:36 +0900 Subject: [PATCH 54/54] temporalily disable 'Run clang-tidy' Signed-off-by: Yutaka Kondo --- .../build-and-test-differential.yaml | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index ad9fc66..1179857 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -80,12 +80,13 @@ jobs: **/*.cpp **/*.hpp - - name: Run clang-tidy - if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }} - uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 - with: - rosdistro: humble - target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - target-files: ${{ steps.get-modified-files.outputs.all_changed_files }} - clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy - build-depends-repos: build_depends.repos + # TODO(youtalk): Comment in after fixing clang-tidy error + # - name: Run clang-tidy + # if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }} + # uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 + # with: + # rosdistro: humble + # target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + # target-files: ${{ steps.get-modified-files.outputs.all_changed_files }} + # clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy + # build-depends-repos: build_depends.repos