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Fix/assorted fix for yield #2200

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merged 22 commits into from
Dec 5, 2023
Merged

Fix/assorted fix for yield #2200

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ee96e47
carma_wm
MishkaMN Nov 30, 2023
a95025f
yield_plugin fixes
MishkaMN Nov 30, 2023
441c975
increase timeouts
MishkaMN Nov 30, 2023
2b9b699
enable mc predictions
MishkaMN Nov 30, 2023
8832284
increase timeouts in subsystem
MishkaMN Nov 30, 2023
a033b8a
clean
MishkaMN Dec 4, 2023
0d47498
clean yield_plugin file
MishkaMN Dec 4, 2023
591a6f9
clean
MishkaMN Dec 4, 2023
2cdf6a9
remove subsystem timeouts
MishkaMN Dec 4, 2023
c512ccb
remove plan_delegator
MishkaMN Dec 4, 2023
a90724d
Merge branch 'develop' into fix/assorted-fix-for-yield
MishkaMN Dec 4, 2023
07b6179
Merge branch 'develop' into fix/assorted-fix-for-yield
MishkaMN Dec 5, 2023
0274bdc
address comments
MishkaMN Dec 5, 2023
cebee60
Merge branch 'fix/assorted-fix-for-yield' of https://github.com/usdot…
MishkaMN Dec 5, 2023
b4df0d7
plan_delegator timeout
MishkaMN Dec 5, 2023
53f8a42
launch file
MishkaMN Dec 5, 2023
b4b3c0c
yield to basic_autonomy and add to other plugins
MishkaMN Dec 5, 2023
fc5a60a
Merge branch 'develop' into fix/assorted-fix-for-yield
MishkaMN Dec 5, 2023
dda10db
address PR comments
MishkaMN Dec 5, 2023
7f4f1b5
address PR comments
MishkaMN Dec 5, 2023
fe61492
STREAM to LOG
MishkaMN Dec 5, 2023
e69fe10
address comments
MishkaMN Dec 5, 2023
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134 changes: 80 additions & 54 deletions basic_autonomy/include/basic_autonomy/basic_autonomy.hpp
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204 changes: 137 additions & 67 deletions basic_autonomy/src/basic_autonomy.cpp
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94 changes: 78 additions & 16 deletions basic_autonomy/test/test_waypoint_generation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -645,20 +645,20 @@ TEST(BasicAutonomyTest, get_nearest_basic_point_index)
waypoint_generation::GeneralTrajConfig general_config = waypoint_generation::compose_general_trajectory_config(trajectory_type, 1, 1);
const waypoint_generation::DetailedTrajConfig config = waypoint_generation::compose_detailed_trajectory_config(0, 0, 0, 0, 0, 5, 0, 0, 20);
carma_planning_msgs::msg::VehicleState ending_state;
std::vector<basic_autonomy::waypoint_generation::PointSpeedPair> points = basic_autonomy::waypoint_generation::create_geometry_profile(maneuvers,

std::vector<basic_autonomy::waypoint_generation::PointSpeedPair> points = basic_autonomy::waypoint_generation::create_geometry_profile(maneuvers,
starting_downtrack, cwm, ending_state, state, general_config, config);

EXPECT_EQ(points.back().speed, state.longitudinal_vel);


//Case 2: Complete lane change before end of lanelet
int centerline_size = shortest_path.back().centerline2d().size();
maneuver.lane_change_maneuver.end_dist = cwm->routeTrackPos(shortest_path.back().centerline2d()[centerline_size/2]).downtrack;
maneuvers[0] = maneuver;
points = basic_autonomy::waypoint_generation::create_geometry_profile(maneuvers,
points = basic_autonomy::waypoint_generation::create_geometry_profile(maneuvers,
starting_downtrack, cwm, ending_state, state, general_config, config);

EXPECT_TRUE(points.size() > 4);

//Test resample linestring
Expand Down Expand Up @@ -732,8 +732,8 @@ TEST(BasicAutonomyTest, get_nearest_basic_point_index)
waypoint_generation::GeneralTrajConfig general_config = waypoint_generation::compose_general_trajectory_config(trajectory_type, 1, 1);
const waypoint_generation::DetailedTrajConfig config = waypoint_generation::compose_detailed_trajectory_config(0, 1, 0, 0, 0, 5, 0, 0, 20);
carma_planning_msgs::msg::VehicleState ending_state;
std::vector<basic_autonomy::waypoint_generation::PointSpeedPair> points = basic_autonomy::waypoint_generation::create_geometry_profile(maneuvers,

std::vector<basic_autonomy::waypoint_generation::PointSpeedPair> points = basic_autonomy::waypoint_generation::create_geometry_profile(maneuvers,
starting_downtrack, cmw, ending_state, state, general_config, config);
rclcpp::Time state_time(10 * 1e9); // Arbitrarily selected 10 seconds (converted to nanoseconds)
EXPECT_EQ(points.back().speed, state.longitudinal_vel);
Expand Down Expand Up @@ -773,9 +773,9 @@ TEST(BasicAutonomyTest, get_nearest_basic_point_index)
maneuver.lane_following_maneuver.end_speed = 6.7056;
maneuver.lane_following_maneuver.end_time = rclcpp::Time(4.4704*1e9); // 4.4704 seconds converted to nanoseconds



std::vector<basic_autonomy::waypoint_generation::PointSpeedPair> points = basic_autonomy::waypoint_generation::create_lanefollow_geometry(maneuver,

std::vector<basic_autonomy::waypoint_generation::PointSpeedPair> points = basic_autonomy::waypoint_generation::create_lanefollow_geometry(maneuver,
starting_downtrack, wm, general_config, detailed_config, visited_lanelets);

EXPECT_EQ(visited_lanelets.size(), 3);
Expand Down Expand Up @@ -815,24 +815,86 @@ TEST(BasicAutonomyTest, get_nearest_basic_point_index)
maneuver.lane_following_maneuver.end_time = rclcpp::Time(4.4704*1e9); // 4.4704 seconds converted to nanoseconds

// No defined lanelet ids in the maneuver msg
EXPECT_THROW(basic_autonomy::waypoint_generation::create_lanefollow_geometry(maneuver,
EXPECT_THROW(basic_autonomy::waypoint_generation::create_lanefollow_geometry(maneuver,
starting_downtrack, wm, general_config, detailed_config, visited_lanelets), std::invalid_argument);
// Defined lanelet ids in the maneuver msg

// Defined lanelet ids in the maneuver msg
maneuver.lane_following_maneuver.lane_ids.push_back(std::to_string(1200));
std::vector<basic_autonomy::waypoint_generation::PointSpeedPair> points = basic_autonomy::waypoint_generation::create_lanefollow_geometry(maneuver,
std::vector<basic_autonomy::waypoint_generation::PointSpeedPair> points = basic_autonomy::waypoint_generation::create_lanefollow_geometry(maneuver,
starting_downtrack, wm, general_config, detailed_config, visited_lanelets);
EXPECT_EQ(visited_lanelets.size(), 3);
EXPECT_TRUE(visited_lanelets.find(id1) != visited_lanelets.end()); // the lanelet previously in the visited lanelet set
EXPECT_TRUE(visited_lanelets.find(1200) != visited_lanelets.end()); // new lanelets added to the set with the new maneuver

// Non-following lanelet id in the maneuver msg
maneuver.lane_following_maneuver.lane_ids.push_back(std::to_string(1202));
EXPECT_THROW(basic_autonomy::waypoint_generation::create_lanefollow_geometry(maneuver,
starting_downtrack, wm, general_config,
EXPECT_THROW(basic_autonomy::waypoint_generation::create_lanefollow_geometry(maneuver,
starting_downtrack, wm, general_config,
detailed_config, visited_lanelets), std::invalid_argument);
}


TEST(BasicAutonomyTest, test_verify_yield)
{
auto node = std::make_shared<carma_ros2_utils::CarmaLifecycleNode>(rclcpp::NodeOptions());

std::vector<carma_planning_msgs::msg::TrajectoryPlanPoint> trajectory_points;

rclcpp::Time startTime = node->now();

carma_planning_msgs::msg::TrajectoryPlanPoint point_2;
point_2.x = 5.0;
point_2.y = 0.0;
point_2.target_time = startTime + rclcpp::Duration(1, 0);
point_2.lane_id = "1";
trajectory_points.push_back(point_2);

carma_planning_msgs::msg::TrajectoryPlanPoint point_3;
point_3.x = 10.0;
point_3.y = 0.0;
point_3.target_time = startTime + rclcpp::Duration(2, 0);
point_3.lane_id = "1";
trajectory_points.push_back(point_3);


carma_planning_msgs::msg::TrajectoryPlan tp;
tp.trajectory_points = trajectory_points;

bool res = basic_autonomy::waypoint_generation::is_valid_yield_plan(node, tp);
ASSERT_TRUE(basic_autonomy::waypoint_generation::is_valid_yield_plan(node, tp));

carma_planning_msgs::msg::TrajectoryPlan tp2;

carma_planning_msgs::msg::TrajectoryPlanPoint point_4;
point_4.x = 5.0;
point_4.y = 0.0;
point_4.target_time = startTime + rclcpp::Duration(1, 0);
point_4.lane_id = "1";
tp2.trajectory_points.push_back(point_4);

ASSERT_FALSE(basic_autonomy::waypoint_generation::is_valid_yield_plan(node, tp2));

carma_planning_msgs::msg::TrajectoryPlan tp3;

carma_planning_msgs::msg::TrajectoryPlanPoint point_5;
point_5.x = 5.0;
point_5.y = 0.0;
point_5.target_time = startTime;
point_5.lane_id = "1";
tp3.trajectory_points.push_back(point_5);

carma_planning_msgs::msg::TrajectoryPlanPoint point_6;
point_6.x = 10.0;
point_6.y = 0.0;
point_6.target_time = startTime + rclcpp::Duration(1, 0);
point_6.lane_id = "1";
tp3.trajectory_points.push_back(point_6);

ASSERT_FALSE(basic_autonomy::waypoint_generation::is_valid_yield_plan(node, tp2));

}


} // namespace basic_autonomy

// Run all the tests
Expand All @@ -849,4 +911,4 @@ int main(int argc, char ** argv)
rclcpp::shutdown();

return success;
}
}
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