ROS node for the InLaneCruisingPlugin. More...

#include <inlanecruising_plugin_node.hpp>

Inheritance diagram for inlanecruising_plugin::InLaneCruisingPluginNode:

Collaboration diagram for inlanecruising_plugin::InLaneCruisingPluginNode:

Public Member Functions
	InLaneCruisingPluginNode (const rclcpp::NodeOptions &)
	Node constructor. More...

carma_ros2_utils::CallbackReturn	on_configure_plugin ()
	Method which is triggered when this plugin is moved from the UNCONFIGURED to INACTIVE states. This method should be used to load parameters and is required to be implemented. More...

bool	get_availability () override
	Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes. More...

std::string	get_version_id () override final
	Returns the version id of this plugin. More...

rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)

void	plan_trajectory_callback (std::shared_ptr< rmw_request_id_t > srv_header, carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr resp) override
	Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request. More...

Public Member Functions inherited from carma_guidance_plugins::TacticalPlugin
	TacticalPlugin (const rclcpp::NodeOptions &)
	TacticalPlugin constructor. More...

virtual	~TacticalPlugin ()=default
	Virtual destructor for safe deletion. More...

virtual void	plan_trajectory_callback (std::shared_ptr< rmw_request_id_t > srv_header, carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr resp)=0
	Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request. More...

std::string	get_capability () override
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

uint8_t	get_type () override final
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override final

Public Member Functions inherited from carma_guidance_plugins::PluginBaseNode
	PluginBaseNode (const rclcpp::NodeOptions &)
	PluginBaseNode constructor. More...

virtual	~PluginBaseNode ()=default
	Virtual destructor for safe deletion. More...

virtual std::shared_ptr< carma_wm::WMListener >	get_world_model_listener () final
	Method to return the default world model listener provided as a convience by this base class If this method or get_world_model() are not called then the world model remains uninitialized and will not create unnecessary subscriptions. More...

virtual carma_wm::WorldModelConstPtr	get_world_model () final
	Method to return the default world model provided as a convience by this base class If this method or get_world_model_listener() are not called then the world model remains uninitialized and will not create unnecessary subscriptions. More...

virtual bool	get_activation_status () final
	Returns the activation status of this plugin. The plugins API callbacks will only be triggered when this method returns true. More...

virtual uint8_t	get_type ()
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

std::string	get_plugin_name_and_ns () const
	Return the name of this plugin with namespace. NOTE: If only the name of the plugin is required, use get_plugin_name() More...

std::string	get_plugin_name () const
	Return the name of this plugin. More...

virtual bool	get_availability ()=0
	Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes. More...

virtual std::string	get_capability ()=0
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

virtual std::string	get_version_id ()=0
	Returns the version id of this plugin. More...

virtual carma_ros2_utils::CallbackReturn	on_configure_plugin ()=0
	Method which is triggered when this plugin is moved from the UNCONFIGURED to INACTIVE states. This method should be used to load parameters and is required to be implemented. More...

virtual carma_ros2_utils::CallbackReturn	on_activate_plugin ()
	Method which is triggered when this plugin is moved from the INACTIVE to ACTIVE states. This method should be used to prepare for future callbacks for plugin's capabilites. More...

virtual carma_ros2_utils::CallbackReturn	on_deactivate_plugin ()
	Method which is triggered when this plugin is moved from the ACTIVE to INACTIVE states. This method should be used to disable any functionality which should cease execution when plugin is inactive. More...

virtual carma_ros2_utils::CallbackReturn	on_cleanup_plugin ()
	Method which is triggered when this plugin is moved from the INACTIVE to UNCONFIGURED states. This method should be used to fully reset the plugin such that a future call to on_configure_plugin would leave the plugin in a fresh state as though just launched. More...

virtual carma_ros2_utils::CallbackReturn	on_shutdown_plugin ()
	Method which is triggered when this plugin is moved from any state to FINALIZED This method should be used to generate any shutdown logs or final cleanup. More...

virtual carma_ros2_utils::CallbackReturn	on_error_plugin (const std::string &exception_string)
	Method which is triggered when an unhandled exception occurs in this plugin This method should be used to cleanup such that the plugin could be moved to UNCONFIGURED state if possible. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override

	FRIEND_TEST (carma_guidance_plugins_test, connections_test)

Private Member Functions
	FRIEND_TEST (InLaneCruisingPluginTest, rostest1)

Private Attributes
InLaneCruisingPluginConfig	config_

std::string	plugin_name_

std::string	version_id_

carma_ros2_utils::PubPtr< carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds >	trajectory_debug_pub_

carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::PlanTrajectory >	yield_client_

std::shared_ptr< InLaneCruisingPlugin >	worker_

Detailed Description

ROS node for the InLaneCruisingPlugin.

Definition at line 37 of file inlanecruising_plugin_node.hpp.

Constructor & Destructor Documentation

◆ InLaneCruisingPluginNode()

inlanecruising_plugin::InLaneCruisingPluginNode::InLaneCruisingPluginNode ( const rclcpp::NodeOptions & options )

explicit

Node constructor.

Definition at line 23 of file inlanecruising_plugin_node.cpp.

      : carma_guidance_plugins::TacticalPlugin(options),
        plugin_name_(get_plugin_name_and_ns()),
        version_id_("v4.0"),
        config_(InLaneCruisingPluginConfig())
  {
    // Declare parameters
    config_.trajectory_time_length = declare_parameter<double>("trajectory_time_length", config_.trajectory_time_length);
    config_.curve_resample_step_size = declare_parameter<double>("curve_resample_step_size", config_.curve_resample_step_size);
    config_.default_downsample_ratio = declare_parameter<int>("default_downsample_ratio", config_.default_downsample_ratio);
    config_.turn_downsample_ratio = declare_parameter<int>("turn_downsample_ratio", config_.turn_downsample_ratio);
    config_.minimum_speed = declare_parameter<double>("minimum_speed", config_.minimum_speed);
    config_.max_accel_multiplier = declare_parameter<double>("max_accel_multiplier", config_.max_accel_multiplier);
    config_.lat_accel_multiplier = declare_parameter<double>("lat_accel_multiplier", config_.lat_accel_multiplier);
    config_.back_distance = declare_parameter<double>("back_distance", config_.back_distance);
    config_.speed_moving_average_window_size = declare_parameter<int>("speed_moving_average_window_size", config_.speed_moving_average_window_size);
    config_.curvature_moving_average_window_size = declare_parameter<int>("curvature_moving_average_window_size", config_.curvature_moving_average_window_size);
    config_.buffer_ending_downtrack = declare_parameter<double>("buffer_ending_downtrack", config_.buffer_ending_downtrack);
    config_.max_accel = declare_parameter<double>("vehicle_acceleration_limit", config_.max_accel);
    config_.lateral_accel_limit = declare_parameter<double>("vehicle_lateral_accel_limit", config_.lateral_accel_limit);
    config_.enable_object_avoidance = declare_parameter<bool>("enable_object_avoidance", config_.enable_object_avoidance);
    config_.tactical_plugin_service_call_timeout = declare_parameter<int>("tactical_plugin_service_call_timeout", config_.tactical_plugin_service_call_timeout);
  }

Member Function Documentation

◆ FRIEND_TEST()

inlanecruising_plugin::InLaneCruisingPluginNode::FRIEND_TEST	(	InLaneCruisingPluginTest	,
		rostest1
	)

private

◆ get_availability()

bool inlanecruising_plugin::InLaneCruisingPluginNode::get_availability ( )

overridevirtual

Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes.

Returns: This method should return true if the plugin's current understanding of the world means it would be capable of planning or executing its capability.

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 126 of file inlanecruising_plugin_node.cpp.

  {
    return true;
  }

◆ get_version_id()

std::string inlanecruising_plugin::InLaneCruisingPluginNode::get_version_id ( )

finaloverridevirtual

Returns the version id of this plugin.

Returns: The version id represented as a string

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 131 of file inlanecruising_plugin_node.cpp.

  {
    return version_id_;
  }

References version_id_.

◆ on_configure_plugin()

carma_ros2_utils::CallbackReturn inlanecruising_plugin::InLaneCruisingPluginNode::on_configure_plugin ( )

virtual

Method which is triggered when this plugin is moved from the UNCONFIGURED to INACTIVE states. This method should be used to load parameters and is required to be implemented.

Returns: SUCCESS, FAILURE, or ERROR. Transition to INACTIVE will only complete on SUCCESS.

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 47 of file inlanecruising_plugin_node.cpp.

  {
    trajectory_debug_pub_ = create_publisher<carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds>("debug/trajectory_planning", 1);
 
    config_ = InLaneCruisingPluginConfig();
 
    get_parameter<double>("trajectory_time_length", config_.trajectory_time_length);
    get_parameter<double>("curve_resample_step_size", config_.curve_resample_step_size);
    get_parameter<int>("default_downsample_ratio", config_.default_downsample_ratio);
    get_parameter<int>("turn_downsample_ratio", config_.turn_downsample_ratio);
    get_parameter<double>("minimum_speed", config_.minimum_speed);
    get_parameter<double>("max_accel_multiplier", config_.max_accel_multiplier);
    get_parameter<double>("lat_accel_multiplier", config_.lat_accel_multiplier);
    get_parameter<double>("back_distance", config_.back_distance);
    get_parameter<int>("speed_moving_average_window_size", config_.speed_moving_average_window_size);
    get_parameter<int>("curvature_moving_average_window_size", config_.curvature_moving_average_window_size);
    get_parameter<double>("buffer_ending_downtrack", config_.buffer_ending_downtrack);
    get_parameter<double>("vehicle_acceleration_limit", config_.max_accel);
    get_parameter<double>("vehicle_lateral_accel_limit", config_.lateral_accel_limit);
    get_parameter<bool>("enable_object_avoidance", config_.enable_object_avoidance);
    get_parameter<int>("tactical_plugin_service_call_timeout", config_.tactical_plugin_service_call_timeout);
 
    // Register runtime parameter update callback
    add_on_set_parameters_callback(std::bind(&InLaneCruisingPluginNode::parameter_update_callback, this, std_ph::_1));
 
    RCLCPP_INFO_STREAM(rclcpp::get_logger("inlanecruising_plugin"), "InLaneCruisingPlugin Params" << config_);
 
    config_.lateral_accel_limit = config_.lateral_accel_limit * config_.lat_accel_multiplier;
    config_.max_accel = config_.max_accel *  config_.max_accel_multiplier;
 
    // Determine if we will enable debug publishing by checking the current log level of the node
    auto level = rcutils_logging_get_logger_level(get_logger().get_name());
 
    config_.publish_debug = level == RCUTILS_LOG_SEVERITY_DEBUG;
 
    RCLCPP_INFO_STREAM(rclcpp::get_logger("inlanecruising_plugin"), "InLaneCruisingPlugin Params After Accel Change" << config_);
 
    worker_ = std::make_shared<InLaneCruisingPlugin>(shared_from_this(), get_world_model(), config_,
                                                          [this](const carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds& msg) { trajectory_debug_pub_->publish(msg); },
                                                          plugin_name_,
                                                          version_id_);
 
    //TODO: Update yield client to use the Plugin Manager capabilities query, in case someone else wants to add an alternate yield implementation
    yield_client_ = create_client<carma_planning_msgs::srv::PlanTrajectory>("yield_plugin/plan_trajectory");
    worker_->set_yield_client(yield_client_);
    RCLCPP_INFO(rclcpp::get_logger("inlanecruising_plugin"), "Yield Client Set");
 
    // Return success if everything initialized successfully
    return CallbackReturn::SUCCESS;
 
  }

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◆ parameter_update_callback()

rcl_interfaces::msg::SetParametersResult inlanecruising_plugin::InLaneCruisingPluginNode::parameter_update_callback ( const std::vector< rclcpp::Parameter > & parameters )

Definition at line 99 of file inlanecruising_plugin_node.cpp.

  {
    auto error_double = update_params<double>({
      {"trajectory_time_length", config_.trajectory_time_length},
      {"curve_resample_step_size", config_.curve_resample_step_size},
      {"minimum_speed", config_.minimum_speed},
      {"max_accel_multiplier", config_.max_accel_multiplier},
      {"lat_accel_multiplier", config_.lat_accel_multiplier},
      {"back_distance", config_.back_distance},
      {"buffer_ending_downtrack", config_.buffer_ending_downtrack}}, parameters); // Global acceleration limits not allowed to dynamically update
 
    auto error_bool = update_params<bool>({
      {"enable_object_avoidance", config_.enable_object_avoidance}}, parameters);
 
    auto error_int = update_params<int>({
      {"default_downsample_ratio", config_.default_downsample_ratio},
      {"turn_downsample_ratio", config_.turn_downsample_ratio},
      {"speed_moving_average_window_size", config_.speed_moving_average_window_size},
      {"curvature_moving_average_window_size", config_.curvature_moving_average_window_size}}, parameters);
 
    rcl_interfaces::msg::SetParametersResult result;
 
    result.successful = !error_double && !error_bool && !error_int;
 
    return result;
  }

Referenced by on_configure_plugin().

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◆ plan_trajectory_callback()

void inlanecruising_plugin::InLaneCruisingPluginNode::plan_trajectory_callback	(	std::shared_ptr< rmw_request_id_t >	srv_header,
		carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr	req,
		carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr	resp
	)

overridevirtual

Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request.

Parameters

srv_header	RCL header for services calls. Can usually be ignored by implementers.
req	The service request containing the maneuvers to plan trajectories for and current vehicle state
resp	The response containing the planned trajectory

Implements carma_guidance_plugins::TacticalPlugin.

Definition at line 136 of file inlanecruising_plugin_node.cpp.

  {
    worker_->plan_trajectory_callback(req, resp);
  }

References worker_.

Member Data Documentation

◆ config_

InLaneCruisingPluginConfig inlanecruising_plugin::InLaneCruisingPluginNode::config_

private

Definition at line 65 of file inlanecruising_plugin_node.hpp.

Referenced by InLaneCruisingPluginNode(), on_configure_plugin(), and parameter_update_callback().

◆ plugin_name_

std::string inlanecruising_plugin::InLaneCruisingPluginNode::plugin_name_

private

Definition at line 67 of file inlanecruising_plugin_node.hpp.

Referenced by on_configure_plugin().

◆ trajectory_debug_pub_

carma_ros2_utils::PubPtr<carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds> inlanecruising_plugin::InLaneCruisingPluginNode::trajectory_debug_pub_

private

Definition at line 70 of file inlanecruising_plugin_node.hpp.

Referenced by on_configure_plugin().