ROS node for the LightControlledIntersectionTransitPluginNode. More...

#include <light_controlled_intersection_tactical_plugin_node.hpp>

Inheritance diagram for light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode:

Collaboration diagram for light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode:

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

rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)
	Callback for dynamic parameter updates. More...

void	plan_trajectory_callback (std::shared_ptr< rmw_request_id_t >, 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...

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
	Returns the version id of this plugin. More...

carma_ros2_utils::CallbackReturn	on_configure_plugin () override
	This method should be used to load parameters and will be called on the configure state transition. 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 Attributes
Config	config_

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

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

std::shared_ptr< LightControlledIntersectionTacticalPlugin >	worker_

Detailed Description

ROS node for the LightControlledIntersectionTransitPluginNode.

Definition at line 33 of file light_controlled_intersection_tactical_plugin_node.hpp.

Constructor & Destructor Documentation

◆ LightControlledIntersectionTransitPluginNode()

light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::LightControlledIntersectionTransitPluginNode ( const rclcpp::NodeOptions & options )

explicit

LightControlledIntersectionTransitPluginNode constructor.

Definition at line 22 of file light_controlled_intersection_tactical_plugin_node.cpp.

      : carma_guidance_plugins::TacticalPlugin(options)
  {
    // Create initial config
    config_ = Config();
 
    // Declare parameters
    config_.centerline_sampling_spacing = declare_parameter<double>("centerline_sampling_spacing", config_.centerline_sampling_spacing);
    config_.trajectory_time_length = declare_parameter<double>("trajectory_time_length", config_.trajectory_time_length);
    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_.curve_resample_step_size = declare_parameter<double>("curve_resample_step_size", config_.curve_resample_step_size);
    config_.curvature_moving_average_window_size = declare_parameter<int>("curvature_moving_average_window_size", config_.curvature_moving_average_window_size);
    config_.speed_moving_average_window_size = declare_parameter<int>("speed_moving_average_window_size", config_.speed_moving_average_window_size);
    config_.back_distance = declare_parameter<double>("back_distance", config_.back_distance);
    config_.buffer_ending_downtrack = declare_parameter<double>("buffer_ending_downtrack", config_.buffer_ending_downtrack);
    config_.vehicle_decel_limit_multiplier = declare_parameter<double>("vehicle_decel_limit_multiplier", config_.vehicle_decel_limit_multiplier);
    config_.vehicle_accel_limit_multiplier = declare_parameter<double>("vehicle_accel_limit_multiplier", config_.vehicle_accel_limit_multiplier);
    config_.lat_accel_multiplier = declare_parameter<double>("lat_accel_multiplier", config_.lat_accel_multiplier);
    config_.vehicle_response_lag = declare_parameter<double>("vehicle_response_lag", config_.vehicle_response_lag);
    config_.stop_line_buffer = declare_parameter<double>("stop_line_buffer", config_.stop_line_buffer);
    config_.minimum_speed = declare_parameter<double>("minimum_speed", config_.minimum_speed);
    config_.dist_before_intersection_to_force_last_traj = declare_parameter<double>("dist_before_intersection_to_force_last_traj", config_.dist_before_intersection_to_force_last_traj);
    config_.period_before_intersection_to_force_last_traj = declare_parameter<double>("period_before_intersection_to_force_last_traj", config_.period_before_intersection_to_force_last_traj);
 
    config_.lateral_accel_limit = declare_parameter<double>("vehicle_lateral_accel_limit", config_.lateral_accel_limit);
    config_.vehicle_accel_limit = declare_parameter<double>("vehicle_acceleration_limit", config_.vehicle_accel_limit);
    config_.vehicle_decel_limit = declare_parameter<double>("vehicle_deceleration_limit", config_.vehicle_decel_limit);
    config_.tactical_plugin_service_call_timeout = declare_parameter<int>("tactical_plugin_service_call_timeout", config_.tactical_plugin_service_call_timeout);
    config_.enable_object_avoidance = declare_parameter<bool>("enable_object_avoidance", config_.enable_object_avoidance);
 
  }

Member Function Documentation

◆ get_availability()

bool light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::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 148 of file light_controlled_intersection_tactical_plugin_node.cpp.

                                                                      {
    return true;
  }

◆ get_version_id()

std::string light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::get_version_id ( )

overridevirtual

Returns the version id of this plugin.

Returns: The version id represented as a string

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 152 of file light_controlled_intersection_tactical_plugin_node.cpp.

                                                                         {
    return "v4.0"; // Version ID matches the value set in this package's package.xml
  }

◆ on_configure_plugin()

carma_ros2_utils::CallbackReturn light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::on_configure_plugin ( )

overridevirtual

This method should be used to load parameters and will be called on the configure state transition.

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 89 of file light_controlled_intersection_tactical_plugin_node.cpp.

  {
    RCLCPP_INFO_STREAM(rclcpp::get_logger("light_controlled_intersection_tactical_plugin"), "LightControlledIntersectionTransitPluginNode trying to configure");
    trajectory_debug_pub_ = create_publisher<carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds>("debug/trajectory_planning", 1);
 
    // Reset config
    config_ = Config();
 
    // Load parameters
    get_parameter<double>("centerline_sampling_spacing", config_.centerline_sampling_spacing);
    get_parameter<double>("trajectory_time_length", config_.trajectory_time_length);
    get_parameter<int>("default_downsample_ratio", config_.default_downsample_ratio);
    get_parameter<int>("turn_downsample_ratio", config_.turn_downsample_ratio);
    get_parameter<double>("curve_resample_step_size", config_.curve_resample_step_size);
    get_parameter<int>("curvature_moving_average_window_size", config_.curvature_moving_average_window_size);
    get_parameter<int>("speed_moving_average_window_size", config_.speed_moving_average_window_size);
    get_parameter<double>("back_distance", config_.back_distance);
    get_parameter<double>("buffer_ending_downtrack", config_.buffer_ending_downtrack);
    get_parameter<double>("vehicle_decel_limit_multiplier", config_.vehicle_decel_limit_multiplier);
    get_parameter<double>("vehicle_accel_limit_multiplier", config_.vehicle_accel_limit_multiplier);
    get_parameter<double>("vehicle_response_lag", config_.vehicle_response_lag);
    get_parameter<double>("lat_accel_multiplier", config_.lat_accel_multiplier);
    get_parameter<double>("stop_line_buffer", config_.stop_line_buffer);
    get_parameter<double>("minimum_speed", config_.minimum_speed);
    get_parameter<double>("dist_before_intersection_to_force_last_traj", config_.dist_before_intersection_to_force_last_traj);
    get_parameter<double>("period_before_intersection_to_force_last_traj", config_.period_before_intersection_to_force_last_traj);
    get_parameter<double>("vehicle_lateral_accel_limit", config_.lateral_accel_limit);
    get_parameter<double>("vehicle_acceleration_limit", config_.vehicle_accel_limit);
    get_parameter<double>("vehicle_deceleration_limit", config_.vehicle_decel_limit);
    get_parameter<int>("tactical_plugin_service_call_timeout", config_.tactical_plugin_service_call_timeout);
    get_parameter<bool>("enable_object_avoidance", config_.enable_object_avoidance);
 
    // Use the configured multipliers to update the accel limits
    config_.lateral_accel_limit = config_.lateral_accel_limit * config_.lat_accel_multiplier;
    config_.vehicle_accel_limit = config_.vehicle_accel_limit * config_.vehicle_accel_limit_multiplier;
    config_.vehicle_decel_limit = config_.vehicle_decel_limit * config_.vehicle_decel_limit_multiplier;
 
    // Register runtime parameter update callback
    add_on_set_parameters_callback(std::bind(&LightControlledIntersectionTransitPluginNode::parameter_update_callback, this, std_ph::_1));
 
    RCLCPP_INFO_STREAM(rclcpp::get_logger("light_controlled_intersection_tactical_plugin"), "Loaded params: " << config_);
 
    // Initialize worker object
    worker_ = std::make_shared<LightControlledIntersectionTacticalPlugin>(
      get_world_model(),
      config_,
      [this](const carma_debug_ros2_msgs::msg::TrajectoryCurvatureSpeeds& msg)
        { trajectory_debug_pub_->publish(msg); },
      get_plugin_name(),
      shared_from_this());
 
    yield_client_ = create_client<carma_planning_msgs::srv::PlanTrajectory>("yield_plugin/plan_trajectory");
    worker_->set_yield_client(yield_client_);
    RCLCPP_INFO(rclcpp::get_logger("light_controlled_intersection_tactical_plugin"), "Yield Client Set");
 
    // Return success if everything initialized successfully
    return CallbackReturn::SUCCESS;
  }

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◆ parameter_update_callback()

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

Callback for dynamic parameter updates.

Definition at line 55 of file light_controlled_intersection_tactical_plugin_node.cpp.

  {
     auto error = update_params<double>(
       {{"centerline_sampling_spacing", config_.centerline_sampling_spacing},
       {"trajectory_time_length", config_.trajectory_time_length},
       {"curve_resample_step_size", config_.curve_resample_step_size},
       {"back_distance", config_.back_distance},
       {"buffer_ending_downtrack", config_.buffer_ending_downtrack},
       {"vehicle_decel_limit_multiplier", config_.vehicle_decel_limit_multiplier},
       {"vehicle_accel_limit_multiplier", config_.vehicle_accel_limit_multiplier},
       {"vehicle_response_lag", config_.vehicle_response_lag},
       {"lat_accel_multiplier", config_.lat_accel_multiplier},
       {"stop_line_buffer", config_.stop_line_buffer},
       {"minimum_speed", config_.minimum_speed},
       {"dist_before_intersection_to_force_last_traj", config_.dist_before_intersection_to_force_last_traj},
       {"period_before_intersection_to_force_last_traj", config_.period_before_intersection_to_force_last_traj}}, parameters); // Global acceleration limits not allowed to dynamically update
    auto error_2 = update_params<int>(
      {{"default_downsample_ratio", config_.default_downsample_ratio},
      {"turn_downsample_ratio", config_.turn_downsample_ratio},
      {"curvature_moving_average_window_size", config_.curvature_moving_average_window_size},
      {"speed_moving_average_window_size", config_.speed_moving_average_window_size}}, parameters);
 
    if (worker_)
    {
      worker_->setConfig(config_);
    }
 
    rcl_interfaces::msg::SetParametersResult result;
 
    result.successful = !error && !error_2;
 
    return result;
  }

Referenced by on_configure_plugin().

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◆ plan_trajectory_callback()

void light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::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 156 of file light_controlled_intersection_tactical_plugin_node.cpp.

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

References worker_.

Member Data Documentation

◆ config_

Config light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::config_

private

Definition at line 37 of file light_controlled_intersection_tactical_plugin_node.hpp.

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

◆ trajectory_debug_pub_

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

private

Definition at line 41 of file light_controlled_intersection_tactical_plugin_node.hpp.

Referenced by on_configure_plugin().

◆ worker_

std::shared_ptr<LightControlledIntersectionTacticalPlugin> light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode::worker_

private

Definition at line 44 of file light_controlled_intersection_tactical_plugin_node.hpp.

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

◆ yield_client_

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

private

Definition at line 39 of file light_controlled_intersection_tactical_plugin_node.hpp.

Referenced by on_configure_plugin().

The documentation for this class was generated from the following files:

light_controlled_intersection_tactical_plugin/include/light_controlled_intersection_tactical_plugin/light_controlled_intersection_tactical_plugin_node.hpp
light_controlled_intersection_tactical_plugin/src/light_controlled_intersection_tactical_plugin_node.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LightControlledIntersectionTransitPluginNode()

Member Function Documentation

◆ get_availability()

◆ get_version_id()

◆ on_configure_plugin()

◆ parameter_update_callback()

◆ plan_trajectory_callback()

Member Data Documentation

◆ config_

◆ trajectory_debug_pub_

◆ worker_

◆ yield_client_