stop_and_wait_plugin::StopandWait Class Reference

#include <stop_and_wait_plugin.hpp>

Collaboration diagram for stop_and_wait_plugin::StopandWait:

Public Member Functions
	StopandWait (std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode > nh, carma_wm::WorldModelConstPtr wm, const StopandWaitConfig &config, const std::string &plugin_name, const std::string &version_id)
	Constructor. More...
bool	plan_trajectory_cb (carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr resp)
	Service callback for trajectory planning. More...
std::vector< PointSpeedPair >	maneuvers_to_points (const std::vector< carma_planning_msgs::msg::Maneuver > &maneuvers, const carma_wm::WorldModelConstPtr &wm, const carma_planning_msgs::msg::VehicleState &state)
	Converts a set of requested STOP_AND_WAIT maneuvers to point speed limit pairs. More...
std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint >	compose_trajectory_from_centerline (const std::vector< PointSpeedPair > &points, double starting_downtrack, double starting_speed, double stop_location, double stop_location_buffer, rclcpp::Time start_time, double stopping_acceleration, double &initial_speed)
	Method converts a list of lanelet centerline points and current vehicle state into a usable list of trajectory points for trajectory planning. More...
void	splitPointSpeedPairs (const std::vector< PointSpeedPair > &points, std::vector< lanelet::BasicPoint2d > *basic_points, std::vector< double > *speeds) const
	Helper method to split a list of PointSpeedPair into separate point and speed lists. More...
std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint >	trajectory_from_points_times_orientations (const std::vector< lanelet::BasicPoint2d > &points, const std::vector< double > &times, const std::vector< double > &yaws, rclcpp::Time startTime)

Private Attributes
double	epsilon_ = 0.001
std::string	plugin_name_
std::string	version_id_
carma_wm::WorldModelConstPtr	wm_
StopandWaitConfig	config_
std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode >	nh_

Detailed Description

Definition at line 50 of file stop_and_wait_plugin.hpp.

Constructor & Destructor Documentation

StopandWait()

stop_and_wait_plugin::StopandWait::StopandWait	(	std::shared_ptr< carma_ros2_utils::CarmaLifecycleNode >	nh,
		carma_wm::WorldModelConstPtr	wm,
		const StopandWaitConfig &	config,
		const std::string &	plugin_name,
		const std::string &	version_id
	)

Constructor.

Definition at line 52 of file stop_and_wait_plugin.cpp.

  : version_id_ (version_id),plugin_name_(plugin_name),config_(config),nh_(nh), wm_(wm)
{
  basic_autonomy::set_logger(nh_->get_logger().get_child("basic_autonomy"));
};

References nh_, and basic_autonomy::set_logger().

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Member Function Documentation

compose_trajectory_from_centerline()

std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint > stop_and_wait_plugin::StopandWait::compose_trajectory_from_centerline	(	const std::vector< PointSpeedPair > &	points,
		double	starting_downtrack,
		double	starting_speed,
		double	stop_location,
		double	stop_location_buffer,
		rclcpp::Time	start_time,
		double	stopping_acceleration,
		double &	initial_speed
	)

Method converts a list of lanelet centerline points and current vehicle state into a usable list of trajectory points for trajectory planning.

Parameters

points	The set of points that define the current lane the vehicle is in and are defined based on the request planning maneuvers. These points must be in the same lane as the vehicle and must extend in front of it though it is fine if they also extend behind it.
state	The current state of the vehicle
initial_speed	Returns the initial_speed used to generate the trajectory

Returns

A list of trajectory points to send to the carma planning stack

Definition at line 225 of file stop_and_wait_plugin.cpp.

{
  std::vector<carma_planning_msgs::msg::TrajectoryPlanPoint> plan;
  if (points.size() == 0)
  {
    RCLCPP_WARN_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"No points to use as trajectory in stop and wait plugin");
    return plan;
  }
 
  std::vector<PointSpeedPair> final_points;
 
  double half_stopping_buffer = stop_location_buffer * 0.5;
  double remaining_distance = stop_location - half_stopping_buffer - starting_downtrack; // Target to stop in the middle of the buffer
 
  double target_accel = stopping_acceleration * config_.accel_limit_multiplier;
  double req_dist = (starting_speed * starting_speed) /
                    (2.0 * target_accel);  // Distance needed to go from current speed to 0 at target accel
 
  // In cases where the vehicle is not able to stop before the half_stopping_buffer the remaining distance becomes negative
  // which will cause the target accel in this loop to be negative and make the vehicle speed up
  while (remaining_distance <= 0.0)
  {
    if(remaining_distance <= (stop_location - starting_downtrack))
    {
    //Add additional distance to remaining to allow vehicle to stop within buffer
      remaining_distance += 0.2;
    }
    else{
     break;
   }
  }
 
  if (req_dist > remaining_distance)
  {
 
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Target Accel Update From: " << target_accel);
    target_accel =
        (starting_speed * starting_speed) / (2.0 * remaining_distance);  // If we cannot reach the end point it the
                                                                         // required distance update the accel target
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Target Accel Update To: " << target_accel);
  }
 
 
  std::vector<double> inverse_downtracks; // Store downtracks in reverse
  inverse_downtracks.reserve(points.size());
  final_points.reserve(points.size());
 
  PointSpeedPair prev_pair = points.back();
  prev_pair.speed = 0.0;
  final_points.push_back(prev_pair);  // Store the points in reverse
  inverse_downtracks.push_back(0);
 
  bool reached_end = false;
  for (int i = points.size() - 2; i >= 0; i--)
  {  // NOTE: Do not use size_t for i type here as -- with > 0 will result in overflow
 
    double v_i = prev_pair.speed;
    double dx = lanelet::geometry::distance2d(prev_pair.point, points[i].point);
    double new_downtrack = inverse_downtracks.back() + dx;
 
    if (new_downtrack < half_stopping_buffer) { // Points after (when viewed not in reverse) the midpoint of the buffer should be 0 speed
      PointSpeedPair pair = points[i];
      pair.speed = 0;
      final_points.push_back(pair);  // Store the points in reverse
      inverse_downtracks.push_back(new_downtrack);
      prev_pair = pair;
      continue;
    }
 
    if (reached_end || v_i >= starting_speed)
    {  // We are walking backward, so if the prev speed is greater than or equal to the starting speed then we are done
       // backtracking
      reached_end = true;
      PointSpeedPair pair = points[i];
      pair.speed = starting_speed;
      final_points.push_back(pair);  // Store the points in reverse
      inverse_downtracks.push_back(new_downtrack);
      prev_pair = pair;
      continue;  // continue until loop end
    }
 
    double v_f = sqrt(v_i * v_i + 2 * target_accel * dx);
 
    PointSpeedPair pair = points[i];
    pair.speed = std::min(v_f, starting_speed);
    final_points.push_back(pair);  // Store the points in reverse
    inverse_downtracks.push_back(new_downtrack);
 
    prev_pair = pair;
  }
 
  // Now we have a trajectory that decelerates from our end point to somewhere in the maneuver
  std::reverse(final_points.begin(),
               final_points.end());
 
  std::vector<double> speeds;
  std::vector<lanelet::BasicPoint2d> raw_points;
  splitPointSpeedPairs(final_points, &raw_points, &speeds);
 
  // Convert the inverted downtracks back to regular downtracks
  double max_downtrack = inverse_downtracks.back();
  std::vector<double> downtracks = lanelet::utils::transform(inverse_downtracks, [max_downtrack](const auto& d) { return max_downtrack - d; });
  std::reverse(downtracks.begin(),
               downtracks.end());
 
  bool in_range = false;
  double stopped_downtrack = 0;
  lanelet::BasicPoint2d stopped_point;
 
  bool vehicle_in_buffer = downtracks.back() < stop_location_buffer;
 
  std::vector<double> filtered_speeds = basic_autonomy::smoothing::moving_average_filter(speeds, config_.moving_average_window_size);
 
  for (size_t i = 0; i < filtered_speeds.size(); i++)
  {  // Apply minimum speed constraint
    double downtrack = downtracks[i];
 
    constexpr double one_mph_in_mps = 0.44704;
 
    if (downtracks.back() - downtrack < stop_location_buffer && filtered_speeds[i] < config_.crawl_speed + one_mph_in_mps)
    {  // if we are within the stopping buffer and going at near crawl speed then command stop
 
      // To avoid any issues in control plugin behavior we only command 0 if the vehicle is inside the buffer
      if (vehicle_in_buffer || (i == filtered_speeds.size() - 1)) { // Vehicle is in the buffer
        filtered_speeds[i] = 0.0;
      } else { // Vehicle is not in the buffer so fill buffer with crawl speed
        filtered_speeds[i] = std::max(filtered_speeds[i], config_.crawl_speed);
      }
 
    }
    else
    {
      filtered_speeds[i] = std::max(filtered_speeds[i], config_.crawl_speed);
    }
  }
 
  std::vector<double> times;
  trajectory_utils::conversions::speed_to_time(downtracks, filtered_speeds, &times);
 
  for (size_t i = 0; i < times.size(); i++)
  {
    if (times[i] != 0 && !std::isnormal(times[i]) && i != 0)
    {  // If the time
      RCLCPP_WARN_STREAM_THROTTLE(rclcpp::get_logger("stop_and_wait_plugin"),
        *nh_->get_clock(), 1000,
        "(Throttled Log 1s) Detected non-normal (nan, inf, etc.) time. Making it same as before: "
        << times[i-1]);
      // NOTE: overriding the timestamps in assumption that pure_pursuit_wrapper will detect it as stopping case
      times[i] = times[i - 1];
    }
  }
 
  std::vector<double> yaws = carma_wm::geometry::compute_tangent_orientations(raw_points);
 
  for (size_t i = 0; i < points.size(); i++)
  {
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"1d: " << downtracks[i] << " t: " << times[i] << " v: " << filtered_speeds[i]);
  }
 
  auto traj = trajectory_from_points_times_orientations(raw_points, times, yaws, start_time);
 
  while (rclcpp::Time(traj.back().target_time) - rclcpp::Time(traj.front().target_time) < rclcpp::Duration::from_nanoseconds(config_.minimal_trajectory_duration * 1e9))
  {
    carma_planning_msgs::msg::TrajectoryPlanPoint new_point = traj.back();
    new_point.target_time = rclcpp::Time(new_point.target_time) + rclcpp::Duration::from_nanoseconds(config_.stop_timestep * 1e9);
    new_point.planner_plugin_name = plugin_name_;
    traj.push_back(new_point);
  }
 
  if (!filtered_speeds.empty())
    initial_speed = filtered_speeds.front(); //modify initial_speed variable passed by reference
 
  return traj;
}

References StopandWaitConfig::accel_limit_multiplier, carma_wm::geometry::compute_tangent_orientations(), config_, StopandWaitConfig::crawl_speed, visualize_xodr::dx, basic_autonomy::get_logger(), process_bag::i, StopandWaitConfig::minimal_trajectory_duration, basic_autonomy::smoothing::moving_average_filter(), StopandWaitConfig::moving_average_window_size, nh_, plugin_name_, stop_and_wait_plugin::PointSpeedPair::point, stop_and_wait_plugin::PointSpeedPair::speed, splitPointSpeedPairs(), StopandWaitConfig::stop_timestep, and trajectory_from_points_times_orientations().

Referenced by plan_trajectory_cb().

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maneuvers_to_points()

std::vector< PointSpeedPair > stop_and_wait_plugin::StopandWait::maneuvers_to_points	(	const std::vector< carma_planning_msgs::msg::Maneuver > &	maneuvers,
		const carma_wm::WorldModelConstPtr &	wm,
		const carma_planning_msgs::msg::VehicleState &	state
	)

Converts a set of requested STOP_AND_WAIT maneuvers to point speed limit pairs.

Parameters

maneuvers	The list of maneuvers to convert
max_starting_downtrack	The maximum downtrack that is allowed for the first maneuver. This should be set to the vehicle position or earlier. If the first maneuver exceeds this then it's downtrack will be shifted to this value.

ASSUMPTION: Since the vehicle is trying to stop the assumption made is that the speed limit is irrelevant. ASSUMPTION: The provided maneuver lies on the route shortest path

Returns

List of centerline points paired with speed limits. All output points will have speed matching state.logitudinal_velocity

Definition at line 161 of file stop_and_wait_plugin.cpp.

{
  std::vector<PointSpeedPair> points_and_target_speeds;
  std::unordered_set<lanelet::Id> visited_lanelets;
 
  carma_planning_msgs::msg::StopAndWaitManeuver stop_and_wait_maneuver = maneuvers[0].stop_and_wait_maneuver;
 
  lanelet::BasicPoint2d veh_pos(state.x_pos_global, state.y_pos_global);
  double starting_downtrack = wm_->routeTrackPos(veh_pos).downtrack;  // The vehicle position
  double starting_speed = state.longitudinal_vel;
 
  // Sample the lanelet centerline at fixed increments.
  // std::min call here is a guard against starting_downtrack being within 1m of the maneuver end_dist
  // in this case the sampleRoutePoints method will return a single point allowing execution to continue
  std::vector<lanelet::BasicPoint2d> route_points = wm->sampleRoutePoints(
      std::min(starting_downtrack + config_.centerline_sampling_spacing, stop_and_wait_maneuver.end_dist),
      stop_and_wait_maneuver.end_dist, config_.centerline_sampling_spacing);
 
 
  route_points.insert(route_points.begin(), veh_pos);
 
 
  for (const auto& p : route_points)
  {
    PointSpeedPair pair;
    pair.point = p;
    pair.speed = starting_speed; // NOTE: Since the vehicle is trying to stop the assumption made is that the speed limit is irrelevant.
    points_and_target_speeds.push_back(pair);
  }
 
  return points_and_target_speeds;
}

References StopandWaitConfig::centerline_sampling_spacing, config_, stop_and_wait_plugin::PointSpeedPair::point, stop_and_wait_plugin::PointSpeedPair::speed, and wm_.

Referenced by plan_trajectory_cb().

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plan_trajectory_cb()

bool stop_and_wait_plugin::StopandWait::plan_trajectory_cb	(	carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr	req,
		carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr	resp
	)

Service callback for trajectory planning.

Parameters

req	The service request
resp	The service response

Returns

True if success. False otherwise

Definition at line 62 of file stop_and_wait_plugin.cpp.

{
  std::chrono::system_clock::time_point start_time = std::chrono::system_clock::now();  // Start timing the execution time for planning so it can be logged
  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Starting stop&wait planning");
 
  if (req->maneuver_index_to_plan >= req->maneuver_plan.maneuvers.size())
  {
    throw std::invalid_argument(
        "StopAndWait plugin asked to plan invalid maneuver index: " + std::to_string(req->maneuver_index_to_plan) +
        " for plan of size: " + std::to_string(req->maneuver_plan.maneuvers.size()));
  }
 
  if (req->maneuver_plan.maneuvers[req->maneuver_index_to_plan].type != carma_planning_msgs::msg::Maneuver::STOP_AND_WAIT)
  {
    throw std::invalid_argument("StopAndWait plugin asked to plan non STOP_AND_WAIT maneuver");
  }
 
  lanelet::BasicPoint2d veh_pos(req->vehicle_state.x_pos_global, req->vehicle_state.y_pos_global);
 
  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"planning state x:" << req->vehicle_state.x_pos_global << ", y: " << req->vehicle_state.y_pos_global << ", speed: " << req->vehicle_state.longitudinal_vel);
 
  if (req->vehicle_state.longitudinal_vel < epsilon_)
  {
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Detected that car is already stopped! Ignoring the request to plan Stop&Wait");
 
    return true;
  }
 
  double current_downtrack = wm_->routeTrackPos(veh_pos).downtrack;
 
  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Current_downtrack" << current_downtrack);
 
  if (req->maneuver_plan.maneuvers[req->maneuver_index_to_plan].stop_and_wait_maneuver.end_dist < current_downtrack)
  {
    throw std::invalid_argument("StopAndWait plugin asked to plan maneuver that ends earlier than the current state.");
  }
 
  resp->related_maneuvers.push_back(req->maneuver_index_to_plan);
  resp->maneuver_status.push_back(carma_planning_msgs::srv::PlanTrajectory::Response::MANEUVER_IN_PROGRESS);
 
  std::string maneuver_id = req->maneuver_plan.maneuvers[req->maneuver_index_to_plan].stop_and_wait_maneuver.parameters.maneuver_id;
 
  RCLCPP_INFO_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Maneuver not yet planned, planning new trajectory");
 
  // Maneuver input is valid so continue with execution
  std::vector<carma_planning_msgs::msg::Maneuver> maneuver_plan = { req->maneuver_plan.maneuvers[req->maneuver_index_to_plan] };
 
  std::vector<PointSpeedPair> points_and_target_speeds = maneuvers_to_points(
      maneuver_plan, wm_, req->vehicle_state);  // Now have 1m downsampled points from cur to endpoint
 
  // Trajectory plan
  carma_planning_msgs::msg::TrajectoryPlan trajectory;
  trajectory.header.frame_id = "map";
  trajectory.header.stamp = req->header.stamp;
  trajectory.trajectory_id = boost::uuids::to_string(boost::uuids::random_generator()());
 
  // Extract the stopping buffer used to consider a stopping behavior complete
  double stop_location_buffer = config_.default_stopping_buffer;  // If no maneuver meta data is provided we will use the default buffer
 
  double stopping_accel = 0.0;
  if (maneuver_plan[0].stop_and_wait_maneuver.parameters.presence_vector &
      carma_planning_msgs::msg::ManeuverParameters::HAS_FLOAT_META_DATA)
  {
    if(maneuver_plan[0].stop_and_wait_maneuver.parameters.float_valued_meta_data.size() < 2){
      throw std::invalid_argument("stop and wait maneuver message missing required meta data");
    }
    stop_location_buffer = maneuver_plan[0].stop_and_wait_maneuver.parameters.float_valued_meta_data[0];
    stopping_accel = maneuver_plan[0].stop_and_wait_maneuver.parameters.float_valued_meta_data[1];
 
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Using stop buffer from meta data: " << stop_location_buffer);
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Using stopping acceleration from meta data: "<< stopping_accel);
  }
  else{
    throw std::invalid_argument("stop and wait maneuver message missing required float meta data");
  }
 
  double initial_speed = req->vehicle_state.longitudinal_vel; //will be modified after compose_trajectory_from_centerline
 
  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Original size: " << points_and_target_speeds.size());
 
  trajectory.trajectory_points = compose_trajectory_from_centerline(
      points_and_target_speeds, current_downtrack, req->vehicle_state.longitudinal_vel,
      maneuver_plan[0].stop_and_wait_maneuver.end_dist, stop_location_buffer, req->header.stamp, stopping_accel, initial_speed);
 
  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"),"Trajectory points size:" << trajectory.trajectory_points.size());
 
  trajectory.initial_longitudinal_velocity = initial_speed;
 
  resp->trajectory_plan = trajectory;
 
  std::chrono::system_clock::time_point end_time = std::chrono::system_clock::now();  // Planning complete
 
  auto duration = end_time - start_time;
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("stop_and_wait_plugin"), "ExecutionTime Stop&Wait Trajectory: " << std::chrono::duration<double>(duration).count());
 
  return true;
}

References compose_trajectory_from_centerline(), config_, StopandWaitConfig::default_stopping_buffer, epsilon_, basic_autonomy::get_logger(), maneuvers_to_points(), carma_cooperative_perception::to_string(), and wm_.

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splitPointSpeedPairs()

void stop_and_wait_plugin::StopandWait::splitPointSpeedPairs	(	const std::vector< PointSpeedPair > &	points,
		std::vector< lanelet::BasicPoint2d > *	basic_points,
		std::vector< double > *	speeds
	)		const

Helper method to split a list of PointSpeedPair into separate point and speed lists.

Definition at line 402 of file stop_and_wait_plugin.cpp.

{
  basic_points->reserve(points.size());
  speeds->reserve(points.size());
 
  for (const auto& p : points)
  {
    basic_points->push_back(p.point);
    speeds->push_back(p.speed);
  }
}

Referenced by compose_trajectory_from_centerline().

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trajectory_from_points_times_orientations()

std::vector< carma_planning_msgs::msg::TrajectoryPlanPoint > stop_and_wait_plugin::StopandWait::trajectory_from_points_times_orientations	(	const std::vector< lanelet::BasicPoint2d > &	points,
		const std::vector< double > &	times,
		const std::vector< double > &	yaws,
		rclcpp::Time	startTime
	)

Definition at line 196 of file stop_and_wait_plugin.cpp.

{
  if (points.size() != times.size() || points.size() != yaws.size())
  {
    throw std::invalid_argument("All input vectors must have the same size");
  }
 
  std::vector<carma_planning_msgs::msg::TrajectoryPlanPoint> traj;
  traj.reserve(points.size());
 
  for (size_t i = 0; i < points.size(); i++)
  {
    carma_planning_msgs::msg::TrajectoryPlanPoint tpp;
    rclcpp::Duration relative_time = rclcpp::Duration::from_nanoseconds(times[i] * 1e9);
    tpp.target_time = startTime + relative_time;
    tpp.x = points[i].x();
    tpp.y = points[i].y();
    tpp.yaw = yaws[i];
    tpp.planner_plugin_name = plugin_name_;
    tpp.controller_plugin_name = "default";
 
    traj.push_back(tpp);
  }
 
  return traj;
}

References process_bag::i, and plugin_name_.

Referenced by compose_trajectory_from_centerline().

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Member Data Documentation

config_

StopandWaitConfig stop_and_wait_plugin::StopandWait::config_

private

Definition at line 120 of file stop_and_wait_plugin.hpp.

Referenced by compose_trajectory_from_centerline(), maneuvers_to_points(), and plan_trajectory_cb().

epsilon_

double stop_and_wait_plugin::StopandWait::epsilon_ = 0.001

private

Definition at line 114 of file stop_and_wait_plugin.hpp.

Referenced by plan_trajectory_cb().

nh_

std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> stop_and_wait_plugin::StopandWait::nh_

private

Definition at line 121 of file stop_and_wait_plugin.hpp.

Referenced by StopandWait(), and compose_trajectory_from_centerline().

plugin_name_

std::string stop_and_wait_plugin::StopandWait::plugin_name_

private

Definition at line 117 of file stop_and_wait_plugin.hpp.

Referenced by compose_trajectory_from_centerline(), and trajectory_from_points_times_orientations().

version_id_

std::string stop_and_wait_plugin::StopandWait::version_id_

private

Definition at line 118 of file stop_and_wait_plugin.hpp.

wm_

carma_wm::WorldModelConstPtr stop_and_wait_plugin::StopandWait::wm_

private

Definition at line 119 of file stop_and_wait_plugin.hpp.

Referenced by maneuvers_to_points(), and plan_trajectory_cb().

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

• stop_and_wait_plugin/include/stop_and_wait_plugin.hpp
• stop_and_wait_plugin/src/stop_and_wait_plugin.cpp