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replace std_msgs with LaneChangeCommand #72

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Feb 26, 2021
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replace std_msgs with LaneChangeCommand #72

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3 changes: 2 additions & 1 deletion api/scenario_api_autoware/include/scenario_api_autoware/scenario_api_autoware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@

#include "autoware_perception_msgs/msg/traffic_light_state_array.hpp"
#include "autoware_planning_msgs/msg/route.hpp"
#include "autoware_planning_msgs/msg/lane_change_command.hpp"
#include "autoware_vehicle_msgs/msg/engage.hpp"
#include "autoware_system_msgs/msg/autoware_state.hpp"
#include "autoware_vehicle_msgs/msg/turn_signal.hpp"
Expand Down Expand Up @@ -188,7 +189,7 @@ class ScenarioAPIAutoware
pub_autoware_engage_; //!< @brief topic pubscriber for autoware engage
rclcpp::Publisher<autoware_debug_msgs::msg::Float32Stamped>::SharedPtr
pub_max_velocity_; //!< @brief topic pubscriber for max velocity
rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr
rclcpp::Publisher<autoware_planning_msgs::msg::LaneChangeCommand>::SharedPtr
pub_lane_change_permission_; //!< @brief topic pubscriber for approval of lane change
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr
pub_check_point_; //!< @brief topic pubscriber for check point
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25 changes: 17 additions & 8 deletions api/scenario_api_autoware/src/scenario_api_autoware.cpp
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Expand Up @@ -34,7 +34,9 @@ ScenarioAPIAutoware::ScenarioAPIAutoware(rclcpp::Node::SharedPtr node)

//parameter for getMoveDistance
add_simulator_noise_ = node_->declare_parameter<bool>("rosparam/add_simulator_noise", true);
LOG_SIMPLE(info() << "Parameter 'rosparam/add_simulator_noise' = " << std::boolalpha << add_simulator_noise_);
LOG_SIMPLE(
info() << "Parameter 'rosparam/add_simulator_noise' = " << std::boolalpha <<
add_simulator_noise_);
simulator_noise_pos_dev_ = node_->declare_parameter<double>("rosparam/simulator_pos_noise", 0.1);
LOG_SIMPLE(info() << "Parameter 'rosparam/simulator_pos_noise' = " << simulator_noise_pos_dev_);
autoware_max_velocity_ = node_->declare_parameter<double>("rosparam/max_velocity", 30.0);
Expand All @@ -50,11 +52,15 @@ ScenarioAPIAutoware::ScenarioAPIAutoware(rclcpp::Node::SharedPtr node)
vehicle_data_.wheel_tread = vehicle_info_.wheel_tread_m_;
LOG_SIMPLE(info() << "Parameter '/vehicle_info/wheel_tread' = " << vehicle_data_.wheel_tread);
vehicle_data_.front_overhang = vehicle_info_.front_overhang_m_;
LOG_SIMPLE(info() << "Parameter '/vehicle_info/front_overhang' = " << vehicle_data_.front_overhang);
LOG_SIMPLE(
info() << "Parameter '/vehicle_info/front_overhang' = " <<
vehicle_data_.front_overhang);
vehicle_data_.rear_overhang = vehicle_info_.rear_overhang_m_;
LOG_SIMPLE(info() << "Parameter '/vehicle_info/rear_overhang' = " << vehicle_data_.rear_overhang);
vehicle_data_.vehicle_height = vehicle_info_.vehicle_height_m_;
LOG_SIMPLE(info() << "Parameter '/vehicle_info/vehicle_height' = " << vehicle_data_.vehicle_height);
LOG_SIMPLE(
info() << "Parameter '/vehicle_info/vehicle_height' = " <<
vehicle_data_.vehicle_height);
vehicle_data_.max_longitudinal_offset = vehicle_info_.max_longitudinal_offset_m_;
vehicle_data_.min_longitudinal_offset = vehicle_info_.min_longitudinal_offset_m_;
vehicle_data_.max_height_offset = vehicle_info_.max_height_offset_m_;
Expand Down Expand Up @@ -122,15 +128,18 @@ ScenarioAPIAutoware::ScenarioAPIAutoware(rclcpp::Node::SharedPtr node)
durable_qos);
LOG_SIMPLE(info() << "Advertise topic 'output/initial_velocity'");
pub_autoware_engage_ =
node_->create_publisher<autoware_vehicle_msgs::msg::Engage>("output/autoware_engage", durable_qos);
node_->create_publisher<autoware_vehicle_msgs::msg::Engage>(
"output/autoware_engage",
durable_qos);
LOG_SIMPLE(info() << "Advertise topic 'output/autoware_engage'");
pub_max_velocity_ =
node_->create_publisher<autoware_debug_msgs::msg::Float32Stamped>(
"output/limit_velocity",
durable_qos);
LOG_SIMPLE(info() << "Advertise topic 'output/limit_velocity'");
pub_lane_change_permission_ =
node_->create_publisher<std_msgs::msg::Bool>("output/lane_change_permission", durable_qos);
node_->create_publisher<autoware_planning_msgs::msg::LaneChangeCommand>(
"output/lane_change_permission", durable_qos);
LOG_SIMPLE(info() << "Advertise topic 'output/lane_change_permission'");
pub_check_point_ =
node_->create_publisher<geometry_msgs::msg::PoseStamped>(
Expand Down Expand Up @@ -649,9 +658,9 @@ bool ScenarioAPIAutoware::getRightBlinker() {return getRightBlinker(turn_signal_

bool ScenarioAPIAutoware::approveLaneChange(bool approve_lane_change)
{
std_msgs::msg::Bool boolmsg;
boolmsg.data = approve_lane_change;
pub_lane_change_permission_->publish(boolmsg);
autoware_planning_msgs::msg::LaneChangeCommand lc_cmd;
lc_cmd.command = approve_lane_change;
pub_lane_change_permission_->publish(lc_cmd);
return true; // TODO check successs
}

Expand Down