feat(rerouting-static-obstacle): rerouting static obstacle using a selected point by the user

common/tier4_planning_rviz_plugin/CMakeLists.txt

@@ -3,12 +3,10 @@ project(tier4_planning_rviz_plugin)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-
 find_package(Qt5 REQUIRED Core Widgets)
 set(QT_LIBRARIES Qt5::Widgets)
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
-add_definitions(-DQT_NO_KEYWORDS)
 find_package(Eigen3 REQUIRED)
 
 include_directories(
@@ -28,6 +26,9 @@ ament_auto_add_library(tier4_planning_rviz_plugin SHARED
   src/mission_checkpoint/mission_checkpoint.cpp
   src/tools/jsk_overlay_utils.cpp
   src/tools/max_velocity.cpp
+  # reroute static obstacle
+  include/reroute_static_obstacle/reroute_static_obstacle_plugin.hpp
+  src/reroute_static_obstacle/reroute_static_obstacle_plugin.cpp
 )
 
 target_link_libraries(tier4_planning_rviz_plugin

common/tier4_planning_rviz_plugin/include/reroute_static_obstacle/reroute_static_obstacle_plugin.hpp

@@ -0,0 +1,102 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2012, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef REROUTE_STATIC_OBSTACLE__REROUTE_STATIC_OBSTACLE_PLUGIN_HPP_
+#define REROUTE_STATIC_OBSTACLE__REROUTE_STATIC_OBSTACLE_PLUGIN_HPP_
+
+#include "rclcpp/qos.hpp"
+#include "rviz_common/interaction/view_picker_iface.hpp"
+#include "rviz_common/load_resource.hpp"
+#include "rviz_common/msg_conversions.hpp"
+#include "rviz_common/properties/bool_property.hpp"
+#include "rviz_common/properties/qos_profile_property.hpp"
+#include "rviz_common/properties/string_property.hpp"
+#include "rviz_common/render_panel.hpp"
+#include "rviz_common/view_controller.hpp"
+#include "rviz_common/viewport_mouse_event.hpp"
+#include "rviz_default_plugins/tools/point/point_tool.hpp"
+
+#include <rviz_common/display_context.hpp>
+
+#include <OgreVector.h>
+#include <OgreVector3.h>
+
+#include <algorithm>
+#include <memory>
+#include <optional>
+#include <sstream>
+#include <vector>
+
+namespace rviz_plugins
+{
+
+class RerouteStaticObstaclePointPublish : public rviz_default_plugins::tools::PointTool
+{
+public:
+  RerouteStaticObstaclePointPublish();
+  void onInitialize() override;
+
+  void activate() override;
+  void deactivate() override;
+
+  int processMouseEvent(rviz_common::ViewportMouseEvent & event) override;
+
+public Q_SLOTS:
+  void updateTopic();
+  void updateAutoDeactivate();
+
+protected:
+  void publishPosition(const Ogre::Vector3 & position) const;
+  void setStatusForPosition(const Ogre::Vector3 & position);
+
+  rclcpp::QoS qos_profile_;
+
+private:
+  std::optional<Ogre::Vector3> get_point_from_mouse(rviz_common::ViewportMouseEvent & event);
+};
+}  // namespace rviz_plugins
+#endif  // REROUTE_STATIC_OBSTACLE__REROUTE_STATIC_OBSTACLE_PLUGIN_HPP_

common/tier4_planning_rviz_plugin/plugins/plugin_description.xml

@@ -28,4 +28,8 @@
     type="rviz_plugins::MissionCheckpointTool"
     base_class_type="rviz_common::Tool">
   </class>
+  <class name="rviz_plugins/RerouteStaticObstaclePointPublish"
+    type="rviz_plugins::RerouteStaticObstaclePointPublish"
+    base_class_type="rviz_common::Tool">
+  </class>
 </library>

common/tier4_planning_rviz_plugin/src/reroute_static_obstacle/reroute_static_obstacle_plugin.cpp

@@ -0,0 +1,151 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+/*
+ * Copyright (c) 2013, Willow Garage, Inc.
+ * Copyright (c) 2018, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <reroute_static_obstacle/reroute_static_obstacle_plugin.hpp>
+#include <rviz_common/render_panel.hpp>
+#include <rviz_rendering/render_window.hpp>
+
+#include <geometry_msgs/msg/point_stamped.hpp>
+
+#include <OgreCamera.h>
+#include <OgreRay.h>
+#include <OgreViewport.h>
+
+namespace rviz_plugins
+{
+
+RerouteStaticObstaclePointPublish::RerouteStaticObstaclePointPublish() : qos_profile_(5)
+{
+  topic_property_ = new rviz_common::properties::StringProperty(
+    "Topic", "/simulation/planning/reroute_static_obstacle_point_publisher/point",
+    "The topic on which to publish points.", getPropertyContainer(), SLOT(updateTopic()), this);
+
+  auto_deactivate_property_ = new rviz_common::properties::BoolProperty(
+    "Single click", true, "Switch away from this tool after one click.", getPropertyContainer(),
+    SLOT(updateAutoDeactivate()), this);
+
+  qos_profile_property_ =
+    new rviz_common::properties::QosProfileProperty(topic_property_, qos_profile_);
+}
+
+void RerouteStaticObstaclePointPublish::onInitialize()
+{
+  qos_profile_property_->initialize([this](rclcpp::QoS profile) { this->qos_profile_ = profile; });
+  updateTopic();
+}
+
+void RerouteStaticObstaclePointPublish::activate()
+{
+}
+
+void RerouteStaticObstaclePointPublish::deactivate()
+{
+}
+
+void RerouteStaticObstaclePointPublish::updateTopic()
+{
+  rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
+  publisher_ = raw_node->template create_publisher<geometry_msgs::msg::PointStamped>(
+    topic_property_->getStdString(), qos_profile_);
+  clock_ = raw_node->get_clock();
+}
+
+void RerouteStaticObstaclePointPublish::updateAutoDeactivate()
+{
+}
+
+int RerouteStaticObstaclePointPublish::processMouseEvent(rviz_common::ViewportMouseEvent & event)
+{
+  int flags = 0;
+  if (event.leftUp()) {
+    const auto point = get_point_from_mouse(event);
+    if (point) {
+      setStatusForPosition(point.value());
+      publishPosition(point.value());
+      if (auto_deactivate_property_->getBool()) {
+        flags |= Finished;
+      }
+    }
+  }
+
+  return flags;
+}
+
+void RerouteStaticObstaclePointPublish::setStatusForPosition(const Ogre::Vector3 & position)
+{
+  std::ostringstream s;
+  s << "<b>Left-Click:</b> Select this point.";
+  s.precision(3);
+  s << " [" << position.x << "," << position.y << "," << position.z << "]";
+  setStatus(s.str().c_str());
+}
+
+void RerouteStaticObstaclePointPublish::publishPosition(const Ogre::Vector3 & position) const
+{
+  auto point = rviz_common::pointOgreToMsg(position);
+  geometry_msgs::msg::PointStamped point_stamped;
+  point_stamped.point = point;
+  point_stamped.header.frame_id = context_->getFixedFrame().toStdString();
+  point_stamped.header.stamp = clock_->now();
+  publisher_->publish(point_stamped);
+}
+
+std::optional<Ogre::Vector3> RerouteStaticObstaclePointPublish::get_point_from_mouse(
+  rviz_common::ViewportMouseEvent & event)
+{
+  using rviz_rendering::RenderWindowOgreAdapter;
+  const auto viewport = RenderWindowOgreAdapter::getOgreViewport(event.panel->getRenderWindow());
+  const auto w = viewport->getActualWidth();
+  const auto h = viewport->getActualHeight();
+  const auto x = static_cast<Ogre::Real>(event.x) / static_cast<Ogre::Real>(w);
+  const auto y = static_cast<Ogre::Real>(event.y) / static_cast<Ogre::Real>(h);
+
+  const auto plane = Ogre::Plane(Ogre::Vector3::UNIT_Z, 0.0);
+  const auto ray = viewport->getCamera()->getCameraToViewportRay(x, y);
+  const auto intersect = ray.intersects(plane);
+  return intersect.first ? std::optional(ray.getPoint(intersect.second)) : std::nullopt;
+}
+
+}  // namespace rviz_plugins
+
+#include <pluginlib/class_list_macros.hpp>  // NOLINT
+PLUGINLIB_EXPORT_CLASS(rviz_plugins::RerouteStaticObstaclePointPublish, rviz_common::Tool)

launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml

@@ -8,4 +8,8 @@
   <group>
     <include file="$(find-pkg-share mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
   </group>
+
+  <group>
+    <include file="$(find-pkg-share mission_planner)/launch/rerouting_static_obstacle.launch.xml"/>
+  </group>
 </launch>

planning/mission_planner/CMakeLists.txt

@@ -13,6 +13,15 @@ rclcpp_components_register_node(goal_pose_visualizer_component
   EXECUTABLE goal_pose_visualizer
 )
 
+ament_auto_add_library(rerouting_static_obstacle_component SHARED
+  src/rerouting_static_obstacle/rerouting_static_obstacle.cpp
+)
+
+rclcpp_components_register_node(rerouting_static_obstacle_component
+  PLUGIN "mission_planner::ReroutingStaticObstacle"
+  EXECUTABLE rerouting_static_obstacle
+)
+
 ament_auto_add_library(${PROJECT_NAME}_component SHARED
   src/mission_planner/arrival_checker.cpp
   src/mission_planner/service_utils.cpp

planning/mission_planner/README.md

@@ -191,6 +191,30 @@ This interface for the MRM that pulls over the road shoulder. It has to be stopp
 This is a goal change to pull over, avoid parked vehicles, and so on by a planning component. If the modified goal is outside the calculated route, a reroute is required. This goal modification is executed by checking the local environment and path safety as the vehicle actually approaches the destination. And this modification is allowed for both normal_route and mrm_route.
 The new route generated here is sent to the AD API so that it can also be referenced by the application. Note, however, that the specifications here are subject to change in the future.
 
+#### Rerouting Static Obstacle
+
+`Rerouting Static Obstacle` is a node under `Mission Planner` that aims to change the planned route of the current already set route by finding an alternative route to the shortest planned one.
+The `Rerouting Static Obstacle` use-cases can be rerouting for a vehicle that is blocking the road, road construction that blocks some lanes, or any other similar scenarios of dynamic map information.
+
+The way that `Rerouting Static Obstacle` node is working currently is that, when the human driver/operator notices a blockage during the planned route of the mission, s/he points in the map (using a dedicated plugin in rviz) where the blockage is. Then `Rerouting Static Obstacle` searches for alternative routes and if successfully found it calls `change_route` API.
+
+The following diagram shows how `Rerouting Static Obstacle` node works in high level :
+
+<p align="center">
+  <img src=./media/rerouting-static-obstacle_flowchart.svg />
+</p>
+
+Reference implementation for `Rerouting Static Obstacle` node is under `src/rerouting_static_obstacle`
+
+##### How to enable rerouting static obstacle plugin ?
+
+1. In rviz using the add plugin sign, then under `tier4_planning_rviz_plugin`, add the `RerouteStaticObstaclePointPublish` plugin
+2. Make the plugin visible for ease of use
+3. Select a point through the route of the vehicle (where you see a blockage for example)
+4. If an alternative route can be found, the vehicle will to change route and will not go through the selected point.
+
+> Make sure that you select the point for rerouting with enough distance ahead the vehicle, otherwise the rerouting will be considered unsafe. For more information, please check the Rerouting Limitations section below and `mission_planner.param.yaml` config file.
+
 #### Rerouting Limitations
 
 - The safety judgment of rerouting is not guaranteed to the level of trajectory or control. Therefore, the distance to the reroute change must be large for the safety.

planning/mission_planner/launch/rerouting_static_obstacle.launch.xml

@@ -0,0 +1,13 @@
+<launch>
+  <arg name="odometry_topic_name" default="/localization/kinematic_state"/>
+  <arg name="route_topic_name" default="/planning/mission_planning/route"/>
+  <arg name="map_topic_name" default="/map/vector_map"/>
+  <arg name="reroute_point_topic_name" default="/simulation/planning/reroute_static_obstacle_point_publisher/point"/>
+
+  <node pkg="mission_planner" exec="rerouting_static_obstacle" name="rerouting_static_obstacle" output="screen">
+    <remap from="input/odometry" to="$(var odometry_topic_name)"/>
+    <remap from="input/route" to="$(var route_topic_name)"/>
+    <remap from="input/vector_map" to="$(var map_topic_name)"/>
+    <remap from="input/reroute_point" to="$(var reroute_point_topic_name)"/>
+  </node>
+</launch>