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fix(surround_obstacle_checker)!: remove velocity factor #1737

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merged 1 commit into from
Dec 26, 2024
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fix(surround_obstacle_checker)!: remove velocity factor #1737

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1 change: 0 additions & 1 deletion planning/autoware_surround_obstacle_checker/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,6 @@
<buildtool_depend>autoware_cmake</buildtool_depend>
<buildtool_depend>eigen3_cmake_module</buildtool_depend>

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_motion_utils</depend>
<depend>autoware_perception_msgs</depend>
<depend>autoware_planning_msgs</depend>
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23 changes: 0 additions & 23 deletions planning/autoware_surround_obstacle_checker/src/debug_marker.cpp
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Expand Up @@ -79,8 +79,6 @@ SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode(
clock_(clock)
{
debug_viz_pub_ = node.create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/marker", 1);
velocity_factor_pub_ =
node.create_publisher<VelocityFactorArray>("/planning/velocity_factors/surround_obstacle", 1);
vehicle_footprint_pub_ = node.create_publisher<PolygonStamped>("~/debug/footprint", 1);
vehicle_footprint_offset_pub_ =
node.create_publisher<PolygonStamped>("~/debug/footprint_offset", 1);
Expand Down Expand Up @@ -145,8 +143,6 @@ void SurroundObstacleCheckerDebugNode::publish()
debug_viz_pub_->publish(visualization_msg);

/* publish stop reason for autoware api */
const auto velocity_factor_msg = makeVelocityFactorArray();
velocity_factor_pub_->publish(velocity_factor_msg);
if (stop_pose_ptr_ != nullptr) {
planning_factor_interface_->add(
0.0, *stop_pose_ptr_, tier4_planning_msgs::msg::PlanningFactor::STOP,
Expand Down Expand Up @@ -178,25 +174,6 @@ MarkerArray SurroundObstacleCheckerDebugNode::makeVisualizationMarker()
return msg;
}

VelocityFactorArray SurroundObstacleCheckerDebugNode::makeVelocityFactorArray()
{
VelocityFactorArray velocity_factor_array;
velocity_factor_array.header.frame_id = "map";
velocity_factor_array.header.stamp = clock_->now();

if (stop_pose_ptr_) {
using distance_type = VelocityFactor::_distance_type;
VelocityFactor velocity_factor;
velocity_factor.behavior = PlanningBehavior::SURROUNDING_OBSTACLE;
velocity_factor.pose = *stop_pose_ptr_;
velocity_factor.distance = std::numeric_limits<distance_type>::quiet_NaN();
velocity_factor.status = VelocityFactor::UNKNOWN;
velocity_factor.detail = std::string();
velocity_factor_array.factors.push_back(velocity_factor);
}
return velocity_factor_array;
}

PolygonStamped SurroundObstacleCheckerDebugNode::boostPolygonToPolygonStamped(
const Polygon2d & boost_polygon, const double & z)
{
Expand Down
7 changes: 0 additions & 7 deletions planning/autoware_surround_obstacle_checker/src/debug_marker.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,6 @@
#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
#include <geometry_msgs/msg/polygon_stamped.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <tier4_planning_msgs/msg/planning_factor_array.hpp>
Expand All @@ -36,9 +34,6 @@ namespace autoware::surround_obstacle_checker
{

using autoware::vehicle_info_utils::VehicleInfo;
using autoware_adapi_v1_msgs::msg::PlanningBehavior;
using autoware_adapi_v1_msgs::msg::VelocityFactor;
using autoware_adapi_v1_msgs::msg::VelocityFactorArray;
using geometry_msgs::msg::PolygonStamped;
using tier4_planning_msgs::msg::ControlPoint;
using tier4_planning_msgs::msg::PlanningFactor;
Expand Down Expand Up @@ -70,7 +65,6 @@ class SurroundObstacleCheckerDebugNode

private:
rclcpp::Publisher<MarkerArray>::SharedPtr debug_viz_pub_;
rclcpp::Publisher<VelocityFactorArray>::SharedPtr velocity_factor_pub_;

rclcpp::Publisher<PolygonStamped>::SharedPtr vehicle_footprint_pub_;
rclcpp::Publisher<PolygonStamped>::SharedPtr vehicle_footprint_offset_pub_;
Expand All @@ -87,7 +81,6 @@ class SurroundObstacleCheckerDebugNode
geometry_msgs::msg::Pose self_pose_;

MarkerArray makeVisualizationMarker();
VelocityFactorArray makeVelocityFactorArray();

PolygonStamped boostPolygonToPolygonStamped(const Polygon2d & boost_polygon, const double & z);

Expand Down
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