object_collision_estimator_node.hpp

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// Copyright 2020-2021 Arm Limited
//
// 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.
 
#include <autoware_auto_planning_msgs/srv/modify_trajectory.hpp>
#include <autoware_auto_perception_msgs/msg/bounding_box_array.hpp>
#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
#include <visualization_msgs/msg/marker.hpp>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.h>
#include <rclcpp/rclcpp.hpp>
#include <memory>
#include <string>
 
#include "object_collision_estimator/object_collision_estimator.hpp"
#include "object_collision_estimator_nodes/visibility_control.hpp"
 
#ifndef OBJECT_COLLISION_ESTIMATOR_NODES__OBJECT_COLLISION_ESTIMATOR_NODE_HPP_
#define OBJECT_COLLISION_ESTIMATOR_NODES__OBJECT_COLLISION_ESTIMATOR_NODE_HPP_
 
namespace motion
{
namespace planning
{
namespace object_collision_estimator_nodes
{
 
using motion::planning::object_collision_estimator::ObjectCollisionEstimator;
using autoware_auto_perception_msgs::msg::BoundingBoxArray;
using autoware_auto_perception_msgs::msg::PredictedObjects;
using visualization_msgs::msg::MarkerArray;
using visualization_msgs::msg::Marker;
 
 
class OBJECT_COLLISION_ESTIMATOR_NODES_PUBLIC ObjectCollisionEstimatorNode : public rclcpp::Node
{
public:
  explicit ObjectCollisionEstimatorNode(const rclcpp::NodeOptions & node_options);
 
private:
  void estimate_collision(
    const std::shared_ptr<autoware_auto_planning_msgs::srv::ModifyTrajectory::Request> request,
    std::shared_ptr<autoware_auto_planning_msgs::srv::ModifyTrajectory::Response> response);
 
  rclcpp::Subscription<BoundingBoxArray>::SharedPtr m_obstacles_sub{nullptr};
 
  rclcpp::Subscription<PredictedObjects>::SharedPtr m_predicted_objects_sub{nullptr};
 
  rclcpp::Publisher<MarkerArray>::SharedPtr m_trajectory_bbox_pub{nullptr};
 
  void on_predicted_object(const PredictedObjects::SharedPtr & msg);
 
  std::unique_ptr<ObjectCollisionEstimator> m_estimator{nullptr};
 
  std::string m_target_frame_id{};
 
  rclcpp::Service<autoware_auto_planning_msgs::srv::ModifyTrajectory>::SharedPtr
    m_service_interface{nullptr};
 
  std::shared_ptr<tf2_ros::Buffer> m_tf_buffer;
 
  std::shared_ptr<tf2_ros::TransformListener> m_tf_listener;
 
  rclcpp::TimerBase::SharedPtr m_wall_timer{nullptr};
 
  rclcpp::Time m_last_obstacle_msg_time {0, 0, RCL_ROS_TIME};
 
  std::chrono::milliseconds m_staleness_threshold_ms{};
 
  static constexpr const char * OBJECT_COLLISION_ESTIMATOR_NODE_NAME =
    "object_collision_estimator_node";
 
  static constexpr const char * OBSTACLE_TOPIC = "obstacle_topic";
};
 
}  // namespace object_collision_estimator_nodes
}  // namespace planning
}  // namespace motion
 
#endif  // OBJECT_COLLISION_ESTIMATOR_NODES__OBJECT_COLLISION_ESTIMATOR_NODE_HPP_