ubuntu commit

spongebob · spongebob · commit 397210383bea · 2022-03-20T20:13:01.000+08:00
diff --git a/readme.txt b/readme.txt
@@ -46,6 +46,10 @@ vehicle_cmd包含所有的控制消息，包含四元数，线速度，加速度
 17.有关上车实践方面，需要加上twist_filter，在其中发出话题ctrl_cmd注意怎么用
 18.roslaunch autoware_camera_lidar_calibrator camera_lidar_calibration.launch intrinsics_file:=/home/ne0/Desktop/calib_heat_camera1_rear_center_fisheye.yaml compressed_stream:=True camera_id:=camera1
 标定的命令
+19.有关停车的命令
+要将pure_pusuit设置为跟踪路径点的速度，velocity_set中设置为points_raw
+20.velocity_Set启动的是velocity_set_option.launch
+
 安装autoware 1.14的教程：
 https://www.cnblogs.com/hgl0417/p/14617025.html
 https://gitlab.com/autowarefoundation/autoware.ai/autoware/-/wikis/Source-Build
diff --git a/src/autoware/core_planning/waypoint_planner/include/waypoint_planner/astar_avoid/astar_avoid.h b/src/autoware/core_planning/waypoint_planner/include/waypoint_planner/astar_avoid/astar_avoid.h
@@ -70,7 +70,7 @@ class AstarAvoid
   bool enable_avoidance_;           // enable avoidance mode
   double avoid_waypoints_velocity_; // constant velocity on planned waypoints [km/h]
   double avoid_start_velocity_;     // self velocity for staring avoidance behavior [km/h]
-  double replan_interval_;          // replan interval for avoidance planning [Hz]
+  double replan_interval_;          // replan interval for avoidance planning [Hz]是s吗？？？
   int search_waypoints_size_;       // range of waypoints for incremental search [-]
   int search_waypoints_delta_;      // skipped waypoints for incremental search [-]
   int closest_search_size_;         // search closest waypoint around your car [-]
diff --git a/src/autoware/core_planning/waypoint_planner/launch/astar_avoid.launch b/src/autoware/core_planning/waypoint_planner/launch/astar_avoid.launch
@@ -8,8 +8,8 @@
   <arg name="costmap_topic" default="semantics/costmap_generator/occupancy_grid" />
   <arg name="enable_avoidance" default="true" />
   <arg name="avoid_waypoints_velocity" default="10.0" />
-  <arg name="avoid_start_velocity" default="3.6" />
-  <arg name="replan_interval" default="2.0" />
+  <arg name="avoid_start_velocity" default="5" />
+  <arg name="replan_interval" default="0.5" />
   <arg name="search_waypoints_size" default="50" />
   <arg name="search_waypoints_delta" default="2" />
   <arg name="closest_search_size" default="30" />
diff --git a/src/autoware/core_planning/waypoint_planner/src/astar_avoid/astar_avoid.cpp b/src/autoware/core_planning/waypoint_planner/src/astar_avoid/astar_avoid.cpp
@@ -34,8 +34,8 @@ AstarAvoid::AstarAvoid()
 
   private_nh_.param<bool>("enable_avoidance", enable_avoidance_, true);
   private_nh_.param<double>("avoid_waypoints_velocity", avoid_waypoints_velocity_, 10.0);
-  private_nh_.param<double>("avoid_start_velocity", avoid_start_velocity_, 3.6);
-  private_nh_.param<double>("replan_interval", replan_interval_, 2.0);
+  private_nh_.param<double>("avoid_start_velocity", avoid_start_velocity_, 5);
+  private_nh_.param<double>("replan_interval", replan_interval_, 0.5);
   private_nh_.param<int>("search_waypoints_size", search_waypoints_size_, 50);
   private_nh_.param<int>("search_waypoints_delta", search_waypoints_delta_, 2);
   private_nh_.param<int>("closest_search_size", closest_search_size_, 30);
@@ -171,7 +171,7 @@ void AstarAvoid::run()
 
     // avoidance mode
     bool found_obstacle = (obstacle_waypoint_index_ >= 0);
-    //avoid_start_velocity_避让开始时自车速度1m/s
+    //avoid_start_velocity_避让开始时自车速度1.2m/s
     bool avoid_velocity = (current_velocity_.twist.linear.x < avoid_start_velocity_ / 3.6);
 
     // update state
@@ -192,7 +192,7 @@ void AstarAvoid::run()
 
       if (!found_obstacle)
       {
-        ROS_INFO("STOPPING -> RELAYING, Obstacle disappers");
+        //ROS_INFO("STOPPING -> RELAYING, Obstacle disappers");
         state_ = AstarAvoid::STATE::RELAYING;
       }
       //从停车模式转换为规划模式
@@ -201,7 +201,6 @@ void AstarAvoid::run()
       {
         ROS_INFO("STOPPING -> PLANNING, Start A* planning");
         state_ = AstarAvoid::STATE::PLANNING;
-        std::cout << "planning" << std::endl;
       }
     }
     //确定避障路线并相应添加进avoid_waypoints_，同时更新传入函数的end_of_avoid_index，
@@ -277,7 +276,8 @@ bool AstarAvoid::planAvoidWaypoints(int& end_of_avoid_index)
   for (int i = search_waypoints_delta_; i < static_cast<int>(search_waypoints_size_); i += search_waypoints_delta_)
   {
     // update goal index
-    int goal_waypoint_index = closest_waypoint_index + obstacle_waypoint_index_ + i;
+    //ff修改为+5
+    int goal_waypoint_index = closest_waypoint_index + obstacle_waypoint_index_ + i + 5;
     if (goal_waypoint_index >= static_cast<int>(avoid_waypoints_.waypoints.size()))
     {
       break;
@@ -304,8 +304,9 @@ bool AstarAvoid::planAvoidWaypoints(int& end_of_avoid_index)
 
     if (found_path)
     {
-      pub.publish(astar_.getPath());
+      pub.publish(astar_.getPath());//发布获得的避障路径
       end_of_avoid_index = goal_waypoint_index;
+      //这个函数用于生效astar规划的路径astar_path，把current_point和goal中间的那一段用astar_path替换
       mergeAvoidWaypoints(astar_.getPath(), end_of_avoid_index);
       if (avoid_waypoints_.waypoints.size() > 0)
       {
diff --git a/src/autoware/core_planning/waypoint_planner/src/velocity_set/velocity_set.cpp b/src/autoware/core_planning/waypoint_planner/src/velocity_set/velocity_set.cpp
@@ -244,6 +244,7 @@ EControl crossWalkDetection(const pcl::PointCloud<pcl::PointXYZ>& points, const
   return EControl::KEEP;  // find no obstacles
 }
 
+//障碍物检测，需要停车。对当前位置后的路径点进行障碍物检测，如果出现points_no_ground点云聚集则视为障碍物点
 int detectStopObstacle(const pcl::PointCloud<pcl::PointXYZ>& points, const int closest_waypoint,
                        const autoware_msgs::Lane& lane, const CrossWalk& crosswalk, double stop_range,
                        double points_threshold, const geometry_msgs::PoseStamped& localizer_pose,
@@ -320,6 +321,7 @@ int detectStopObstacle(const pcl::PointCloud<pcl::PointXYZ>& points, const int c
   return stop_obstacle_waypoint;
 }
 
+//障碍物检测，需要减速
 int detectDecelerateObstacle(const pcl::PointCloud<pcl::PointXYZ>& points, const int closest_waypoint,
                              const autoware_msgs::Lane& lane, const double stop_range, const double deceleration_range,
                              const double points_threshold, const geometry_msgs::PoseStamped& localizer_pose,
@@ -377,6 +379,7 @@ EControl pointsDetection(const pcl::PointCloud<pcl::PointXYZ>& points, const int
                          int* obstacle_waypoint, ObstaclePoints* obstacle_points)
 {
   // no input for detection || no closest waypoint
+  //如果没有点云同时没有从其他节点得到结果，或者当前位置检测失败
   if ((points.empty() == true && vs_info.getDetectionResultByOtherNodes() == -1) || closest_waypoint < 0)
     return EControl::KEEP;
 
@@ -419,8 +422,10 @@ EControl pointsDetection(const pcl::PointCloud<pcl::PointXYZ>& points, const int
   }
 
   // about 5.0 meter
+  //存在停止障碍物且存在减速障碍物
   double waypoint_interval =
       getPlaneDistance(lane.waypoints[0].pose.pose.position, lane.waypoints[1].pose.pose.position);
+  //计算5米需要几个路径点
   int stop_decelerate_threshold = 5 / waypoint_interval;
 
   // both were found
@@ -436,6 +441,8 @@ EControl pointsDetection(const pcl::PointCloud<pcl::PointXYZ>& points, const int
   }
 }
 
+//主要功能是对pointsDetection()返回的EControl状态，除了显示障碍物的位置之外，还要进行一项特殊处理：
+//如果上一次检测发现了障碍无，但是最近一次检测没有障碍物，就等一下再走，以保证安全。
 EControl obstacleDetection(int closest_waypoint, const autoware_msgs::Lane& lane, const CrossWalk& crosswalk,
                            const VelocitySetInfo vs_info, const ros::Publisher& detection_range_pub,
                            const ros::Publisher& obstacle_pub, int* obstacle_waypoint)
@@ -480,6 +487,8 @@ EControl obstacleDetection(int closest_waypoint, const autoware_msgs::Lane& lane
   return detection_result;
 }
 
+//根据obstacleDetection函数返回的EControl状态（如stop和decelerate状态），对当前位路径点和obstacle路径点之间的路径点的速度信息进行调整，
+//进而在pure_suit环节形成减速和停车现象
 void changeWaypoints(const VelocitySetInfo& vs_info, const EControl& detection_result, int closest_waypoint,
                      int obstacle_waypoint, const ros::Publisher& final_waypoints_pub, VelocitySetPath* vs_path)
 {
@@ -593,10 +602,12 @@ int main(int argc, char** argv)
       crosswalk.setDetectionWaypoint(
           crosswalk.findClosestCrosswalk(closest_waypoint, vs_path.getPrevWaypoints(), STOP_SEARCH_DISTANCE));
 
+    //检测障碍物位于当前线路的索引值，并根据距离信息判断当前需要停车还是减速
     int obstacle_waypoint = -1;
     EControl detection_result = obstacleDetection(closest_waypoint, vs_path.getPrevWaypoints(), crosswalk, vs_info,
                                                   detection_range_pub, obstacle_pub, &obstacle_waypoint);
 
+    //根据车辆需要的状态，修改后方waypoints中的速度信息，进而在pure_presuit节点形成减速或者停车的效果。
     changeWaypoints(vs_info, detection_result, closest_waypoint,
                     obstacle_waypoint, final_waypoints_pub, &vs_path);
 
diff --git a/src/autoware/simulation/.github/workflows/cross-ci.yaml b/src/autoware/simulation/.github/workflows/cross-ci.yaml
@@ -0,0 +1,48 @@
+name: Cross CI workflow
+
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+
+  build-cross:
+
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest]
+      fail-fast: false
+
+    env:
+      VCS_FILE: build_depends.repos
+      ROS_DISTRO: melodic
+      AUTOWARE_CROSS_TARGET_PLATFORM: generic-aarch64
+      AUTOWARE_TARGET_ARCH: aarch64
+      AUTOWARE_TOOLCHAIN_FILE_PATH: ${{ github.workspace }}/cross_toolchain.cmake
+      AUTOWARE_SYSROOT: /sysroot/generic-aarch64
+
+    container:
+      image: autoware/build:generic-aarch64-melodic-bleedingedge
+
+    steps:
+
+    - name: Checkout repo
+      uses: actions/checkout@v2
+
+    - name: Build repo
+      run: |
+        mkdir -p src_tmp/ && mv `find -maxdepth 1 -not -name . -not -name src_tmp -not -name $VCS_FILE` src_tmp/ && mv src_tmp/ src/
+        sudo apt-get update -qq && sudo apt-get install -y python3-vcstool gcc git wget
+        wget https://raw.githubusercontent.com/Autoware-AI/docker/master/crossbuild/cross_toolchain.cmake
+        vcs validate < $VCS_FILE
+        vcs import src/ < $VCS_FILE
+        bash -c 'source $AUTOWARE_SYSROOT/opt/ros/${ROS_DISTRO}/setup.bash; \
+        colcon build --merge-install \
+          --cmake-args \
+          -DCMAKE_TOOLCHAIN_FILE=$AUTOWARE_TOOLCHAIN_FILE_PATH \
+          -DCMAKE_SYSTEM_PROCESSOR=$AUTOWARE_TARGET_ARCH \
+          -DCMAKE_PREFIX_PATH="$(pwd)/install;${AUTOWARE_SYSROOT}/opt/ros/${ROS_DISTRO}" \
+          -DCMAKE_FIND_ROOT_PATH=$(pwd)/install/;'
diff --git a/src/autoware/simulation/.github/workflows/cuda-ci.yaml b/src/autoware/simulation/.github/workflows/cuda-ci.yaml
@@ -0,0 +1,53 @@
+name: CUDA CI workflow
+
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+
+  build-melodic:
+
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest] #[ubuntu-latest, self-hosted]
+      fail-fast: false
+
+    container:
+      image: autoware/autoware:bleedingedge-melodic-base-cuda
+      env:
+        VCS_FILE: build_depends.repos
+        ROS_DISTRO: melodic
+      options: --user root
+
+    steps:
+
+    - name: Checkout repo
+      uses: actions/checkout@v2
+
+    - name: Prepare repo
+      run: |
+        mkdir -p src_tmp/ && mv `find -maxdepth 1 -not -name . -not -name src_tmp -not -name $VCS_FILE` src_tmp/ && mv src_tmp/ src/
+        vcs validate < $VCS_FILE
+        vcs import src/ < $VCS_FILE
+        rosdep update && apt-get update -qqq
+        rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+        mkdir -p depends_ws/src
+        mv src/depends depends_ws/src
+
+    - name: Build depends repos
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        cd depends_ws; colcon build; cd ..'
+
+    - name: Build and test repo
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        source depends_ws/install/local_setup.bash; \
+        colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug; \
+        colcon build --cmake-target tests --cmake-args -DCMAKE_BUILD_TYPE=Debug; \
+        colcon test; \
+        colcon test-result --verbose'
diff --git a/src/autoware/simulation/.github/workflows/native-ci.yaml b/src/autoware/simulation/.github/workflows/native-ci.yaml
@@ -0,0 +1,66 @@
+name: Native CI workflow
+
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+
+  build-melodic:
+
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest] #[ubuntu-latest, self-hosted]
+      fail-fast: false
+
+    container:
+      image: autoware/autoware:bleedingedge-melodic-base
+      env:
+        VCS_FILE: build_depends.repos
+        ROS_DISTRO: melodic
+      options: --user root
+
+    steps:
+
+    - name: Checkout repo
+      uses: actions/checkout@v2
+
+    - name: Prepare repo
+      run: |
+        mkdir -p src_tmp/ && mv `find -maxdepth 1 -not -name . -not -name src_tmp -not -name $VCS_FILE` src_tmp/ && mv src_tmp/ src/
+        vcs validate < $VCS_FILE
+        vcs import src/ < $VCS_FILE
+        rosdep update && apt-get update -qqq
+        rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+        mkdir -p depends_ws/src
+        mv src/depends depends_ws/src
+
+    - name: Build depends repos
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        cd depends_ws; colcon build; cd ..'
+
+    - name: Build and test repo
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        source depends_ws/install/local_setup.bash; \
+        colcon build --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug; \
+        colcon build --cmake-target tests --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug; \
+        lcov --initial --directory build --capture --output-file lcov.base; \
+        colcon test; \
+        colcon test-result --verbose; \
+        lcov --directory build --capture --output-file lcov.test; \
+        lcov -a lcov.base -a lcov.test -o lcov.total; \
+        lcov -r lcov.total '*/tests/*' '*/test/*' '*/build/*' '*/devel/*' '*/install/*' '*/log/*' '*/usr/*' '*/opt/*' '/tmp/*' '*/CMakeCCompilerId.c' '*/CMakeCXXCompilerId.cpp' '*/depends_ws/*' -o lcov.total.filtered; \
+        genhtml -p "$PWD" --legend --demangle-cpp lcov.total.filtered -o coverage; \
+        tar -czvf coverage.tar.gz coverage'
+
+    - name: Upload Logs
+      uses: actions/upload-artifact@v1
+      with:
+        name: coverage.tar.gz
+        path: coverage.tar.gz
+      if: always()

Original file line number	Diff line number	Diff line change
`@@ -34,8 +34,8 @@ AstarAvoid::AstarAvoid()`
`34`	`34`
`35`	`35`	`private_nh_.param<bool>("enable_avoidance", enable_avoidance_, true);`
`36`	`36`	`private_nh_.param<double>("avoid_waypoints_velocity", avoid_waypoints_velocity_, 10.0);`
`37`		`- private_nh_.param<double>("avoid_start_velocity", avoid_start_velocity_, 3.6);`
`38`		`- private_nh_.param<double>("replan_interval", replan_interval_, 2.0);`
	`37`	`+ private_nh_.param<double>("avoid_start_velocity", avoid_start_velocity_, 5);`
	`38`	`+ private_nh_.param<double>("replan_interval", replan_interval_, 0.5);`
`39`	`39`	`private_nh_.param<int>("search_waypoints_size", search_waypoints_size_, 50);`
`40`	`40`	`private_nh_.param<int>("search_waypoints_delta", search_waypoints_delta_, 2);`
`41`	`41`	`private_nh_.param<int>("closest_search_size", closest_search_size_, 30);`
`@@ -171,7 +171,7 @@ void AstarAvoid::run()`
`171`	`171`
`172`	`172`	`// avoidance mode`
`173`	`173`	`bool found_obstacle = (obstacle_waypoint_index_ >= 0);`
`174`		`- //avoid_start_velocity_避让开始时自车速度1m/s`
	`174`	`+ //avoid_start_velocity_避让开始时自车速度1.2m/s`
`175`	`175`	`bool avoid_velocity = (current_velocity_.twist.linear.x < avoid_start_velocity_ / 3.6);`
`176`	`176`
`177`	`177`	`// update state`
`@@ -192,7 +192,7 @@ void AstarAvoid::run()`
`192`	`192`
`193`	`193`	`if (!found_obstacle)`
`194`	`194`	`{`
`195`		`- ROS_INFO("STOPPING -> RELAYING, Obstacle disappers");`
	`195`	`+ //ROS_INFO("STOPPING -> RELAYING, Obstacle disappers");`
`196`	`196`	`state_ = AstarAvoid::STATE::RELAYING;`
`197`	`197`	`}`
`198`	`198`	`//从停车模式转换为规划模式`
`@@ -201,7 +201,6 @@ void AstarAvoid::run()`
`201`	`201`	`{`
`202`	`202`	`ROS_INFO("STOPPING -> PLANNING, Start A* planning");`
`203`	`203`	`state_ = AstarAvoid::STATE::PLANNING;`
`204`		`- std::cout << "planning" << std::endl;`
`205`	`204`	`}`
`206`	`205`	`}`
`207`	`206`	`//确定避障路线并相应添加进avoid_waypoints_，同时更新传入函数的end_of_avoid_index，`
`@@ -277,7 +276,8 @@ bool AstarAvoid::planAvoidWaypoints(int& end_of_avoid_index)`
`277`	`276`	`for (int i = search_waypoints_delta_; i < static_cast<int>(search_waypoints_size_); i += search_waypoints_delta_)`
`278`	`277`	`{`
`279`	`278`	`// update goal index`
`280`		`- int goal_waypoint_index = closest_waypoint_index + obstacle_waypoint_index_ + i;`
	`279`	`+ //ff修改为+5`
	`280`	`+ int goal_waypoint_index = closest_waypoint_index + obstacle_waypoint_index_ + i + 5;`
`281`	`281`	`if (goal_waypoint_index >= static_cast<int>(avoid_waypoints_.waypoints.size()))`
`282`	`282`	`{`
`283`	`283`	`break;`
`@@ -304,8 +304,9 @@ bool AstarAvoid::planAvoidWaypoints(int& end_of_avoid_index)`
`304`	`304`
`305`	`305`	`if (found_path)`
`306`	`306`	`{`
`307`		`- pub.publish(astar_.getPath());`
	`307`	`+ pub.publish(astar_.getPath());//发布获得的避障路径`
`308`	`308`	`end_of_avoid_index = goal_waypoint_index;`
	`309`	`+ //这个函数用于生效astar规划的路径astar_path，把current_point和goal中间的那一段用astar_path替换`
`309`	`310`	`mergeAvoidWaypoints(astar_.getPath(), end_of_avoid_index);`
`310`	`311`	`if (avoid_waypoints_.waypoints.size() > 0)`
`311`	`312`	`{`