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* add launch file template Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * update control_mode_request Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add awsim relay Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: add awsim adapter Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * wip * chune imu gnss * add steering * chore fix type * use thread * del relay topic * re-tune param * fix timestamp * fix merge diff Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Update aichallenge/workspace/src/aichallenge_system/aichallenge_awsim_adapter/src/sensor_converter.cpp Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * Update aichallenge/workspace/src/aichallenge_system/aichallenge_awsim_adapter/src/sensor_converter.hpp Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * change gnss delay to 300ms * Revert "change gnss delay to 300ms" This reverts commit 1fd3a86. * del ekf additional sim delay --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
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18 changes: 18 additions & 0 deletions
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...space/src/aichallenge_system/aichallenge_awsim_adapter/config/sensor_converter.param.yaml
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| /**: | ||
| ros__parameters: | ||
| gnss_pose_delay: 500 # [ms] | ||
| gnss_pose_cov_delay: 500 # [ms] | ||
| gnss_pose_mean: 0.0 | ||
| gnss_pose_stddev: 0.005 | ||
| gnss_pose_cov_mean: 0.0 | ||
| gnss_pose_cov_stddev: 0.007 | ||
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| imu_acc_mean: 0.0 | ||
| imu_acc_stddev: 0.001 | ||
| imu_ang_mean: 0.0 | ||
| imu_ang_stddev: 0.0025 | ||
| imu_ori_mean: 0.0 | ||
| imu_ori_stddev: 0.001 | ||
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| steering_angle_mean: 0.0 | ||
| steering_angle_stddev: 0.0000075 |
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134 changes: 134 additions & 0 deletions
134
...lenge/workspace/src/aichallenge_system/aichallenge_awsim_adapter/src/sensor_converter.cpp
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| // Copyright 2024 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. | ||
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| #include "sensor_converter.hpp" | ||
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| SensorConverter::SensorConverter(const rclcpp::NodeOptions & node_options) | ||
| : Node("sensor_converter", node_options) | ||
| { | ||
| using std::placeholders::_1; | ||
|
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| // Parameters | ||
| gnss_pose_delay_ = declare_parameter<int>("gnss_pose_delay"); | ||
| gnss_pose_cov_delay_ = declare_parameter<int>("gnss_pose_cov_delay"); | ||
| gnss_pose_mean_ = declare_parameter<double>("gnss_pose_mean"); | ||
| gnss_pose_stddev_ = declare_parameter<double>("gnss_pose_stddev"); | ||
| gnss_pose_cov_mean_ = declare_parameter<double>("gnss_pose_cov_mean"); | ||
| gnss_pose_cov_stddev_ = declare_parameter<double>("gnss_pose_cov_stddev"); | ||
| imu_acc_mean_ = declare_parameter<double>("imu_acc_mean"); | ||
| imu_acc_stddev_ = declare_parameter<double>("imu_acc_stddev"); | ||
| imu_ang_mean_ = declare_parameter<double>("imu_ang_mean"); | ||
| imu_ang_stddev_ = declare_parameter<double>("imu_ang_stddev"); | ||
| imu_ori_mean_ = declare_parameter<double>("imu_ori_mean"); | ||
| imu_ori_stddev_ = declare_parameter<double>("imu_ori_stddev"); | ||
| steering_angle_mean_ = declare_parameter<double>("steering_angle_mean"); | ||
| steering_angle_stddev_ = declare_parameter<double>("steering_angle_stddev"); | ||
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| // Subscriptions | ||
| sub_gnss_pose_ = create_subscription<PoseStamped>( | ||
| "/awsim/gnss/pose", 1, std::bind(&SensorConverter::on_gnss_pose, this, _1)); | ||
| sub_gnss_pose_cov_ = create_subscription<PoseWithCovarianceStamped>( | ||
| "/awsim/gnss/pose_with_covariance", 1, std::bind(&SensorConverter::on_gnss_pose_cov, this, _1)); | ||
| sub_imu_ = create_subscription<Imu>( | ||
| "/awsim/imu", 1, std::bind(&SensorConverter::on_imu, this, _1)); | ||
| sub_steering_report_ = create_subscription<SteeringReport>( | ||
| "/awsim/steering_status", 1, std::bind(&SensorConverter::on_steering_report, this, _1)); | ||
|
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| // Publishers | ||
| pub_gnss_pose_ = create_publisher<PoseStamped>("/sensing/gnss/pose", 1); | ||
| pub_gnss_pose_cov_ = create_publisher<PoseWithCovarianceStamped>("/sensing/gnss/pose_with_covariance", 1); | ||
| pub_imu_ = create_publisher<Imu>("/sensing/imu/imu_raw", 1); | ||
| pub_steering_report_ = create_publisher<SteeringReport>("/vehicle/status/steering_status", 1); | ||
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| std::random_device rd; | ||
| generator_ = std::mt19937(rd()); | ||
| pose_distribution_ = std::normal_distribution<double>(gnss_pose_mean_, gnss_pose_stddev_); | ||
| pose_cov_distribution_ = std::normal_distribution<double>(gnss_pose_mean_, gnss_pose_stddev_); | ||
| imu_acc_distribution_ = std::normal_distribution<double>(imu_acc_mean_, imu_acc_stddev_); | ||
| imu_ang_distribution_ = std::normal_distribution<double>(imu_ang_mean_, imu_ang_stddev_); | ||
| imu_ori_distribution_ = std::normal_distribution<double>(imu_ori_mean_, imu_ori_stddev_); | ||
| steering_angle_distribution_ = std::normal_distribution<double>(steering_angle_mean_, steering_angle_stddev_); | ||
| } | ||
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| void SensorConverter::on_gnss_pose(const PoseStamped::ConstSharedPtr msg) | ||
| { | ||
| auto process_and_publish_gnss = [this, msg]() { | ||
| rclcpp::sleep_for(std::chrono::milliseconds(gnss_pose_delay_)); | ||
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| auto pose = std::make_shared<PoseStamped>(*msg); | ||
| pose->header.stamp = now(); | ||
| pose->pose.position.x += pose_distribution_(generator_); | ||
| pose->pose.position.y += pose_distribution_(generator_); | ||
| pose->pose.position.z += pose_distribution_(generator_); | ||
| pose->pose.orientation.x += pose_distribution_(generator_); | ||
| pose->pose.orientation.y += pose_distribution_(generator_); | ||
| pose->pose.orientation.z += pose_distribution_(generator_); | ||
| pose->pose.orientation.w += pose_distribution_(generator_); | ||
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| pub_gnss_pose_->publish(*pose); | ||
| }; | ||
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| std::thread processing_thread(process_and_publish_gnss); | ||
| processing_thread.detach(); | ||
| } | ||
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| void SensorConverter::on_gnss_pose_cov(const PoseWithCovarianceStamped::ConstSharedPtr msg) | ||
| { | ||
| auto process_and_publish_gnss_cov = [this, msg]() { | ||
| rclcpp::sleep_for(std::chrono::milliseconds(gnss_pose_cov_delay_)); | ||
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| auto pose_cov = std::make_shared<PoseWithCovarianceStamped>(*msg); | ||
| pose_cov->header.stamp = now(); | ||
| pose_cov->pose.pose.position.x += pose_cov_distribution_(generator_); | ||
| pose_cov->pose.pose.position.y += pose_cov_distribution_(generator_); | ||
| pose_cov->pose.pose.position.z += pose_cov_distribution_(generator_); | ||
| pose_cov->pose.pose.orientation.x += pose_cov_distribution_(generator_); | ||
| pose_cov->pose.pose.orientation.y += pose_cov_distribution_(generator_); | ||
| pose_cov->pose.pose.orientation.z += pose_cov_distribution_(generator_); | ||
| pose_cov->pose.pose.orientation.w += pose_cov_distribution_(generator_); | ||
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| pub_gnss_pose_cov_->publish(*pose_cov); | ||
| }; | ||
|
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| std::thread processing_thread(process_and_publish_gnss_cov); | ||
| processing_thread.detach(); | ||
| } | ||
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| void SensorConverter::on_imu(const Imu::ConstSharedPtr msg) | ||
| { | ||
| imu_ = std::make_shared<Imu>(*msg); | ||
| imu_ -> orientation.x += imu_ori_distribution_(generator_); | ||
| imu_ -> orientation.y += imu_ori_distribution_(generator_); | ||
| imu_ -> orientation.z += imu_ori_distribution_(generator_); | ||
| imu_ -> orientation.w += imu_ori_distribution_(generator_); | ||
| imu_ -> angular_velocity.x += imu_ang_distribution_(generator_); | ||
| imu_ -> angular_velocity.y += imu_ang_distribution_(generator_); | ||
| imu_ -> angular_velocity.z += imu_ang_distribution_(generator_); | ||
| imu_ -> linear_acceleration.x += imu_acc_distribution_(generator_); | ||
| imu_ -> linear_acceleration.y += imu_acc_distribution_(generator_); | ||
| imu_ -> linear_acceleration.z += imu_acc_distribution_(generator_); | ||
| pub_imu_->publish(*imu_); | ||
| } | ||
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| void SensorConverter::on_steering_report(const SteeringReport::ConstSharedPtr msg) | ||
| { | ||
| steering_report_ = std::make_shared<SteeringReport>(*msg); | ||
| steering_report_->steering_tire_angle += steering_angle_distribution_(generator_); | ||
| pub_steering_report_->publish(*steering_report_); | ||
| } | ||
|
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| #include <rclcpp_components/register_node_macro.hpp> | ||
| RCLCPP_COMPONENTS_REGISTER_NODE(SensorConverter) |
81 changes: 81 additions & 0 deletions
81
...lenge/workspace/src/aichallenge_system/aichallenge_awsim_adapter/src/sensor_converter.hpp
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2024 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. | ||
|
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| #ifndef AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ | ||
| #define AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ | ||
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| #include <random> | ||
| #include <rclcpp/rclcpp.hpp> | ||
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| #include <sensor_msgs/msg/imu.hpp> | ||
| #include <geometry_msgs/msg/pose_stamped.hpp> | ||
| #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp> | ||
| #include "autoware_auto_vehicle_msgs/msg/steering_report.hpp" | ||
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| using geometry_msgs::msg::PoseStamped; | ||
| using geometry_msgs::msg::PoseWithCovarianceStamped; | ||
| using sensor_msgs::msg::Imu; | ||
| using autoware_auto_vehicle_msgs::msg::SteeringReport; | ||
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| class SensorConverter : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit SensorConverter(const rclcpp::NodeOptions & node_options); | ||
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| private: | ||
| rclcpp::Subscription<PoseStamped>::SharedPtr sub_gnss_pose_; | ||
| rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr sub_gnss_pose_cov_; | ||
| rclcpp::Subscription<Imu>::SharedPtr sub_imu_; | ||
| rclcpp::Subscription<SteeringReport>::SharedPtr sub_steering_report_; | ||
| rclcpp::Publisher<PoseStamped>::SharedPtr pub_gnss_pose_; | ||
| rclcpp::Publisher<Imu>::SharedPtr pub_imu_; | ||
| rclcpp::Publisher<PoseWithCovarianceStamped>::SharedPtr pub_gnss_pose_cov_; | ||
| rclcpp::Publisher<SteeringReport>::SharedPtr pub_steering_report_; | ||
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| void on_gnss_pose(const PoseStamped::ConstSharedPtr msg); | ||
| void on_gnss_pose_cov(const PoseWithCovarianceStamped::ConstSharedPtr msg); | ||
| void on_imu(const Imu::ConstSharedPtr msg); | ||
| void on_steering_report(const SteeringReport::ConstSharedPtr msg); | ||
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| PoseStamped::SharedPtr pose_; | ||
| PoseWithCovarianceStamped::SharedPtr pose_cov_; | ||
| Imu::SharedPtr imu_; | ||
| SteeringReport::SharedPtr steering_report_; | ||
| int gnss_pose_delay_; | ||
| int gnss_pose_cov_delay_; | ||
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| std::mt19937 generator_; | ||
| std::normal_distribution<double> pose_distribution_; | ||
| std::normal_distribution<double> pose_cov_distribution_; | ||
| std::normal_distribution<double> imu_acc_distribution_; | ||
| std::normal_distribution<double> imu_ang_distribution_; | ||
| std::normal_distribution<double> imu_ori_distribution_; | ||
| std::normal_distribution<double> steering_angle_distribution_; | ||
| double gnss_pose_mean_; | ||
| double gnss_pose_stddev_; | ||
| double gnss_pose_cov_mean_; | ||
| double gnss_pose_cov_stddev_; | ||
| double imu_acc_mean_; | ||
| double imu_acc_stddev_; | ||
| double imu_ang_mean_; | ||
| double imu_ang_stddev_; | ||
| double imu_ori_mean_; | ||
| double imu_ori_stddev_; | ||
| double steering_angle_mean_; | ||
| double steering_angle_stddev_; | ||
| }; | ||
|
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| #endif // AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_ |
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