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fix(behavior_path_planner): print avoidance and lane change debug message (#4058) #621

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Jun 26, 2023
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fix(behavior_path_planner): print avoidance and lane change debug message (#4058) #621

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2 changes: 0 additions & 2 deletions planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -231,10 +231,8 @@ class BehaviorPathPlannerNode : public rclcpp::Node
/**
* @brief publish debug messages
*/
#ifdef USE_OLD_ARCHITECTURE
void publishSceneModuleDebugMsg(
const std::shared_ptr<SceneModuleVisitor> & debug_messages_data_ptr);
#endif

/**
* @brief publish path candidate
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8 changes: 8 additions & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
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Expand Up @@ -17,6 +17,7 @@

#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
#include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
#include "behavior_path_planner/utils/lane_following/module_data.hpp"

#include <lanelet2_extension/utility/utilities.hpp>
Expand Down Expand Up @@ -225,6 +226,11 @@ class PlannerManager
*/
void print() const;

/**
* @brief visit each module and get debug information.
*/
std::shared_ptr<SceneModuleVisitor> getDebugMsg();

private:
/**
* @brief run the module and publish RTC status.
Expand Down Expand Up @@ -461,6 +467,8 @@ class PlannerManager

mutable std::vector<ModuleUpdateInfo> debug_info_;

mutable std::shared_ptr<SceneModuleVisitor> debug_msg_ptr_;

bool verbose_{false};
};
} // namespace behavior_path_planner
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3 changes: 1 addition & 2 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1269,6 +1269,7 @@ void BehaviorPathPlannerNode::run()
publishPathCandidate(bt_manager_->getSceneModules(), planner_data_);
publishSceneModuleDebugMsg(bt_manager_->getAllSceneModuleDebugMsgData());
#else
publishSceneModuleDebugMsg(planner_manager_->getDebugMsg());
publishPathCandidate(planner_manager_->getSceneModuleManagers(), planner_data_);
publishPathReference(planner_manager_->getSceneModuleManagers(), planner_data_);
stop_reason_publisher_->publish(planner_manager_->getStopReasons());
Expand Down Expand Up @@ -1390,7 +1391,6 @@ void BehaviorPathPlannerNode::publish_bounds(const PathWithLaneId & path)
bound_publisher_->publish(msg);
}

#ifdef USE_OLD_ARCHITECTURE
void BehaviorPathPlannerNode::publishSceneModuleDebugMsg(
const std::shared_ptr<SceneModuleVisitor> & debug_messages_data_ptr)
{
Expand All @@ -1404,7 +1404,6 @@ void BehaviorPathPlannerNode::publishSceneModuleDebugMsg(
debug_lane_change_msg_array_publisher_->publish(*lane_change_debug_message);
}
}
#endif

#ifdef USE_OLD_ARCHITECTURE
void BehaviorPathPlannerNode::publishPathCandidate(
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13 changes: 13 additions & 0 deletions planning/behavior_path_planner/src/planner_manager.cpp
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Expand Up @@ -707,4 +707,17 @@ void PlannerManager::print() const
RCLCPP_INFO_STREAM(logger_, string_stream.str());
}

std::shared_ptr<SceneModuleVisitor> PlannerManager::getDebugMsg()
{
debug_msg_ptr_ = std::make_shared<SceneModuleVisitor>();
for (const auto & approved_module : approved_module_ptrs_) {
approved_module->acceptVisitor(debug_msg_ptr_);
}

for (const auto & candidate_module : candidate_module_ptrs_) {
candidate_module->acceptVisitor(debug_msg_ptr_);
}
return debug_msg_ptr_;
}

} // namespace behavior_path_planner