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fix: add error handling when path is invalid #934

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merged 4 commits into from
Oct 13, 2023
Merged

fix: add error handling when path is invalid #934

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8d7470d
fix(behavior_path): delete duplicated
h-ohta Oct 12, 2023
e6bb777
add error handling
h-ohta Oct 12, 2023
85a0698
fix: when path size is 1
h-ohta Oct 13, 2023
1ec07b5
Merge branch 'beta/v0.3.17' into fix/node_die
h-ohta Oct 13, 2023
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23 changes: 0 additions & 23 deletions planning/behavior_path_planner/src/utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,29 +26,6 @@
#include <string>
#include <vector>

namespace tier4_autoware_utils
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{
template <class T>
double calcLateralOffset(
const T & points, const geometry_msgs::msg::Point & p_target, const size_t seg_idx)
{
validateNonEmpty(points);

const auto p_front = getPoint(points.at(seg_idx));
const auto p_back = getPoint(points.at(seg_idx + 1));

const Eigen::Vector3d segment_vec{p_back.x - p_front.x, p_back.y - p_front.y, 0.0};
const Eigen::Vector3d target_vec{p_target.x - p_front.x, p_target.y - p_front.y, 0.0};

if (segment_vec.norm() == 0.0) {
throw std::runtime_error("Same points are given.");
}

const Eigen::Vector3d cross_vec = segment_vec.cross(target_vec);
return cross_vec(2) / segment_vec.norm();
}
} // namespace tier4_autoware_utils

namespace drivable_area_utils
{
double quantize(const double val, const double resolution)
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12 changes: 12 additions & 0 deletions planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp
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Expand Up @@ -53,6 +53,10 @@ template <typename T>
boost::optional<geometry_msgs::msg::Pose> lerpPose(
const T & points, const geometry_msgs::msg::Point & target_pos, const size_t closest_seg_idx)
{
if (points.size() < 2) {
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return {};
}

constexpr double epsilon = 1e-6;

const double closest_to_target_dist =
Expand Down Expand Up @@ -94,6 +98,10 @@ template <typename T>
double lerpTwistX(
const T & points, const geometry_msgs::msg::Point & target_pos, const size_t closest_seg_idx)
{
if (points.size() < 2) {
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return 0.0;
}

constexpr double epsilon = 1e-6;

const double closest_to_target_dist =
Expand All @@ -116,6 +124,10 @@ template <typename T>
double lerpPoseZ(
const T & points, const geometry_msgs::msg::Point & target_pos, const size_t closest_seg_idx)
{
if (points.size() < 2) {
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return 0.0;
}

constexpr double epsilon = 1e-6;

const double closest_to_target_dist =
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3 changes: 3 additions & 0 deletions planning/obstacle_avoidance_planner/src/node.cpp
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Expand Up @@ -1093,6 +1093,9 @@ void ObstacleAvoidancePlanner::calcVelocity(
const std::vector<autoware_auto_planning_msgs::msg::PathPoint> & path_points,
std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> & traj_points) const
{
if (path_points.size() < 2) {
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return;
}
for (size_t i = 0; i < traj_points.size(); i++) {
const size_t nearest_seg_idx = [&]() {
const auto opt_seg_idx = tier4_autoware_utils::findNearestSegmentIndex(
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4 changes: 4 additions & 0 deletions planning/obstacle_stop_planner/src/node.cpp
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Expand Up @@ -753,6 +753,10 @@ void ObstacleStopPlannerNode::insertVelocity(
const std_msgs::msg::Header & trajectory_header, const VehicleInfo & vehicle_info,
const double current_acc, const double current_vel, const StopParam & stop_param)
{
if (output.size() < 3) {
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return;
}

if (planner_data.stop_require) {
// insert stop point
const auto traj_end_idx = output.size() - 1;
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