refactor(bpp): use pluginlib to load scene module #5771

satoshi-ota · 2023-12-05T00:44:38Z

Description

`🤖[deprecated] Generated by Copilot at 4ff450e`

This pull request refactors the behavior path planner node and its scene modules to use pluginlib for dynamic plugin loading and unloading. It also simplifies the launch and configuration of the node and its modules, and fixes some minor bugs and issues. It modifies several files, including launch files, CMakeLists.txt, header and source files, package.xml, and plugins.xml.

Tests performed

Confirmed that bpp loaded all scene modules correctly.

[INFO] [component_container_mt-29]: process started with pid [145130]                                                                                                                                           
[component_container_mt-29] [INFO 1701737049.463438690] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Load Library: /home/satoshi/pilot-auto/install/behavior_path_planner/lib/libbehavior_path_planner_lib.so
[component_container_mt-29] [INFO 1701737049.570749397] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_path_planner::BehaviorPathPlannerNode>
[component_container_mt-29] [INFO 1701737049.576008845] [planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_path_planner::BehaviorPathPlannerNode>
[component_container_mt-29] [INFO 1701737049.722422275] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::AvoidanceModuleManager' is loaded.
[component_container_mt-29] [INFO 1701737049.728016083] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::DynamicAvoidanceModuleManager' is loaded.
[component_container_mt-29] [INFO 1701737049.731040344] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::SideShiftModuleManager' is loaded.
[component_container_mt-29] [INFO 1701737049.768085413] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::StartPlannerModuleManager' is loaded.
[component_container_mt-29] [INFO 1701737049.945528895] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::GoalPlannerModuleManager' is loaded.
[component_container_mt-29] [INFO 1701737050.164803561] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::LaneChangeRightModuleManager' is loaded.
[component_container_mt-29] [INFO 1701737050.190003251] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::LaneChangeLeftModuleManager' is loaded.
[component_container_mt-29] [INFO 1701737050.236931556] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::ExternalRequestLaneChangeRightModuleManager' is loaded.
[component_container_mt-29] [INFO 1701737050.411370194] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager' is loaded.
[component_container_mt-29] [INFO 1701737050.600689989] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: The scene plugin 'behavior_path_planner::AvoidanceByLaneChangeModuleManager' is loaded.

PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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codecov · 2023-12-05T01:17:16Z

Codecov Report

Attention: 1212 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (147db3e) 12.68%.
Report is 154 commits behind head on main.

Files	Patch %	Lines
...anner/src/utils/avoidance/shift_line_generator.cpp	13.19%	435 Missing and 65 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.cpp	0.58%	168 Missing and 2 partials ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	10.48%	111 Missing and 17 partials ⚠️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	1.56%	63 Missing ⚠️
..._path_planner/src/marker_utils/avoidance/debug.cpp	0.00%	61 Missing ⚠️
...cene_module/start_planner/start_planner_module.cpp	8.47%	54 Missing ⚠️
...ath_planner/src/scene_module/avoidance/manager.cpp	18.86%	0 Missing and 43 partials ⚠️
...th_planner/src/scene_module/lane_change/normal.cpp	0.00%	28 Missing ⚠️
..._planner/src/scene_module/goal_planner/manager.cpp	12.00%	2 Missing and 20 partials ⚠️
...h_planner/src/scene_module/lane_change/manager.cpp	40.54%	1 Missing and 21 partials ⚠️
... and 19 more

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5771       +/-   ##
===========================================
- Coverage   15.32%   12.68%    -2.65%     
===========================================
  Files        1721      107     -1614     
  Lines      118559    14917   -103642     
  Branches    37995     8291    -29704     
===========================================
- Hits        18169     1892    -16277     
+ Misses      79657    10136    -69521     
+ Partials    20733     2889    -17844

Flag	Coverage Δ
differential	`12.68% <13.36%> (?)`
total	`?`

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

kosuke55 · 2023-12-05T02:03:49Z

planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp

  SideShiftParameters p{};

+  std::string ns = "side_shift.";


Suggested change

std::string ns = "side_shift.";

const std::string ns = "side_shift.";

@kosuke55 Fixed in 81332c9.

kosuke55 · 2023-12-05T02:11:15Z

planning/behavior_path_planner/src/planner_manager.cpp

+void PlannerManager::removeScenePlugin(rclcpp::Node & node, const std::string & name)
+{
+  auto it = std::remove_if(manager_ptrs_.begin(), manager_ptrs_.end(), [&](const auto plugin) {
+    return plugin->name() == name;
+  });
+
+  if (it == manager_ptrs_.end()) {
+    RCLCPP_WARN_STREAM(
+      node.get_logger(),
+      "The scene plugin '" << name << "' is not found in the registered modules.");
+  } else {
+    manager_ptrs_.erase(it, manager_ptrs_.end());
+    processing_time_.erase(name);
+    RCLCPP_INFO_STREAM(node.get_logger(), "The scene plugin '" << name << "' is unloaded.");
+  }
+}
+


just a question.
this is not currently used, but is this a mechanism to dynamically disable modules in the future?

Signed-off-by: satoshi-ota <[email protected]>

kosuke55

LGTM! thanks!"

Signed-off-by: satoshi-ota <[email protected]>

…#5771) * refactor(bpp): use pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(tier4_planning_launch): update launcher Signed-off-by: satoshi-ota <[email protected]> * refactor(avoidance): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(lane_change): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(dynamic_avoidance): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(goal_planner): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(side_shift): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(start_planner): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(bpp): move interface Signed-off-by: satoshi-ota <[email protected]> * fix(bpp): add const Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>

…#5771) * refactor(bpp): use pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(tier4_planning_launch): update launcher Signed-off-by: satoshi-ota <[email protected]> * refactor(avoidance): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(lane_change): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(dynamic_avoidance): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(goal_planner): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(side_shift): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(start_planner): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(bpp): move interface Signed-off-by: satoshi-ota <[email protected]> * fix(bpp): add const Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: karishma <[email protected]>

…#5771) * refactor(bpp): use pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(tier4_planning_launch): update launcher Signed-off-by: satoshi-ota <[email protected]> * refactor(avoidance): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(lane_change): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(dynamic_avoidance): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(goal_planner): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(side_shift): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(start_planner): support pluginlib Signed-off-by: satoshi-ota <[email protected]> * refactor(bpp): move interface Signed-off-by: satoshi-ota <[email protected]> * fix(bpp): add const Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>

github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Dec 5, 2023

satoshi-ota added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 5, 2023

satoshi-ota marked this pull request as ready for review December 5, 2023 00:50

satoshi-ota requested review from rej55, kosuke55, soblin, maxime-clem, shmpwk, TakaHoribe, takayuki5168, tkimura4, zulfaqar-azmi-t4, kyoichi-sugahara, taikitanaka3, mkuri and TomohitoAndo as code owners December 5, 2023 00:50

kosuke55 reviewed Dec 5, 2023

View reviewed changes

satoshi-ota added 8 commits December 5, 2023 12:10

refactor(bpp): use pluginlib

bc37068

Signed-off-by: satoshi-ota <[email protected]>

refactor(tier4_planning_launch): update launcher

1ca1de0

Signed-off-by: satoshi-ota <[email protected]>

refactor(avoidance): support pluginlib

901edd2

Signed-off-by: satoshi-ota <[email protected]>

refactor(lane_change): support pluginlib

b6b936b

Signed-off-by: satoshi-ota <[email protected]>

refactor(dynamic_avoidance): support pluginlib

8dd0ddc

Signed-off-by: satoshi-ota <[email protected]>

refactor(goal_planner): support pluginlib

e03ce59

Signed-off-by: satoshi-ota <[email protected]>

refactor(side_shift): support pluginlib

a66f035

Signed-off-by: satoshi-ota <[email protected]>

refactor(start_planner): support pluginlib

cdb5cfc

Signed-off-by: satoshi-ota <[email protected]>

satoshi-ota force-pushed the refactor/bpp-use-pluginlib branch from 4ff450e to 81332c9 Compare December 5, 2023 03:10

kosuke55 approved these changes Dec 5, 2023

View reviewed changes

satoshi-ota added 2 commits December 5, 2023 13:21

refactor(bpp): move interface

55ff99d

Signed-off-by: satoshi-ota <[email protected]>

fix(bpp): add const

147db3e

Signed-off-by: satoshi-ota <[email protected]>

satoshi-ota force-pushed the refactor/bpp-use-pluginlib branch from 81332c9 to 147db3e Compare December 5, 2023 04:21

satoshi-ota merged commit c6788cf into autowarefoundation:main Dec 5, 2023

satoshi-ota deleted the refactor/bpp-use-pluginlib branch December 5, 2023 06:04

tier4-autoware-public-bot bot mentioned this pull request Dec 6, 2023

chore: sync upstream tier4/autoware.universe#1059

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refactor(bpp): use pluginlib to load scene module #5771

refactor(bpp): use pluginlib to load scene module #5771

satoshi-ota commented Dec 5, 2023 •

edited

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kosuke55 Dec 5, 2023

kosuke55 Dec 5, 2023

satoshi-ota Dec 5, 2023

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	std::string ns = "side_shift.";
	const std::string ns = "side_shift.";

refactor(bpp): use pluginlib to load scene module #5771

refactor(bpp): use pluginlib to load scene module #5771

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satoshi-ota commented Dec 5, 2023 • edited Loading

Description

🤖[deprecated] Generated by Copilot at 4ff450e

Tests performed

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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satoshi-ota commented Dec 5, 2023 •

edited

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`🤖[deprecated] Generated by Copilot at 4ff450e`

codecov bot commented Dec 5, 2023 •

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