dummy_input_generation_node.hpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
#include <perception_msgs/msg/ego_data.hpp>
#include <perception_msgs/msg/object_list.hpp>
#include <perception_msgs_utils/object_access.hpp>
#include <trajectory_planning_msgs/msg/trajectory.hpp>
#include <trajectory_planning_msgs_utils/trajectory_access.hpp>
 
namespace dummy_input_generation {
 
template <typename C>
struct is_vector : std::false_type {};
template <typename T, typename A>
struct is_vector<std::vector<T, A>> : std::true_type {};
template <typename C>
inline constexpr bool is_vector_v = is_vector<C>::value;
 
class DummyInputGenerationNode : public rclcpp::Node {
 public:
  explicit DummyInputGenerationNode(const rclcpp::NodeOptions& options);
 
  static constexpr double EGO_LENGTH = 5.173;
  static constexpr double EGO_WIDTH = 1.94;
  static constexpr double OBJECT_HEIGHT = 2.0;
 
 private:
  template <typename T>
  void declareAndLoadParameter(const std::string& name,
                               T& param,
                               const std::string& description,
                               const bool add_to_auto_reconfigurable_params = true,
                               const bool is_required = false,
                               const bool read_only = false,
                               const std::optional<double>& from_value = std::nullopt,
                               const std::optional<double>& to_value = std::nullopt,
                               const std::optional<double>& step_value = std::nullopt,
                               const std::string& additional_constraints = "");
  rcl_interfaces::msg::SetParametersResult parametersCallback(const std::vector<rclcpp::Parameter>& parameters);
 
  void setup();
  void createPlanningTimer();
  void publish();
 
  rclcpp::Publisher<trajectory_planning_msgs::msg::Trajectory>::SharedPtr trajectory_pub_;
  rclcpp::Publisher<perception_msgs::msg::EgoData>::SharedPtr egodata_pub_;
  rclcpp::Publisher<perception_msgs::msg::ObjectList>::SharedPtr object_list_pub_;
  rclcpp::TimerBase::SharedPtr planning_timer_;
  OnSetParametersCallbackHandle::SharedPtr parameters_callback_;
 
  // parameters
  std::vector<std::tuple<std::string, std::function<void(const rclcpp::Parameter&)>>> auto_reconfigurable_params_;
 
  // 1) general params
  double publish_frequency_ = 10.0;
  std::string message_frame_id_ = "map";
 
  // 2) ego data params
  std::string ego_state_model_ = "ackermann";
  double ego_vel_lon_ = 0.0;
  double ego_acc_lon_ = 0.0;
  double ego_steering_angle_ack_ = 0.0;
  double ego_steering_angle_front_ = 0.0;
  double ego_steering_angle_rear_ = 0.0;
  std::vector<double> ego_translation_to_geometric_center_ = {1.4895, 0.0, 0.420};
 
  // 3) reference trajectory params
  int reference_n_states_ = 51;
  double reference_trajectory_horizon_ = 5.0;
  bool reference_standstill_ = false;
  double reference_x0_ = 0.0;
  double reference_y0_ = 0.0;
  double reference_v0_ = 0.0;
  double reference_a_ = 1.0;
  double reference_theta0_ = 0.0;
  double reference_omega_ = 0.0;
 
  // 4) object params
  int object_count_ = 10;
  double object_delta_x_ = 10.0;
  double object_delta_y_ = 0.0;
  double object_length_ = 4.0;
  double object_width_ = 2.0;
  double object_yaw_ = 0.0;
};
 
}  // namespace dummy_input_generation