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Call publish_route() only once #66

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Merged
Gwilym-Rutherford merged 1 commit into from
Aug 5, 2025
Merged

Call publish_route() only once #66

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14 changes: 9 additions & 5 deletions srunner/autoagents/autoware_agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,6 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:

rclpy.init(args=None)


self.autoware_state = autoware_state.AutowareState("ego_vehicle", None)

self.route_node = route_node.RouteNode(self.autoware_state)
Expand All @@ -55,6 +54,8 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:
)
self._executor_thread.start()

self.sent_route = False

# check the bridge is ready
# publish sensor information to the bridge
# wait for it to return the correct message
Expand Down Expand Up @@ -93,8 +94,6 @@ def set_route(self) -> None:

logger.info("Clearing route...")
self.route_node.request_clear_route()



def _convert_to_waypoint(self, point):
"""Returns a waypoint
Expand Down Expand Up @@ -129,7 +128,11 @@ def run_step(self) -> None:
if not self.agent_set_route:
self.set_route()

if self.autoware_state.is_ready_publish_route() and self.agent_set_route:
if (
self.autoware_state.is_ready_publish_route()
and self.agent_set_route
and not self.sent_route
):
waypoints = []
goal_pose = self._convert_to_waypoint(
self.goal_pose_world
Expand All @@ -139,8 +142,9 @@ def run_step(self) -> None:
waypoints.append(
self._convert_to_waypoint(waypoint).autoware_from_world_coords()
)
self.route_node.request_route(goal_pose, waypoints)
# self.route_node.request_route(goal_pose, waypoints)
self.route_node.publish_route(goal_pose, waypoints)
self.sent_route = True

# check if the current route is set
if self.autoware_state.route_ready() and not self.autoware_state.sent_engage:
Expand Down
18 changes: 11 additions & 7 deletions srunner/autoagents/autoware_nodes/route_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,22 +101,26 @@ def request_route(self, goal: Pose, waypoints: list[Pose]) -> None:

def publish_route(self, goal: Pose, checkpoints: list[Pose]) -> None:
self._publish_goal(goal)

self.node.create_rate(1.0).sleep()
for checkpoint in checkpoints:
self._publish_checkpoint(checkpoint)

def _publish_goal(self, goal) -> None:
def _publish_goal(self, goal_point) -> None:
goal = PoseStamped()
goal.header.stamp = self.node.get_clock().now().to_msg()
goal.pose = goal
goal.header.frame_id = "map"

goal.pose = goal_point
self.goal_publisher.publish(goal)


def _publish_checkpoint(self, checkpoint) -> None:
goal = PoseStamped()
goal.header.stamp = self.node.get_clock().now().to_msg()
goal.pose = checkpoint
self.checkpoint_publisher.publish(goal)
checkpoint_msg = PoseStamped()
checkpoint_msg.header.stamp = self.node.get_clock().now().to_msg()
checkpoint_msg.header.frame_id = "map"

checkpoint_msg.pose = checkpoint
self.checkpoint_publisher.publish(checkpoint_msg)

def set_route_response_callback(self, future):
"""Callback to handle the response from the SetRoutePoints service."""
Expand Down