Relative Map: fixed a bug and added topic config in adapter.conf

modules/common/math/math_utils.h

@@ -168,8 +168,9 @@ double Gaussian(const double u, const double std, const double x);
 // Sigmoid
 double Sigmoid(const double x);
 
-// Rotate Axis (2D): the theta represents the angle when rotate axis of (x0, y0)
-// to axis of (x1, y1)
+// Rotate Axis (2D):
+// convert a point (x0, y0) in axis1 to a point (x1, y1) in axis2 where the
+// angle from axis1 to axis2 is theta
 void RotateAxis(const double theta, const double x0, const double y0,
                 double *x1, double *y1);
 

modules/map/relative_map/conf/adapter.conf

@@ -4,13 +4,28 @@ config {
   message_history_limit: 1
 }
 config {
-  type: RELATIVE_MAP
-  mode: PUBLISH_ONLY
-  latch: true
+  type: NAVIGATION
+  mode: RECEIVE_ONLY
+  message_history_limit: 1
 }
 config {
   type: MONITOR
   mode: PUBLISH_ONLY
   message_history_limit: 1
 }
+config {
+  type: LOCALIZATION
+  mode: RECEIVE_ONLY
+  message_history_limit: 1
+}
+config {
+  type: CHASSIS
+  mode: RECEIVE_ONLY
+  message_history_limit: 1
+}
+config {
+  type: RELATIVE_MAP
+  mode: PUBLISH_ONLY
+  latch: true
+}
 is_ros: true

modules/map/relative_map/conf/relative_map.conf

 --flagfile=modules/common/data/global_flagfile.txt
+--use_navigation_mode

modules/map/relative_map/navigation_lane.cc

@@ -37,8 +37,8 @@ bool NavigationLane::Update(const PerceptionObstacles& perception_obstacles) {
   // update adc_state_ from VehicleStateProvider
   adc_state_ = VehicleStateProvider::instance()->vehicle_state();
 
-  // TODO(All): lane_marker --> navigation path
-
+  // TODO(All): consider lane_marker qualities when converting lane_marker to
+  // navigation path
   navigation_path_.Clear();
   auto* path = navigation_path_.mutable_path();
   ConvertLaneMarkerToPath(perception_obstacles_.lane_marker(), path);

modules/map/relative_map/relative_map.cc

@@ -77,6 +77,12 @@ Status RelativeMap::Init() {
     AERROR << error_msg;
     return Status(ErrorCode::RELATIVE_MAP_ERROR, error_msg);
   }
+  if (AdapterManager::GetNavigation() == nullptr) {
+    std::string error_msg(
+        "Navigation should be configured as dependency in adapter.conf");
+    AERROR << error_msg;
+    return Status(ErrorCode::RELATIVE_MAP_ERROR, error_msg);
+  }
   return Status::OK();
 }
 
@@ -94,8 +100,9 @@ apollo::common::Status RelativeMap::Start() {
 }
 
 void RelativeMap::RunOnce(const PerceptionObstacles& perception_obstacles) {
-  MapMsg map_msg;
+  AdapterManager::Observe();
 
+  MapMsg map_msg;
   CreateMapFromPerception(perception_obstacles, &map_msg);
   Publish(&map_msg);
 }