script: record meta info into all bags. (#1943)

* script: record meta info into all bags.

* planning: add a gflag to protect nudge slowdown behavior.

modules/planning/common/planning_gflags.cc

@@ -173,6 +173,9 @@ DEFINE_double(static_obstacle_speed_threshold, 0.5,
               "obstacles are considered as static obstacle if its speed is "
               "less than this value (m/s)");
 DEFINE_bool(enable_nudge_decision, true, "enable nudge decision");
+DEFINE_bool(enable_nudge_slowdown, true,
+            "True to slow down when nudge obstacles.");
+
 DEFINE_double(static_decision_nudge_l_buffer, 0.3, "l buffer for nudge");
 DEFINE_double(longitudinal_ignore_buffer, 10.0,
               "If an obstacle's longitudinal distance is further away "

modules/planning/common/planning_gflags.h

@@ -99,6 +99,7 @@ DECLARE_double(st_max_t);
 // Decision Part
 DECLARE_double(static_obstacle_speed_threshold);
 DECLARE_bool(enable_nudge_decision);
+DECLARE_bool(enable_nudge_slowdown);
 DECLARE_double(static_decision_nudge_l_buffer);
 DECLARE_double(longitudinal_ignore_buffer);
 DECLARE_double(lateral_ignore_buffer);

modules/planning/tasks/st_graph/st_boundary_mapper.cc

@@ -526,11 +526,19 @@ Status StBoundaryMapper::GetSpeedLimits(
       }
     }
 
-    const double curr_speed_limit = std::fmax(
+    double curr_speed_limit = 0.0;
+    if (FLAGS_enable_nudge_slowdown) {
+      curr_speed_limit = std::fmax(
         st_boundary_config_.lowest_speed(),
         common::util::MinElement(std::vector<double>{
             centripetal_acceleration_limit, speed_limit_on_reference_line,
             nudge_obstacle_speed_limit}));
+    } else {
+      curr_speed_limit = std::fmax(
+        st_boundary_config_.lowest_speed(),
+        common::util::MinElement(std::vector<double>{
+            centripetal_acceleration_limit, speed_limit_on_reference_line}));
+    }
 
     speed_limit_data->AppendSpeedLimit(path_s, curr_speed_limit);
   }

scripts/record_bag.sh

@@ -51,12 +51,12 @@ function start() {
 
   # record some meta info into bag
   if [ -e /apollo/meta.ini ]; then
-      META_STR=`cat /apollo/meta.ini | sed 's/\[//g' | sed 's/\]//g' | sed 's/:/ /g' | tr '\n' ' '`
-      rostopic pub -1 -l /apollo/meta std_msgs/String "$META_STR" &
+      META_STR=`cat /apollo/meta.ini | tr '[]:\n' ' '`
+      nohup rostopic pub -l /apollo/meta std_msgs/String "$META_STR" < /dev/null &
   else
       META_STR=`git rev-parse HEAD`
       META_STR="git commit $META_STR"
-      rostopic pub -1 -l /apollo/meta std_msgs/String "$META_STR" &
+      nohup rostopic pub -l /apollo/meta std_msgs/String "$META_STR" < /dev/null &
   fi
 
   # Start recording.
@@ -98,6 +98,7 @@ function start() {
 
 function stop() {
   pkill -SIGINT -f record
+  pkill -SIGINT -f "rostopic pub"
 }
 
 function help() {