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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The freespace_planner package
Additional Links
No additional links.
Maintainers
- Kosuke Takeuchi
- Takamasa Horibe
- Takayuki Murooka
Authors
- Akihito OHSATO
- Tomohito ANDO
The freespace_planner
freespace_planner_node
freespace_planner_node is a global path planner node that plans trajectory
in the space having static/dynamic obstacles. This node is currently based on
Hybrid A* search algorithm in freespace_planning_algorithms package.
Other algorithms such as rrt* will be also added and selectable in the future.
Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.
Input topics
| Name | Type | Description |
|---|---|---|
~input/route |
autoware_auto_planning_msgs::Route | route and goal pose |
~input/occupancy_grid |
nav_msgs::OccupancyGrid | costmap, for drivable areas |
~input/odometry |
nav_msgs::Odometry | vehicle velocity, for checking whether vehicle is stopped |
~input/scenario |
tier4_planning_msgs::Scenario | scenarios to be activated, for node activation |
Output topics
| Name | Type | Description |
|---|---|---|
~output/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory to be followed |
is_completed |
bool (implemented as rosparam) | whether all split trajectory are published |
Output TFs
None
How to launch
- Write your remapping info in
freespace_planner.launchor add args when executingroslaunch roslaunch freespace_planner freespace_planner.launch
Parameters
Node parameters
| Parameter | Type | Description |
|---|---|---|
planning_algorithms |
string | algorithms used in the node |
vehicle_shape_margin_m |
float | collision margin in planning algorithm |
update_rate |
double | timer’s update rate |
waypoints_velocity |
double | velocity in output trajectory (currently, only constant velocity is supported) |
th_arrived_distance_m |
double | threshold distance to check if vehicle has arrived at the trajectory’s endpoint |
th_stopped_time_sec |
double | threshold time to check if vehicle is stopped |
th_stopped_velocity_mps |
double | threshold velocity to check if vehicle is stopped |
th_course_out_distance_m |
double | threshold distance to check if vehicle is out of course |
vehicle_shape_margin_m |
double | vehicle margin |
replan_when_obstacle_found |
bool | whether replanning when obstacle has found on the trajectory |
replan_when_course_out |
bool | whether replanning when vehicle is out of course |
Planner common parameters
| Parameter | Type | Description |
|---|---|---|
time_limit |
double | time limit of planning |
minimum_turning_radius |
double | minimum turning radius of robot |
maximum_turning_radius |
double | maximum turning radius of robot |
theta_size |
double | the number of angle’s discretization |
lateral_goal_range |
double | goal range of lateral position |
longitudinal_goal_range |
double | goal range of longitudinal position |
angle_goal_range |
double | goal range of angle |
curve_weight |
double | additional cost factor for curve actions |
reverse_weight |
double | additional cost factor for reverse actions |
obstacle_threshold |
double | threshold for regarding a certain grid as obstacle |
A* search parameters
| Parameter | Type | Description |
|---|---|---|
only_behind_solutions |
bool | whether restricting the solutions to be behind the goal |
use_back |
bool | whether using backward trajectory |
distance_heuristic_weight |
double | heuristic weight for estimating node’s cost |
RRT* search parameters
| Parameter | Type | Description |
|---|---|---|
max planning time |
double | maximum planning time [msec] (used only when enable_update is set true) |
enable_update |
bool | whether update after feasible solution found until max_planning time elapse |
use_informed_sampling |
bool | Use informed RRT* (of Gammell et al.) |
neighbor_radius |
double | neighbor radius of RRT* algorithm |
margin |
double | safety margin ensured in path’s collision checking in RRT* algorithm |
Flowchart
@startuml
title onTimer
start
if (all input data are ready?) then (yes)
else (no)
stop
endif
if (scenario is active?) then (yes)
else (no)
:reset internal data;
stop
endif
:get current pose;
if (replan is required?) then (yes)
:reset internal data;
:publish stop trajectory before planning new trajectory;
:plan new trajectory;
else (no)
endif
if (vehicle is stopped?) then (yes)
stop
else (no)
endif
:split trajectory\n(internally managing the state);
:publish trajectory;
stop
@enduml
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/freespace_planner.launch.xml
-
- input_route [default: input_route]
- input_occupancy_grid [default: input_occupancy_grid]
- input_scenario [default: input_scenario]
- input_odometry [default: /localization/kinematic_state]
- output_trajectory [default: output_trajectory]
- is_completed [default: is_completed]
- param_file [default: $(find-pkg-share freespace_planner)/config/freespace_planner.param.yaml]
- vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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