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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 obstacle_collision_checker package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
- Satoshi Tanaka
obstacle_collision_checker
Purpose
obstacle_collision_checker is a module to check obstacle collision for predicted trajectory and publish diagnostic errors if collision is found.
Inner-workings / Algorithms
Flow chart
@startuml
skinparam monochrome true
title obstacle collision checker : update
start
:calculate braking distance;
:resampling trajectory;
note right
to reduce calculation cost
end note
:filter point cloud by trajectory;
:create vehicle foot prints;
:create vehicle passing area;
partition will_collide {
while (has next ego vehicle foot print) is (yes)
:found collision with obstacle foot print;
if (has collision with obstacle) then (yes)
:set diag to ERROR;
stop
endif
end while (no)
:set diag to OK;
stop
}
@enduml
Algorithms
Check data
Check that obstacle_collision_checker receives no ground pointcloud, predicted_trajectory, reference trajectory, and current velocity data.
Diagnostic update
If any collision is found on predicted path, this module sets ERROR level as diagnostic status else sets OK.
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
~/input/trajectory |
autoware_auto_planning_msgs::msg::Trajectory |
Reference trajectory |
~/input/trajectory |
autoware_auto_planning_msgs::msg::Trajectory |
Predicted trajectory |
/perception/obstacle_segmentation/pointcloud |
sensor_msgs::msg::PointCloud2 |
Pointcloud of obstacles which the ego-vehicle should stop or avoid |
/tf |
tf2_msgs::msg::TFMessage |
TF |
/tf_static |
tf2_msgs::msg::TFMessage |
TF static |
Output
| Name | Type | Description |
|---|---|---|
~/debug/marker |
visualization_msgs::msg::MarkerArray |
Marker for visualization |
Parameters
| Name | Type | Description | Default value |
|---|---|---|---|
delay_time |
double |
Delay time of vehicle [s] | 0.3 |
footprint_margin |
double |
Foot print margin [m] | 0.0 |
max_deceleration |
double |
Max deceleration for ego vehicle to stop [m/s^2] | 2.0 |
resample_interval |
double |
Interval for resampling trajectory [m] | 0.3 |
search_radius |
double |
Search distance from trajectory to point cloud [m] | 5.0 |
Assumptions / Known limits
To perform proper collision check, it is necessary to get probably predicted trajectory and obstacle pointclouds without noise.
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
Dependant Packages
No known dependants.
Launch files
- launch/obstacle_collision_checker.launch.xml
-
- input/lanelet_map_bin [default: /map/vector_map]
- input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/reference_trajectory [default: /planning/scenario_planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
- input/odometry [default: /localization/kinematic_state]
- config_file [default: $(find-pkg-share obstacle_collision_checker)/config/obstacle_collision_checker.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.
Recent questions tagged obstacle_collision_checker at Robotics Stack Exchange
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