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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 scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
roslaunch scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/scenario_selector/schema/scenario_selector.schema.json”) }}
Flowchart
@startuml
title onTimer
start
:get current pose;
if (all input data are ready?) then (yes)
else (no)
stop
endif
if (scenario is initialized?) then (yes)
else (no)
:initialize scenario;
endif
:select scenario;
:publish scenario;
:extract scenario trajectory;
if (scenario trajectory is empty?) then (yes)
else (no)
:publish trajectory;
endif
stop
@enduml
@startuml
title Scenario Transition
start
if (current_scenario is completed?\n()) then (yes)
else (no)
stop
endif
' Empty
if (scenario is initialized?) then (yes)
else (no)
if (is in lane?) then (yes)
:set LaneDriving;
else (no)
:set Parking;
endif
stop
endif
' LaneDriving
if (current scenario is LaneDriving?) then (yes)
if (is in parking lot & goal is not in lane?) then (yes)
:set Parking;
stop
endif
endif
' Parking
if (current scenario is Parking?) then (yes)
if (parking is completed and is in lane?) then (yes)
:set LaneDriving;
stop
endif
endif
:continue previous scenario;
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/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged scenario_selector at Robotics Stack Exchange
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