arafalski / cone_planner

cone_planner

Installation

rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=On --packages-up-to cone_planner

Usage

ros2 launch cone_planner cone_planner.launch.py vehicle_param_file:=PATH_TO_VEHICLE_PARM_FILE

API

Input

Name	Type	Description
~/input/trajectory	autoware_auto_planning_msgs::msg::Trajectory	Reference trajectory
~/input/occupancy_grid	nav_msgs::msg::OccupancyGrid	Occupancy grid map
~/input/pose	geometry_msgs::msg::PoseStamped	Pose of the car
~/input/odom	nav_msgs::msg::Odometry	Odometry used for checking stop condition

Output

Name	Type	Description
~/output/trajectory	autoware_auto_planning_msgs::msg::Trajectory	Planned trajectory

Parameters

Name	Type	Description
update_rate	float	Update rate of checking if replanning is needed
waypoints_velocity	float	Reference velocity at planned trajectory points
vehicle_shape_margin_m	float	Car perimeter margin used for planning
th_arrived_distance_m	float	Distance between car and goal point to consider that goal has been achieved
th_stopped_time_sec	float	Time after stopping to consider that the car stopped successfully
th_stopped_velocity_mps	float	Velocity threshold to consider that the car stopped
th_course_out_distance_m	float	Distance between car and planned trajectory to consider above which replanning is triggered
c_space_margin_m	float	C space margin
replan_when_obstacle_found	bool	True if replanning should be triggered when new obstacle was found
replan_when_course_out	bool	True if replanning should be triggered when the car is out of the planned trajectory
time_limit	float	Max until finding path
minimum_turning_radius	float	Min car turning radius
theta_size	int	Discretization resolution of the heading angle range
obstacle_threshold	int	Cost value threshold to be considered an obstacle
rrt_enable_update	bool	True if planning should be continued after finding path to the goal pose
rrt_max_planning_time	float	Max time of planning
rrt_margin	float	Additional car perimeter margin used in planner
rrt_neighbor_radius	float	Radius in which checking if shorter path exist through other neighbor is performed