sim_sample_planning_ros_tool

Sample planning module for a vehicle in the simulation framework.

planner

• plans a trajectory along the centerline of a lanelet sequence, not collision free!

Installation

• this package is part of the simulation framework
• see coincarsim_getting_started for installation and more details

Usage

• started within the a vehicle launchfile of the simulation_initialization_ros_tool

Parameters

• parameters that need to be passed to the launchfile sample_planning.launch:

  • vehicle_id: Id of the vehicle, needs to be unique within the framework
  • vehicle_ns: Namespace of the vehicle, needs to be unique within the framework
  • objects_ground_truth_topic_with_ns: Topic under which the ground truth states of the objects are received
  • object_removal_topic_with_ns: Topic under which objects are removed (to remove the object once the goal is reached or the random sequence has ended)
  • desired_motion_topic_with_ns: Topic under which the desired motion of the vehicle is published
  • perc_egomotion_topic: Topic for the perceived ego motion state
  • pred_plan_obj_topic: Topic for the predicted objects
  • internal_communication_subns: Subnamespace for vehicle-internal communication
  • v_desired: Desired velocity (in m/s)
  • optional:
    • lanelet_id_goal: The id of the lanelet to drive to (0 means no goal; see rosinterface_handler/doc/HowToUseLongParameters.md for long ids)
    • drive_random_after_goal_reached: Whether or not to drive a random sequence after the goal has been reached

• the lanelet2_map is retrieved via the package lanelet2_interface_ros

Contribution

• fork this repo
• use your own planning algorithms for generating a delta trajectory
• ensure that
  • $(arg desired_motion_topic_with_ns) is published
  • all internal ROS communication stays within the planning namespace

Contributors

Nick Engelhardt, Alexander Naumann, Maximilian Naumann

License

This package is distributed under the 3-Clause BSD License, see LICENSE.