Skip to content

Commit

Permalink
docs: Add documentation for motion planning
Browse files Browse the repository at this point in the history
  • Loading branch information
JuliusMiller authored Dec 17, 2023
1 parent 22b1a60 commit 5376bbc
Showing 1 changed file with 56 additions and 0 deletions.
56 changes: 56 additions & 0 deletions doc/07_planning/motion_planning.md
Original file line number Diff line number Diff line change
@@ -0,0 +1,56 @@
# Motion Planning

**Summary:** [motion_planning.py](.../code/planning/local_planner/src/motion_planning.py):
The motion planning is responsible for collecting all the speeds from the different components and choosing the optimal one to be fowarded into the acting.

---

## Author

Julius Miller

## Date

17.12.2023

## Prerequisite

---
<!-- TOC -->
- [Motion Planning](#motion-planning)
- [Author](#author)
- [Date](#date)
- [Prerequisite](#prerequisite)
- [Description](#description)
- [Inputs](#inputs)
- [Outputs](#outputs)
<!-- TOC -->

---

## Description

This node currently gathers the behavior speed and the acc_speed and chooses the lower one to be forwarded to the acting.
At the moment this is enough since the only present behaviors are Intersection, Lane Change and Cruise.

When the Overtaking behavior will be added, choosing the minimum speed will not be sufficient.

### Inputs

This node subscribes to the following topics:

- Current Behavior:
- `/paf/{role_name}/curr_behavior` (String)
- ACC Velocity:
- `/paf/{role_name}/acc_velocity` (Float32)
- Waypoint:
- `/paf/{role_name}/waypoint_distance` (Waypoint)
- Lane Change:
- `/paf/{role_name}/lane_change_distance` (LaneChange)

### Outputs

This node publishes the following topics:

- Target Velocity
- `/paf/{role_name}/target_velocity` (Float32)

0 comments on commit 5376bbc

Please sign in to comment.