Update Doc strings

code/planning/src/global_planner/global_planner.py

@@ -19,7 +19,7 @@
 class PrePlanner(CompatibleNode):
     """
     This node is responsible for collecting all data needed for the
-    preplanning and calculate a trajectory based on the OpenDriveConverter
+    preplanning and calculating a trajectory based on the OpenDriveConverter
     from preplanning_trajectory.py.
     Subscribed/needed topics:
     - OpenDrive Map:          /carla/{role_name}/OpenDRIVE
@@ -88,7 +88,7 @@ def global_route_callback(self, data: CarlaRoute) -> None:
         """
         when the global route gets updated a new trajectory is calculated with
         the help of OpenDriveConverter and published into
-        '/paf/ self.role_name /trajectory'
+        '/paf/ self.role_name /trajectory_global'
         :param data: global Route
         """
         if data is None:
@@ -211,7 +211,7 @@ def global_route_callback(self, data: CarlaRoute) -> None:
 
     def world_info_callback(self, opendrive: String) -> None:
         """
-        when the map gets updated a mew OpenDriveConverter instance is created
+        when the map gets updated a new OpenDriveConverter instance is created
         (needed for the trajectory preplanning)
         :param opendrive: updated CarlaWorldInformation
         """

code/planning/src/global_planner/preplanning_trajectory.py

@@ -1,9 +1,9 @@
 import copy
-from xml.etree import ElementTree as eTree
-import help_functions
+from math import cos, degrees, sin
 from typing import Tuple
-from math import sin, cos, degrees
+from xml.etree import ElementTree as eTree
 
+import help_functions
 
 # Check small distance between two points
 SMALL_DIST = 0.001
@@ -220,7 +220,7 @@ def calculate_intervalls_id(
     ):
         """
         The function assumes, that the current chosen road is not the only
-        one that is possible. The current raad is calculated based on all
+        one that is possible. The current road is calculated based on all
         possible scenarios not assuming that the succ and pred road are
         both junctions.
         :param agent: current position of the agent with x and y coordinate
@@ -287,7 +287,7 @@ def calculate_intervalls_id(
 
     def get_special_case_id(self, road: int, current: int, agent: Tuple[float, float]):
         """When the function get_min_dist() returns two solutions with the
-        same distance, this function calculated the distance based on the
+        same distance, this function calculates the distance based on the
         interpolation of the two possible roads.
         :param road: id value of the successor or predecessor road
         :param current: id value of the current road

code/planning/src/local_planner/ACC.py

@@ -1,19 +1,18 @@
 #!/usr/bin/env python
+import numpy as np
 import ros_compatibility as roscomp
-from ros_compatibility.node import CompatibleNode
-from rospy import Subscriber, Publisher
-from geometry_msgs.msg import PoseStamped
 from carla_msgs.msg import CarlaSpeedometer  # , CarlaWorldInfo
+from geometry_msgs.msg import PoseStamped
 from nav_msgs.msg import Path
-from std_msgs.msg import Float32MultiArray, Float32, Bool
-import numpy as np
-from utils import interpolate_speed, calculate_rule_of_thumb
+from ros_compatibility.node import CompatibleNode
+from rospy import Publisher, Subscriber
+from std_msgs.msg import Bool, Float32, Float32MultiArray
+from utils import calculate_rule_of_thumb, interpolate_speed
 
 
 class ACC(CompatibleNode):
-    """
-    This node recieves a possible collision and
-    """
+    """ACC calculates and publishes the desired speed based on
+    possible collisions, the current speed, the trajectory, and the speed limits."""
 
     def __init__(self):
         super(ACC, self).__init__("ACC")

doc/planning/Collision_Check.md

@@ -3,11 +3,12 @@
 **Summary:** This module is responsible for detecting collisions and reporting them. It subscribes to topics that provide information about the current speed of the vehicle and the distances to objects detected by a LIDAR sensor.
 It publishes topics that provide information about emergency stops, the distance to collisions, the distance to oncoming traffic, and the approximated speed of the obstacle in front.
 
-- [Component](#component)
-- [ROS Data Interface](#ros-data-interface)
-  - [Published Topics](#published-topics)
-  - [Subscribed Topics](#subscribed-topics)
-- [Node Creation + Running Tests](#node-creation--running-tests)
+- [Collision Check](#collision-check)
+  - [Component](#component)
+  - [ROS Data Interface](#ros-data-interface)
+    - [Published Topics](#published-topics)
+    - [Subscribed Topics](#subscribed-topics)
+  - [Node Creation + Running Tests](#node-creation--running-tests)
 
 ## Component
 

doc/planning/Global_Planner.md

@@ -8,11 +8,12 @@ from preplanning_trajectory.py. In the end the computed trajectory and prevailin
 
 This component and so most of the documentation was taken from the previous project PAF22 (Authors: Simon Erlbacher, Niklas Vogel)
 
-- [Getting started](#getting-started)
-- [Description](#description)
-  - [Inputs](#inputs)
-  - [Outputs](#outputs)
-- [Testing](#testing)
+- [Global Planner](#global-planner)
+  - [Getting started](#getting-started)
+  - [Description](#description)
+    - [Inputs](#inputs)
+    - [Outputs](#outputs)
+  - [Testing](#testing)
 
 ## Getting started
 

doc/research/paf24/planning/local_v_global_planning.md

@@ -28,4 +28,5 @@ Local planning consists of the ACC, CollisionCheck and MotionPlanning nodes. It
   - receives distances to objects detected by a LIDAR sensor from `/paf/hero/Center/object_distance`
 - MotionPlanning: The Motion Planning node is responsible for calculating the desired trajectory based on the current position of the vehicle and the global trajectory.
   - receives speed information from ACC
-  - receives global trajectory from `/paf/hero/trajectory_global`
+  - receives global trajectory from `/paf/hero/trajectory_global`
+