Graph and Global Planning desc

code/planning/src/global_planner/global_planner.py

@@ -1,17 +1,15 @@
 #!/usr/bin/env python
-import rospy
-import tf.transformations
-import ros_compatibility as roscomp
-from ros_compatibility.node import CompatibleNode
 from xml.etree import ElementTree as eTree
 
-from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion
+import ros_compatibility as roscomp
+import rospy
+import tf.transformations
 from carla_msgs.msg import CarlaRoute  # , CarlaWorldInfo
+from geometry_msgs.msg import Point, Pose, PoseStamped, Quaternion
 from nav_msgs.msg import Path
-from std_msgs.msg import String
-from std_msgs.msg import Float32MultiArray
-
 from preplanning_trajectory import OpenDriveConverter
+from ros_compatibility.node import CompatibleNode
+from std_msgs.msg import Float32MultiArray, String
 
 RIGHT = 1
 LEFT = 2
@@ -29,7 +27,7 @@ class PrePlanner(CompatibleNode):
     - global Plan:            /carla/{role_name}/global_plan
     - current agent position: /paf/{role_name}/current_pos
     Published topics:
-    - preplanned trajectory:  /paf/{role_name}/trajectory
+    - preplanned trajectory:  /paf/{role_name}/trajectory_global
     - prevailing speed limits:/paf/{role_name}/speed_limits_OpenDrive
     """
 

doc/planning/Global_Planner.md

@@ -9,12 +9,11 @@ to the other components of this project (acting, decision making,...).
 
 This component and so most of the documentation was taken from the previous project PAF22 (Authors: Simon Erlbacher, Niklas Vogel)
 
-- [Global Planner](#global-planner)
-  - [Getting started](#getting-started)
-  - [Description](#description)
-    - [Inputs](#inputs)
-    - [Outputs](#outputs)
-  - [Testing](#testing)
+- [Getting started](#getting-started)
+- [Description](#description)
+  - [Inputs](#inputs)
+  - [Outputs](#outputs)
+- [Testing](#testing)
 
 ## Getting started
 
@@ -25,8 +24,7 @@ No extra installation needed.
 
 ## Description
 
-First the global planner is responsible for collecting and preparing all data from the leaderboard and other intern
-components that is needed for the preplanning component.
+First the global planner is responsible for collecting and preparing all data from the leaderboard and other internal components that is needed for the preplanning component.
 
 To get an instance of the OpenDriveConverter (ODC) the received OpenDrive Map prevailing in String format
 has to be converted. In our case we use the
@@ -56,8 +54,8 @@ The received agent spawn position is valid if it´s closer to the first waypoint
 parameter expresses. This is necessary to prevent unwanted behaviour in the startup phase where the
 current agent position is faulty.
 
-When the ODC got initialised, the current agent position is received and the global plan is obtained from
-the leaderboard the trajectory can be calculated by iterating through the global route and passing it to the ODC.
+When the ODC is initialised, the current agent position is received and the global plan is obtained from
+the leaderboard. The trajectory can be calculated by iterating through the global route and passing it to the ODC.
 After smaller outliners are removed the x and y coordinates as well as the yaw-orientation and the prevailing
 speed limits can be acquired from the ODC in the following form:
 

doc/research/paf24/planning/local_v_global_planning.md

@@ -0,0 +1,19 @@
+# Relation beteween local and global planning
+
+Communication between Global and Local Planning is done via ros topics. Here is a graph showing the relation between the nodes.
+
+- Global Planning: PrePlanner
+- Local Planning: ACC (Adaptive Cruise Control), CollisionCheck, MotionPlanning
+
+![Graph relation](/doc/assets/research_assets/planning_internal.png)
+
+## Global Planning
+
+Global planning consits of the PrePlanner Node and the OpenDriveConverter.
+
+- OpenDriveConverter: The class is primarily used to process OpenDrive maps and extract relevant information needed for trajectory planning.
+- PrePlanner Node: The PrePlanner node is responsible for creating a trajectory out of an OpenDrive Map with the belonging road options.
+  - the `/paf/hero/trajectory_global` topic published is used internally for the preplanned trajectory.
+
+## Local Planning
+