From 0fb8ae60b718c3bdd65d1996bea4342fc7be87e9 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 01:30:06 +0100
Subject: [PATCH 01/19] Add files via upload

added new behaviour tree doc assets
---
 doc/assets/planning/behaviour_tree.PNG        | Bin 0 -> 167731 bytes
 doc/assets/planning/behaviour_tree.drawio.xml | 230 ++++++++++++++++++
 2 files changed, 230 insertions(+)
 create mode 100644 doc/assets/planning/behaviour_tree.PNG
 create mode 100644 doc/assets/planning/behaviour_tree.drawio.xml

diff --git a/doc/assets/planning/behaviour_tree.PNG b/doc/assets/planning/behaviour_tree.PNG
new file mode 100644
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new file mode 100644
index 00000000..973300fc
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From 95e7ce237e8e0b0d464f6134701a3c927b643787 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 02:20:50 +0100
Subject: [PATCH 02/19] Update Behavior_tree.md

---
 doc/planning/Behavior_tree.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/doc/planning/Behavior_tree.md b/doc/planning/Behavior_tree.md
index aae559df..bf78edb9 100644
--- a/doc/planning/Behavior_tree.md
+++ b/doc/planning/Behavior_tree.md
@@ -36,9 +36,9 @@ For visualization at runtime you might want to also install this [rqt-Plugin](ht
 ## Our behaviour tree
 
 The following section describes the behaviour tree we use for normal driving using all functionality provided by the agent. In the actual implementation this is part of a bigger tree, that handles things like writing topics to the blackboard, starting and finishing the decision tree.
-The following tree is a simplification.
+The following tree is a simplification. The draw.io xml file to update this diagram can be found inside /assets/planning/.
 
-![Simple Tree](../assets/planning/simple_final_tree.png)
+![Simple Tree](../assets/planning/behaviour_tree.PNG)
 
 ### Behavior
 

From c4dd807dce32c4faaedbe8f62ca4a74c12149a77 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 02:22:27 +0100
Subject: [PATCH 03/19] Update README.md

---
 doc/planning/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/planning/README.md b/doc/planning/README.md
index aff116ab..2fc268a0 100644
--- a/doc/planning/README.md
+++ b/doc/planning/README.md
@@ -25,7 +25,7 @@ The decision making collects most of the available information of the other comp
 the information. All possible traffic scenarios are covered in this component. The decision making uses a so called
 decision tree, which is easy to adapt and to expand.
 
-![Simple Tree](../assets/planning/simple_final_tree.png)
+![Simple Tree](../assets/planning/behaviour_tree.PNG)
 
 ### [Local Planning](./Local_Planning.md)
 

From 0fef10c3e39296ecadd2c64c40c8712ef7a43d4c Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 02:26:05 +0100
Subject: [PATCH 04/19] Create Intersection.md

---
 doc/planning/behaviours/Intersection.md | 6 ++++++
 1 file changed, 6 insertions(+)
 create mode 100644 doc/planning/behaviours/Intersection.md

diff --git a/doc/planning/behaviours/Intersection.md b/doc/planning/behaviours/Intersection.md
new file mode 100644
index 00000000..776928a9
--- /dev/null
+++ b/doc/planning/behaviours/Intersection.md
@@ -0,0 +1,6 @@
+# Intersection Behavior
+
+**Summary:** This file explains the Intersection behavior.
+
+- [Intersection Behavior](#intersection-behavior)
+  - [Explanation](#explanation)

From e5b50194086954c9f6b715e6b0d5d148ebd59f31 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 02:26:48 +0100
Subject: [PATCH 05/19] Rename doc/planning/Unstuck_Behavior.md to
 doc/planning/behaviours/Unstuck_Behavior.md

---
 doc/planning/{ => behaviours}/Unstuck_Behavior.md | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename doc/planning/{ => behaviours}/Unstuck_Behavior.md (100%)

diff --git a/doc/planning/Unstuck_Behavior.md b/doc/planning/behaviours/Unstuck_Behavior.md
similarity index 100%
rename from doc/planning/Unstuck_Behavior.md
rename to doc/planning/behaviours/Unstuck_Behavior.md

From 083a0b0a29aea597fdf662033a855ba2e7239c1a Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 03:59:48 +0100
Subject: [PATCH 06/19] Update Intersection.md

---
 doc/planning/behaviours/Intersection.md | 38 ++++++++++++++++++++++++-
 1 file changed, 37 insertions(+), 1 deletion(-)

diff --git a/doc/planning/behaviours/Intersection.md b/doc/planning/behaviours/Intersection.md
index 776928a9..295b3679 100644
--- a/doc/planning/behaviours/Intersection.md
+++ b/doc/planning/behaviours/Intersection.md
@@ -3,4 +3,40 @@
 **Summary:** This file explains the Intersection behavior.
 
 - [Intersection Behavior](#intersection-behavior)
-  - [Explanation](#explanation)
+  - [General](#general)
+ 
+## General
+
+The Intersection behaviour is used to control the vehicle when it encounters a intersection. It handles stop signs as well as traffic lights.
+The Intersection sequence consists of the sub-behaviours "Approach", "Wait", "Enter" and "Leave".
+
+To enter the Intersection sequence "Intersection ahead" must firstly be successful.
+
+## Intersection ahead
+
+Successful when there is a stop line within a set distance.
+
+## Approach
+
+Handles approaching the intersection by slowing down the vehicle. Returns RUNNING while still far from the intersection, SUCCESS when the vehicle has stopped or has already entered the intersection and FAILURE when the path is faulty.
+
+Calculates a virtual stopline based on whether a stopline or only a stop sign has been detected and publishes a distance to it. While the vehicle is not stopped at the virtual stopline nor has entered the intersection, int_app_to_stop is published as the current behaviour.
+This is used inside motion_planning to calculate a stopping velocity.
+
+A green light is approached with 8 m/s.
+
+## Wait
+
+Handles wating at the stop line until the vehicle is allowed to drive.
+
+If the light is green or when there isn't a traffic light returns SUCCESS otherwise RUNNING.
+
+## Enter
+
+Handles driving through the intersection.
+
+Returns SUCCESS once the next waypoint is not this intersection anymore.
+
+## Leave
+
+Signifies that the vehicle has left the intersection and simply returns FAILURE to leave the Intersection sequence.

From 6efa6c2f7b8b90c54b792c3d52fba1be86d7f1de Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 04:01:18 +0100
Subject: [PATCH 07/19] Update Intersection.md

---
 doc/planning/behaviours/Intersection.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/doc/planning/behaviours/Intersection.md b/doc/planning/behaviours/Intersection.md
index 295b3679..dd47c544 100644
--- a/doc/planning/behaviours/Intersection.md
+++ b/doc/planning/behaviours/Intersection.md
@@ -4,6 +4,11 @@
 
 - [Intersection Behavior](#intersection-behavior)
   - [General](#general)
+  - [Intersection Ahead](#intersection-ahead)
+  - [Approach](#approach)
+  - [Wait](#wait)
+  - [Enter](#enter)
+  - [Leave](#leave)
  
 ## General
 

From ecc18384a42cdcb128aa904cb3da63e1fb527017 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 15:33:13 +0100
Subject: [PATCH 08/19] Create Overtake.md

---
 doc/planning/behaviours/Overtake.md | 45 +++++++++++++++++++++++++++++
 1 file changed, 45 insertions(+)
 create mode 100644 doc/planning/behaviours/Overtake.md

diff --git a/doc/planning/behaviours/Overtake.md b/doc/planning/behaviours/Overtake.md
new file mode 100644
index 00000000..a8df0dd0
--- /dev/null
+++ b/doc/planning/behaviours/Overtake.md
@@ -0,0 +1,45 @@
+# Overtake Behavior
+
+**Summary:** This file explains the Overtake behavior.
+
+- [Overtake Behavior](#overtake-behavior)
+  - [General](#general)
+  - [Overtake Ahead](#overtake-ahead)
+  - [Approach](#approach)
+  - [Wait](#wait)
+  - [Enter](#enter)
+  - [Leave](#leave)
+ 
+## General
+
+This behaviour is used to overtake an object in close proximity. This behaviour is currently not working and more like a initial prototype.
+
+## Overtake ahead
+
+Checks whether there is a object in front of the car that needs overtaking. 
+
+Estimates whether the car would collide with the object soon. If that is the case a counter gets incremented. When that counter reaches 4 SUCCESS is returned. If the object is not blocking the trajectory, FAILURE is returned.
+
+## Approach
+
+This is running while the obstacle is still in front of the car.
+
+Checks whether the oncoming traffic is far away or clear, if that is the case then ot_app_free is published as the current behaviour for the motion_planner and returns SUCCESS. Otherwise ot_app_blocked is published for the car to slow down.
+
+If the car stops behind the obstacle SUCCESS is also returned.
+
+## Wait
+
+This handles wating for clear oncoming traffic if the car has stopped behind the obstacle. If the overtake is clear ot_wait_free gets published and SUCCESS is returned. Otherwise ot_wait_stopped gets published and the behaviour stays in RUNNING.
+
+If the obstacle in front is gone the behaviour is aborted with FAILURE.
+
+## Enter
+
+Handles switching the lane for overtaking.
+
+Waits for motion planner to finish the trajectory changes and for it to set the overtake_success flag.
+
+## Leave
+
+Runs until the overtake is fully finished and then leaves the behaviour.

From 735c971baea137a2e712fe05019412112b0258e9 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 17:11:11 +0100
Subject: [PATCH 09/19] Update overtake.py

Updated comments and log messages for better understanding/debugging. No logic changes.
---
 .../src/behavior_agent/behaviours/overtake.py | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/code/planning/src/behavior_agent/behaviours/overtake.py b/code/planning/src/behavior_agent/behaviours/overtake.py
index f90ec1ae..133e3c86 100644
--- a/code/planning/src/behavior_agent/behaviours/overtake.py
+++ b/code/planning/src/behavior_agent/behaviours/overtake.py
@@ -75,8 +75,8 @@ def update(self):
             - Set a feedback message
             - return a py_trees.common.Status.[RUNNING, SUCCESS, FAILURE]
 
-        Gets the current distance to overtake, the current lane status and the
-        distance to collsion object.
+        Gets the current distance to overtake, the current oncoming lane status and the
+        distance to collsion object. Slows down while oncoming blocked until stopped or oncoming clear.
         :return: py_trees.common.Status.RUNNING, if too far from overtaking
                  py_trees.common.Status.SUCCESS, if stopped behind the blocking
                  object or entered the process.
@@ -110,7 +110,7 @@ def update(self):
                 self.curr_behavior_pub.publish(bs.ot_app_free.name)
                 return py_trees.common.Status.SUCCESS
             else:
-                rospy.loginfo("Overtake blocked slowing down")
+                rospy.loginfo("Overtake Approach: oncoming blocked slowing down")
                 self.curr_behavior_pub.publish(bs.ot_app_blocked.name)
 
         # get speed
@@ -123,11 +123,11 @@ def update(self):
 
         if self.ot_distance > 20.0:
             # too far
-            rospy.loginfo("still approaching")
+            rospy.loginfo("Overtake Approach: still approaching obstacle, distance: {self.ot_distance}")
             return py_trees.common.Status.RUNNING
         elif speed < convert_to_ms(2.0) and self.ot_distance < TARGET_DISTANCE_TO_STOP:
             # stopped
-            rospy.loginfo("stopped")
+            rospy.loginfo("Overtake Approach: stopped behind obstacle")
             return py_trees.common.Status.SUCCESS
         else:
             # still approaching
@@ -216,7 +216,7 @@ def update(self):
         clear_distance = 30
         obstacle_msg = self.blackboard.get("/paf/hero/collision")
         if obstacle_msg is None:
-            rospy.logerr("No OBSTACLE")
+            rospy.logerr("No OBSTACLE in overtake wait")
             return py_trees.common.Status.FAILURE
 
         data = self.blackboard.get("/paf/hero/oncoming")
@@ -231,14 +231,14 @@ def update(self):
                 self.curr_behavior_pub.publish(bs.ot_wait_free.name)
                 return py_trees.common.Status.SUCCESS
             else:
-                rospy.loginfo(f"Overtake still blocked: {distance_oncoming}")
+                rospy.loginfo(f"Overtake still blocked, distance to oncoming: {distance_oncoming}")
                 self.curr_behavior_pub.publish(bs.ot_wait_stopped.name)
                 return py_trees.common.Status.RUNNING
         elif obstacle_msg.data[0] == np.inf:
-            rospy.loginf("No OBSTACLE")
+            rospy.loginf("No OBSTACLE in overtake wait")
             return py_trees.common.Status.FAILURE
         else:
-            rospy.loginfo("No Lidar Distance")
+            rospy.loginfo("No Lidar Distance in overtake wait")
             return py_trees.common.Status.SUCCESS
 
     def terminate(self, new_status):
@@ -312,7 +312,7 @@ def update(self):
            - Set a feedback message
            - return a py_trees.common.Status.[RUNNING, SUCCESS, FAILURE]
 
-
+        Waits for motion_planner to finish the new trajectory.
         :return: py_trees.common.Status.RUNNING,
                  py_trees.common.Status.SUCCESS,
                  py_trees.common.Status.FAILURE,
@@ -320,17 +320,17 @@ def update(self):
         status = self.blackboard.get("/paf/hero/overtake_success")
         if status is not None:
             if status.data == 1:
-                rospy.loginfo("Overtake: Trajectory planned")
+                rospy.loginfo("Overtake Enter: Trajectory planned")
                 return py_trees.common.Status.SUCCESS
             elif status.data == 0:
                 self.curr_behavior_pub.publish(bs.ot_enter_slow.name)
-                rospy.loginfo("Overtake: Slowing down")
+                rospy.loginfo("Overtake Enter: Slowing down")
                 return py_trees.common.Status.RUNNING
             else:
-                rospy.loginfo("OvertakeEnter: Abort")
+                rospy.loginfo("Overtake Enter: Abort")
                 return py_trees.common.Status.FAILURE
         else:
-            rospy.loginfo("Overtake: Waiting for status update")
+            rospy.loginfo("Overtake Enter: Waiting for status update")
             return py_trees.common.Status.RUNNING
 
     def terminate(self, new_status):
@@ -393,7 +393,7 @@ def initialise(self):
         self.curr_behavior_pub.publish(bs.ot_leave.name)
         data = self.blackboard.get("/paf/hero/current_pos")
         self.first_pos = np.array([data.pose.position.x, data.pose.position.y])
-        rospy.loginfo(f"Leave Overtake: {self.first_pos}")
+        rospy.loginfo(f"Init Leave Overtake: {self.first_pos}")
         return True
 
     def update(self):
@@ -412,7 +412,7 @@ def update(self):
         self.current_pos = np.array([data.pose.position.x, data.pose.position.y])
         distance = np.linalg.norm(self.first_pos - self.current_pos)
         if distance > OVERTAKE_EXECUTING + NUM_WAYPOINTS:
-            rospy.loginfo(f"Left Overtake: {self.current_pos}")
+            rospy.loginfo(f"Overtake executed: {self.current_pos}")
             return py_trees.common.Status.FAILURE
         else:
             return py_trees.common.Status.RUNNING

From dc053903ed2c618d2a57ff8065d240a77b783b7c Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 19:02:17 +0100
Subject: [PATCH 10/19] Create LaneChange.md

---
 doc/planning/behaviours/LaneChange.md | 39 +++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 doc/planning/behaviours/LaneChange.md

diff --git a/doc/planning/behaviours/LaneChange.md b/doc/planning/behaviours/LaneChange.md
new file mode 100644
index 00000000..f8440e9d
--- /dev/null
+++ b/doc/planning/behaviours/LaneChange.md
@@ -0,0 +1,39 @@
+# Lane Change Behavior
+
+**Summary:** This file explains the Lane Change behavior.
+
+- [Lane Change Behavior](#lanechange-behavior)
+  - [General](#general)
+  - [Lane Change Ahead](#lanechange-ahead)
+  - [Approach](#approach)
+  - [Wait](#wait)
+  - [Enter](#enter)
+  - [Leave](#leave)
+ 
+## General
+
+This behaviour executes a lane change. It slows the vehicle down until the lane change point is reached and then proceeds to switch lanes.
+
+## Lane Change ahead
+
+Checks whether the next waypoint is a lane change and inititates the lane change sequence accordingly.
+
+## Approach
+
+Calculates a virtual stop line at the lane change point and publishes lc_app_blocked for motion planner to slow down while too far away.
+
+If the lane change is not blocked (currently not implemented) the car does not slow down (30 km/h).
+
+Once the car is within a set distance of the virtual stop line and not blocked it returns SUCCESS. SUCCESS is also returned when the car stops at the stop line.
+
+## Wait
+
+Waits at the lane change point until the lane change is not blocked (not implemented).
+
+## Enter
+
+Inititates the lane change with 20 km/h and continues driving on the next lane until the lane change waypoint is far enough away.
+
+## Leave
+
+Simply exits the behaviour.

From 53f678c4f8c9215b3a242cb61df757abfbf9f284 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 20:20:21 +0100
Subject: [PATCH 11/19] Create LeaveParkingSpace.md

---
 doc/planning/behaviours/LeaveParkingSpace.md | 13 +++++++++++++
 1 file changed, 13 insertions(+)
 create mode 100644 doc/planning/behaviours/LeaveParkingSpace.md

diff --git a/doc/planning/behaviours/LeaveParkingSpace.md b/doc/planning/behaviours/LeaveParkingSpace.md
new file mode 100644
index 00000000..716ade84
--- /dev/null
+++ b/doc/planning/behaviours/LeaveParkingSpace.md
@@ -0,0 +1,13 @@
+# Leave Parking Space Behavior
+
+**Summary:** This file explains the Leave Parking Space behavior.
+
+- [Leave Parking Space Behavior](#leaveparkingspace-behavior)
+  - [General](#general)
+ 
+## General
+
+The leave parking space behaviour is only executed at the beginning of the simulation to leave the parking space.
+
+The behaviour calculates the euclidian  distance between the starting position and the current position to determine whether the car has fully left the parking space. If that is the case a "called"
+flag is set to true so that this behaviour is never executed again and FAILURE is returned to end the behaviour. Otherwise it stays in RUNNING.

From ac930a289ce47dc002b1fc8a4756b9962eb594f4 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 21:11:00 +0100
Subject: [PATCH 12/19] Update lane_change.py

Refined comments and log messages, this does not change any logic
---
 .../behavior_agent/behaviours/lane_change.py  | 42 +++++++++----------
 1 file changed, 21 insertions(+), 21 deletions(-)

diff --git a/code/planning/src/behavior_agent/behaviours/lane_change.py b/code/planning/src/behavior_agent/behaviours/lane_change.py
index 49ce0d6f..87e18cb9 100755
--- a/code/planning/src/behavior_agent/behaviours/lane_change.py
+++ b/code/planning/src/behavior_agent/behaviours/lane_change.py
@@ -27,7 +27,7 @@ def __init__(self, name):
          :param name: name of the behaviour
         """
         super(Approach, self).__init__(name)
-        rospy.loginfo("Approach started")
+        rospy.loginfo("Lane Change Approach started")
 
     def setup(self, timeout):
         """
@@ -72,7 +72,8 @@ def update(self):
             - Triggering, checking, monitoring. Anything...but do not block!
             - Set a feedback message
             - return a py_trees.common.Status.[RUNNING, SUCCESS, FAILURE]
-        Gets the current lane change distance.
+        Calculates a virtual stop line and slows down while approaching unless
+        lane change is not blocked.
         :return: py_trees.common.Status.RUNNING, if too far from lane change
                  py_trees.common.Status.SUCCESS, if stopped in front of lane
                  change or entered the lane change
@@ -91,15 +92,15 @@ def update(self):
         if self.change_distance != np.inf and self.change_detected:
             self.virtual_change_distance = self.change_distance
 
-            # ADD FEATURE: Check for Traffic
+            # TODO: ADD FEATURE Check for Traffic
             distance_lidar = 20
 
             if distance_lidar is not None and distance_lidar > 15.0:
-                rospy.loginfo("Change is free not slowing down!")
+                rospy.loginfo("Lane Change is free not slowing down!")
                 self.curr_behavior_pub.publish(bs.lc_app_free.name)
                 self.blocked = False
             else:
-                rospy.loginfo("Change blocked slowing down")
+                rospy.loginfo("Lane Change blocked slowing down")
                 self.blocked = True
 
         # get speed
@@ -110,11 +111,11 @@ def update(self):
         if speedometer is not None:
             speed = speedometer.speed
         else:
-            rospy.logwarn("no speedometer connected")
+            rospy.logwarn("Lane Change: no speedometer connected")
             return py_trees.common.Status.RUNNING
         if self.virtual_change_distance > target_dis and self.blocked:
             # too far
-            rospy.loginfo("still approaching")
+            rospy.loginfo("Lane Change: still approaching")
             self.curr_behavior_pub.publish(bs.lc_app_blocked.name)
             return py_trees.common.Status.RUNNING
         elif (
@@ -123,7 +124,7 @@ def update(self):
             and self.blocked
         ):
             # stopped
-            rospy.loginfo("stopped")
+            rospy.loginfo("Lane Change: stopped at virtual stop line")
             return py_trees.common.Status.SUCCESS
         elif (
             speed > convert_to_ms(5.0)
@@ -191,7 +192,7 @@ def initialise(self):
             Any initialisation you need before putting your behaviour to work.
         This just prints a state status message.
         """
-        rospy.loginfo("Wait Change")
+        rospy.loginfo("Lane Change Wait")
         return True
 
     def update(self):
@@ -213,14 +214,14 @@ def update(self):
         if speedometer is not None:
             speed = speedometer.speed
         else:
-            rospy.logwarn("no speedometer connected")
+            rospy.logwarn("Lane change wait: no speedometer connected")
             return py_trees.common.Status.RUNNING
 
         if speed > convert_to_ms(10):
-            rospy.loginfo("Forward to enter")
+            rospy.loginfo("Lane change wait: Was not blocked, proceed to drive forward")
             return py_trees.common.Status.SUCCESS
 
-        # ADD FEATURE: Check for Traffic
+        # TODO: ADD FEATURE Check for Traffic
         distance_lidar = 20
 
         change_clear = False
@@ -231,11 +232,11 @@ def update(self):
             else:
                 change_clear = True
         if not change_clear:
-            rospy.loginfo("Change blocked")
+            rospy.loginfo("Lane Change Wait: blocked")
             self.curr_behavior_pub.publish(bs.lc_wait.name)
             return py_trees.common.Status.RUNNING
         else:
-            rospy.loginfo("Change clear")
+            rospy.loginfo("Lane Change Wait: Change clear")
             return py_trees.common.Status.SUCCESS
 
     def terminate(self, new_status):
@@ -256,9 +257,8 @@ def terminate(self, new_status):
 
 class Enter(py_trees.behaviour.Behaviour):
     """
-    This behavior handles the driving through an intersection, it initially
-    sets a speed and finishes if the ego vehicle is close to the end of the
-    intersection.
+    This behavior inititates the lane change and waits until the
+    lane change is finished.
     """
 
     def __init__(self, name):
@@ -297,7 +297,7 @@ def initialise(self):
         This prints a state status message and changes the driving speed for
         the lane change.
         """
-        rospy.loginfo("Enter next Lane")
+        rospy.loginfo("Lane Change: Enter next Lane")
         self.curr_behavior_pub.publish(bs.lc_enter_init.name)
 
     def update(self):
@@ -321,7 +321,7 @@ def update(self):
         if next_waypoint_msg is None:
             return py_trees.common.Status.FAILURE
         if next_waypoint_msg.distance < 5:
-            rospy.loginfo("Drive on the next lane!")
+            rospy.loginfo("Lane Change Enter: Drive on the next lane!")
             return py_trees.common.Status.RUNNING
         else:
             return py_trees.common.Status.SUCCESS
@@ -345,7 +345,7 @@ def terminate(self, new_status):
 class Leave(py_trees.behaviour.Behaviour):
     """
     This behaviour defines the leaf of this subtree, if this behavior is
-    reached, the vehicle left the intersection.
+    reached, the vehicle has finished the lane change.
     """
 
     def __init__(self, name):
@@ -384,7 +384,7 @@ def initialise(self):
         This prints a state status message and changes the driving speed to
         the street speed limit.
         """
-        rospy.loginfo("Leave Change")
+        rospy.loginfo("Lane Change Finished")
 
         self.curr_behavior_pub.publish(bs.lc_exit.name)
         return True

From e1036408238054f5e103c0f42aaaca443c774d8d Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 22:15:02 +0100
Subject: [PATCH 13/19] Update Intersection.md

---
 doc/planning/behaviours/Intersection.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/doc/planning/behaviours/Intersection.md b/doc/planning/behaviours/Intersection.md
index dd47c544..106a4a80 100644
--- a/doc/planning/behaviours/Intersection.md
+++ b/doc/planning/behaviours/Intersection.md
@@ -28,7 +28,7 @@ Handles approaching the intersection by slowing down the vehicle. Returns RUNNIN
 Calculates a virtual stopline based on whether a stopline or only a stop sign has been detected and publishes a distance to it. While the vehicle is not stopped at the virtual stopline nor has entered the intersection, int_app_to_stop is published as the current behaviour.
 This is used inside motion_planning to calculate a stopping velocity.
 
-A green light is approached with 8 m/s.
+A green light is approached with 30 km/h.
 
 ## Wait
 
@@ -38,7 +38,7 @@ If the light is green or when there isn't a traffic light returns SUCCESS otherw
 
 ## Enter
 
-Handles driving through the intersection.
+Handles driving through the intersection. Uses 50 km/h as target speed.
 
 Returns SUCCESS once the next waypoint is not this intersection anymore.
 

From 4a8178396b24be04a493049da09a7efddfef1bd9 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Thu, 12 Dec 2024 22:57:30 +0100
Subject: [PATCH 14/19] Update intersection.py

Improved comments and logging messages, no logic changes
---
 .../behavior_agent/behaviours/intersection.py | 22 +++++++++++--------
 1 file changed, 13 insertions(+), 9 deletions(-)

diff --git a/code/planning/src/behavior_agent/behaviours/intersection.py b/code/planning/src/behavior_agent/behaviours/intersection.py
index c19d3386..4ac8aad9 100755
--- a/code/planning/src/behavior_agent/behaviours/intersection.py
+++ b/code/planning/src/behavior_agent/behaviours/intersection.py
@@ -97,7 +97,9 @@ def update(self):
             - Set a feedback message
             - return a py_trees.common.Status.[RUNNING, SUCCESS, FAILURE]
         Gets the current traffic light status, stop sign status
-        and the stop line distance
+        and the stop line distance. Calcualtes a virtual stop line and
+        publishes a distance to it. Slows down car until virtual stop line
+        is reached when there is a red traffic light or a stop sign.
         :return: py_trees.common.Status.RUNNING, if too far from intersection
                  py_trees.common.Status.SUCCESS, if stopped in front of inter-
                  section or entered the intersection
@@ -145,7 +147,8 @@ def update(self):
             or (self.stop_sign_detected and not self.traffic_light_detected)
         ):
 
-            rospy.loginfo("slowing down!")
+            rospy.loginfo("Intersection Approach: slowing down! Stop sign:
+            {self.stop_sign_detected}, Light: {self.traffic_light_status}")
             self.curr_behavior_pub.publish(bs.int_app_to_stop.name)
 
         # approach slowly when traffic light is green as traffic lights are
@@ -164,14 +167,14 @@ def update(self):
             self.traffic_light_distance > 150
         ):
             # too far
-            print("still approaching")
+            rospy.loginfo("Intersection still approaching")
             return py_trees.common.Status.RUNNING
         elif speed < convert_to_ms(2.0) and (
             (self.virtual_stopline_distance < target_distance)
             or (self.traffic_light_distance < 150)
         ):
             # stopped
-            print("stopped")
+            print("Intersection Approach: stopped")
             return py_trees.common.Status.SUCCESS
         elif (
             speed > convert_to_ms(5.0)
@@ -180,6 +183,7 @@ def update(self):
         ):
 
             # drive through intersection even if traffic light turns yellow
+            rospy.loginfo("Intersection Approach Light is green")
             return py_trees.common.Status.SUCCESS
         elif speed > convert_to_ms(5.0) and self.virtual_stopline_distance < 3.5:
             # running over line
@@ -189,7 +193,7 @@ def update(self):
             self.virtual_stopline_distance < target_distance
             and not self.stopline_detected
         ):
-            rospy.loginfo("Leave intersection!")
+            rospy.loginfo("Intersection Approach: Leave intersection!")
             return py_trees.common.Status.SUCCESS
         else:
             return py_trees.common.Status.RUNNING
@@ -276,7 +280,7 @@ def update(self):
         """
         light_status_msg = self.blackboard.get("/paf/hero/Center/traffic_light_state")
 
-        # ADD FEATURE: Check if intersection is clear
+        # TODO: ADD FEATURE Check if intersection is clear
         lidar_data = None
         intersection_clear = True
         if lidar_data is not None:
@@ -292,7 +296,7 @@ def update(self):
                 # Wait at traffic light
                 self.red_light_flag = True
                 self.green_light_time = rospy.get_rostime()
-                rospy.loginfo(f"Light Status: {traffic_light_status}")
+                rospy.loginfo(f"Intersection Wait Light Status: {traffic_light_status}")
                 self.curr_behavior_pub.publish(bs.int_wait.name)
                 return py_trees.common.Status.RUNNING
             elif (
@@ -300,7 +304,7 @@ def update(self):
                 and traffic_light_status == "green"
             ):
                 # Wait approx 1s for confirmation
-                rospy.loginfo("Confirm green light!")
+                rospy.loginfo("Intersection Wait Confirm green light!")
                 return py_trees.common.Status.RUNNING
             elif self.red_light_flag and traffic_light_status != "green":
                 rospy.loginfo(f"Light Status: {traffic_light_status}" "-> prev was red")
@@ -310,7 +314,7 @@ def update(self):
                 rospy.get_rostime() - self.green_light_time > rospy.Duration(1)
                 and traffic_light_status == "green"
             ):
-                rospy.loginfo(f"Light Status: {traffic_light_status}")
+                rospy.loginfo(f"Driving through Intersection Light Status: {traffic_light_status}")
                 # Drive through intersection
                 return py_trees.common.Status.SUCCESS
             else:

From 0adbfc2d46ba98279045a276f8678278261fc5bd Mon Sep 17 00:00:00 2001
From: seefelke <kevin.seefeld@uni-a.de>
Date: Thu, 12 Dec 2024 23:43:44 +0100
Subject: [PATCH 15/19] small logging fix

---
 .../src/behavior_agent/behaviours/intersection.py    | 12 ++++++++----
 .../src/behavior_agent/behaviours/overtake.py        | 12 +++++++++---
 2 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/code/planning/src/behavior_agent/behaviours/intersection.py b/code/planning/src/behavior_agent/behaviours/intersection.py
index 4ac8aad9..68954e09 100755
--- a/code/planning/src/behavior_agent/behaviours/intersection.py
+++ b/code/planning/src/behavior_agent/behaviours/intersection.py
@@ -147,8 +147,10 @@ def update(self):
             or (self.stop_sign_detected and not self.traffic_light_detected)
         ):
 
-            rospy.loginfo("Intersection Approach: slowing down! Stop sign:
-            {self.stop_sign_detected}, Light: {self.traffic_light_status}")
+            rospy.loginfo(
+                "Intersection Approach: slowing down! Stop sign: "
+                "{self.stop_sign_detected}, Light: {self.traffic_light_status}"
+            )
             self.curr_behavior_pub.publish(bs.int_app_to_stop.name)
 
         # approach slowly when traffic light is green as traffic lights are
@@ -174,7 +176,7 @@ def update(self):
             or (self.traffic_light_distance < 150)
         ):
             # stopped
-            print("Intersection Approach: stopped")
+            rospy.loginfo("Intersection Approach: stopped")
             return py_trees.common.Status.SUCCESS
         elif (
             speed > convert_to_ms(5.0)
@@ -314,7 +316,9 @@ def update(self):
                 rospy.get_rostime() - self.green_light_time > rospy.Duration(1)
                 and traffic_light_status == "green"
             ):
-                rospy.loginfo(f"Driving through Intersection Light Status: {traffic_light_status}")
+                rospy.loginfo(
+                    f"Driving through Intersection Light Status: {traffic_light_status}"
+                )
                 # Drive through intersection
                 return py_trees.common.Status.SUCCESS
             else:
diff --git a/code/planning/src/behavior_agent/behaviours/overtake.py b/code/planning/src/behavior_agent/behaviours/overtake.py
index 133e3c86..447b4d79 100644
--- a/code/planning/src/behavior_agent/behaviours/overtake.py
+++ b/code/planning/src/behavior_agent/behaviours/overtake.py
@@ -76,7 +76,8 @@ def update(self):
             - return a py_trees.common.Status.[RUNNING, SUCCESS, FAILURE]
 
         Gets the current distance to overtake, the current oncoming lane status and the
-        distance to collsion object. Slows down while oncoming blocked until stopped or oncoming clear.
+        distance to collsion object. Slows down while oncoming blocked until stopped
+        or oncoming clear.
         :return: py_trees.common.Status.RUNNING, if too far from overtaking
                  py_trees.common.Status.SUCCESS, if stopped behind the blocking
                  object or entered the process.
@@ -123,7 +124,10 @@ def update(self):
 
         if self.ot_distance > 20.0:
             # too far
-            rospy.loginfo("Overtake Approach: still approaching obstacle, distance: {self.ot_distance}")
+            rospy.loginfo(
+                "Overtake Approach: still approaching obstacle, "
+                "distance: {self.ot_distance}"
+            )
             return py_trees.common.Status.RUNNING
         elif speed < convert_to_ms(2.0) and self.ot_distance < TARGET_DISTANCE_TO_STOP:
             # stopped
@@ -231,7 +235,9 @@ def update(self):
                 self.curr_behavior_pub.publish(bs.ot_wait_free.name)
                 return py_trees.common.Status.SUCCESS
             else:
-                rospy.loginfo(f"Overtake still blocked, distance to oncoming: {distance_oncoming}")
+                rospy.loginfo(
+                    f"Overtake still blocked, distance to oncoming: {distance_oncoming}"
+                )
                 self.curr_behavior_pub.publish(bs.ot_wait_stopped.name)
                 return py_trees.common.Status.RUNNING
         elif obstacle_msg.data[0] == np.inf:

From 0d423a6e6e2d0e19b038f218c1c60496ee0a2f60 Mon Sep 17 00:00:00 2001
From: seefelke <kevin.seefeld@uni-a.de>
Date: Fri, 13 Dec 2024 00:08:06 +0100
Subject: [PATCH 16/19] some f string fixes

---
 .../src/behavior_agent/behaviours/intersection.py        | 9 ++++++---
 .../src/behavior_agent/behaviours/lane_change.py         | 4 +++-
 code/planning/src/behavior_agent/behaviours/overtake.py  | 4 ++--
 3 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/code/planning/src/behavior_agent/behaviours/intersection.py b/code/planning/src/behavior_agent/behaviours/intersection.py
index 68954e09..6c4d4470 100755
--- a/code/planning/src/behavior_agent/behaviours/intersection.py
+++ b/code/planning/src/behavior_agent/behaviours/intersection.py
@@ -148,8 +148,8 @@ def update(self):
         ):
 
             rospy.loginfo(
-                "Intersection Approach: slowing down! Stop sign: "
-                "{self.stop_sign_detected}, Light: {self.traffic_light_status}"
+                f"Intersection Approach: slowing down! Stop sign: "
+                f"{self.stop_sign_detected}, Light: {self.traffic_light_status}"
             )
             self.curr_behavior_pub.publish(bs.int_app_to_stop.name)
 
@@ -185,7 +185,10 @@ def update(self):
         ):
 
             # drive through intersection even if traffic light turns yellow
-            rospy.loginfo("Intersection Approach Light is green")
+            rospy.loginfo(
+                f"Intersection Approach Light is green, light:"
+                f"{self.traffic_light_status}"
+            )
             return py_trees.common.Status.SUCCESS
         elif speed > convert_to_ms(5.0) and self.virtual_stopline_distance < 3.5:
             # running over line
diff --git a/code/planning/src/behavior_agent/behaviours/lane_change.py b/code/planning/src/behavior_agent/behaviours/lane_change.py
index 87e18cb9..c6605308 100755
--- a/code/planning/src/behavior_agent/behaviours/lane_change.py
+++ b/code/planning/src/behavior_agent/behaviours/lane_change.py
@@ -115,7 +115,9 @@ def update(self):
             return py_trees.common.Status.RUNNING
         if self.virtual_change_distance > target_dis and self.blocked:
             # too far
-            rospy.loginfo("Lane Change: still approaching")
+            rospy.loginfo(
+                f"Lane Change: still approaching, distance:{self.virtual_change_distance}"
+            )
             self.curr_behavior_pub.publish(bs.lc_app_blocked.name)
             return py_trees.common.Status.RUNNING
         elif (
diff --git a/code/planning/src/behavior_agent/behaviours/overtake.py b/code/planning/src/behavior_agent/behaviours/overtake.py
index 447b4d79..41ad24f4 100644
--- a/code/planning/src/behavior_agent/behaviours/overtake.py
+++ b/code/planning/src/behavior_agent/behaviours/overtake.py
@@ -125,8 +125,8 @@ def update(self):
         if self.ot_distance > 20.0:
             # too far
             rospy.loginfo(
-                "Overtake Approach: still approaching obstacle, "
-                "distance: {self.ot_distance}"
+                f"Overtake Approach: still approaching obstacle, "
+                f"distance: {self.ot_distance}"
             )
             return py_trees.common.Status.RUNNING
         elif speed < convert_to_ms(2.0) and self.ot_distance < TARGET_DISTANCE_TO_STOP:

From 80aa8bb8a0382f881af87184c355c889b029e350 Mon Sep 17 00:00:00 2001
From: seefelke <33551476+seefelke@users.noreply.github.com>
Date: Fri, 13 Dec 2024 00:30:42 +0100
Subject: [PATCH 17/19] Rename Unstuck_Behavior.md to Unstuck.md

---
 doc/planning/behaviours/{Unstuck_Behavior.md => Unstuck.md} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename doc/planning/behaviours/{Unstuck_Behavior.md => Unstuck.md} (100%)

diff --git a/doc/planning/behaviours/Unstuck_Behavior.md b/doc/planning/behaviours/Unstuck.md
similarity index 100%
rename from doc/planning/behaviours/Unstuck_Behavior.md
rename to doc/planning/behaviours/Unstuck.md

From ec3b6f3fb1061850d4ed51e2bb9429468e600624 Mon Sep 17 00:00:00 2001
From: seefelke <kevin.seefeld@uni-a.de>
Date: Fri, 13 Dec 2024 15:24:38 +0100
Subject: [PATCH 18/19] linter

---
 doc/planning/behaviours/Intersection.md      |  2 +-
 doc/planning/behaviours/LaneChange.md        |  2 +-
 doc/planning/behaviours/LeaveParkingSpace.md |  2 +-
 doc/planning/behaviours/Overtake.md          | 17 ++++++++---------
 4 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/doc/planning/behaviours/Intersection.md b/doc/planning/behaviours/Intersection.md
index 106a4a80..7d17dd90 100644
--- a/doc/planning/behaviours/Intersection.md
+++ b/doc/planning/behaviours/Intersection.md
@@ -9,7 +9,7 @@
   - [Wait](#wait)
   - [Enter](#enter)
   - [Leave](#leave)
- 
+
 ## General
 
 The Intersection behaviour is used to control the vehicle when it encounters a intersection. It handles stop signs as well as traffic lights.
diff --git a/doc/planning/behaviours/LaneChange.md b/doc/planning/behaviours/LaneChange.md
index f8440e9d..341b40a4 100644
--- a/doc/planning/behaviours/LaneChange.md
+++ b/doc/planning/behaviours/LaneChange.md
@@ -9,7 +9,7 @@
   - [Wait](#wait)
   - [Enter](#enter)
   - [Leave](#leave)
- 
+
 ## General
 
 This behaviour executes a lane change. It slows the vehicle down until the lane change point is reached and then proceeds to switch lanes.
diff --git a/doc/planning/behaviours/LeaveParkingSpace.md b/doc/planning/behaviours/LeaveParkingSpace.md
index 716ade84..51192638 100644
--- a/doc/planning/behaviours/LeaveParkingSpace.md
+++ b/doc/planning/behaviours/LeaveParkingSpace.md
@@ -4,7 +4,7 @@
 
 - [Leave Parking Space Behavior](#leaveparkingspace-behavior)
   - [General](#general)
- 
+
 ## General
 
 The leave parking space behaviour is only executed at the beginning of the simulation to leave the parking space.
diff --git a/doc/planning/behaviours/Overtake.md b/doc/planning/behaviours/Overtake.md
index a8df0dd0..3058995a 100644
--- a/doc/planning/behaviours/Overtake.md
+++ b/doc/planning/behaviours/Overtake.md
@@ -2,21 +2,20 @@
 
 **Summary:** This file explains the Overtake behavior.
 
-- [Overtake Behavior](#overtake-behavior)
-  - [General](#general)
-  - [Overtake Ahead](#overtake-ahead)
-  - [Approach](#approach)
-  - [Wait](#wait)
-  - [Enter](#enter)
-  - [Leave](#leave)
- 
+- [General](#general)
+- [Overtake ahead](#overtake-ahead)
+- [Approach](#approach)
+- [Wait](#wait)
+- [Enter](#enter)
+- [Leave](#leave)
+
 ## General
 
 This behaviour is used to overtake an object in close proximity. This behaviour is currently not working and more like a initial prototype.
 
 ## Overtake ahead
 
-Checks whether there is a object in front of the car that needs overtaking. 
+Checks whether there is a object in front of the car that needs overtaking.
 
 Estimates whether the car would collide with the object soon. If that is the case a counter gets incremented. When that counter reaches 4 SUCCESS is returned. If the object is not blocking the trajectory, FAILURE is returned.
 

From 1f4c75373f4cd62507615f001e2c3585792dae8d Mon Sep 17 00:00:00 2001
From: seefelke <kevin.seefeld@uni-a.de>
Date: Fri, 13 Dec 2024 15:27:24 +0100
Subject: [PATCH 19/19] linter

---
 code/planning/src/behavior_agent/behaviours/lane_change.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/code/planning/src/behavior_agent/behaviours/lane_change.py b/code/planning/src/behavior_agent/behaviours/lane_change.py
index c6605308..b6c67eae 100755
--- a/code/planning/src/behavior_agent/behaviours/lane_change.py
+++ b/code/planning/src/behavior_agent/behaviours/lane_change.py
@@ -116,7 +116,8 @@ def update(self):
         if self.virtual_change_distance > target_dis and self.blocked:
             # too far
             rospy.loginfo(
-                f"Lane Change: still approaching, distance:{self.virtual_change_distance}"
+                f"Lane Change: still approaching, "
+                f"distance:{self.virtual_change_distance}"
             )
             self.curr_behavior_pub.publish(bs.lc_app_blocked.name)
             return py_trees.common.Status.RUNNING