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Update input output and debug
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Signed-off-by: Zulfaqar Azmi <[email protected]>
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zulfaqar-azmi-t4 committed Nov 10, 2023
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35 changes: 25 additions & 10 deletions planning/behavior_path_planner/README.md
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Expand Up @@ -93,15 +93,30 @@ To check the scene module's transition, i.e.: registered, approved and candidate

### Output

| Name | Type | Description | QoS Durability |
| :--------------------------- | :------------------------------------------------------- | :--------------------------------------------------------------------------------------------- | ----------------- |
| ~/output/path | `autoware_auto_planning_msgs::msg::PathWithLaneId` | the path generated by modules. | `volatile` |
| ~/output/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command. | `volatile` |
| ~/output/hazard_lights_cmd | `tier4_planning_msgs::msg::PathChangeModuleArray` | hazard lights command. | `volatile` |
| ~/output/modified_goal | `autoware_planning_msgs::msg::PoseWithUuidStamped` | output modified goal commands. | `transient_local` |
| ~/output/path_candidate | `autoware_auto_planning_msgs::msg::Path` | the path the module is about to take. to be executed as soon as external approval is obtained. | `volatile` |
| ~/output/ready_module | `tier4_planning_msgs::msg::PathChangeModule` | (for remote control) modules that are ready to be executed. | `volatile` |
| ~/output/running_modules | `tier4_planning_msgs::msg::PathChangeModuleArray` | (for remote control) current running module. | `volatile` |
| Name | Type | Description | QoS Durability |
| :---------------------------- | :------------------------------------------------------- | :--------------------------------------------------------------------------------------------- | ----------------- |
| ~/output/path | `autoware_auto_planning_msgs::msg::PathWithLaneId` | the path generated by modules. | `volatile` |
| ~/output/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command. | `volatile` |
| ~/output/hazard_lights_cmd | `tier4_planning_msgs::msg::PathChangeModuleArray` | hazard lights command. | `volatile` |
| ~/output/modified_goal | `autoware_planning_msgs::msg::PoseWithUuidStamped` | output modified goal commands. | `transient_local` |
| ~/output/stop_reasons | `tier4_planning_msgs::msg::StopReasonArray` | output modified goal commands. | `volatile` |
| ~/output/reroute_availability | `tier4_planning_msgs::msg::RerouteAvailability` | the path the module is about to take. to be executed as soon as external approval is obtained. | `volatile` |

### Debug

| Name | Type | Description | QoS Durability |
| :-------------------------------------- | :------------------------------------------------------- | :--------------------------------------------------------------------------------------------- | -------------- |
| ~/debug/avoidance_debug_message_array | `autoware_auto_planning_msgs::msg::PathWithLaneId` | the path generated by modules. | `volatile` |
| ~/debug/lane_change_debug_message_array | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command. | `volatile` |
| ~/debug/maximum_drivable_area | `tier4_planning_msgs::msg::StopReasonArray` | output modified goal commands. | `volatile` |
| ~/debug/turn_signal_info | `tier4_planning_msgs::msg::PathChangeModuleArray` | hazard lights command. | `volatile` |
| ~/debug/bound | `autoware_planning_msgs::msg::PoseWithUuidStamped` | output modified goal commands. | `volatile` |
| ~/planning/path_candidate | `tier4_planning_msgs::msg::RerouteAvailability` | the path the module is about to take. to be executed as soon as external approval is obtained. | `volatile` |
| ~/planning/path_reference | `tier4_planning_msgs::msg::RerouteAvailability` | the path the module is about to take. to be executed as soon as external approval is obtained. | `volatile` |

!!! note

For specific information of which topics are being subscribed and published, refer to [behavior_path_planner.xml](https://github.com/autowarefoundation/autoware.universe/blob/9000f430c937764c14e43109539302f1f878ed70/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml#L36-L49).

## How to enable or disable the modules

Expand Down Expand Up @@ -147,7 +162,7 @@ The `TurnIndicatorsCommand` message structure has a command field that can take

## Generating Shifted Path

The Behavior Path Planner uses a sophisticated methodology for path generation in autonomous vehicle navigation, particularly focusing on maneuvers like lane changes and avoidance. At the core of this design is the smooth lateral shifting of the reference path, achieved through a constant-jerk profile. This approach ensures a consistent rate of change in acceleration, facilitating smooth transitions and minimizing abrupt changes in lateral dynamics, crucial for passenger comfort and safety.
A sophisticated methodology is used for path generation, particularly focusing on maneuvers like lane changes and avoidance. At the core of this design is the smooth lateral shifting of the reference path, achieved through a constant-jerk profile. This approach ensures a consistent rate of change in acceleration, facilitating smooth transitions and minimizing abrupt changes in lateral dynamics, crucial for passenger comfort and safety.

The design involves complex mathematical formulations for calculating the lateral shift of the vehicle's path over time. These calculations include determining lateral displacement, velocity, and acceleration, while considering the vehicle's lateral acceleration and velocity limits. This is essential for ensuring that the vehicle's movements remain safe and manageable.

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