From 257f91b46aaa2aea406e8088cc4d474dad70db25 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Wed, 8 Nov 2023 15:33:41 +0900 Subject: [PATCH] update documentation Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_planner/README.md | 32 +++++++++++++----------- 1 file changed, 17 insertions(+), 15 deletions(-) diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md index cebd4ab75cdef..ef505c4420a98 100644 --- a/planning/behavior_path_planner/README.md +++ b/planning/behavior_path_planner/README.md @@ -80,24 +80,26 @@ set(COMPILE_WITH_OLD_ARCHITECTURE TRUE) # <- HERE ### input -#### Mandatory - -| Name | Type | Description | -| :------------------------- | :----------------------------------------------------- | :------------------------------------------------------------------------------------ | -| ~/input/odometry | `nav_msgs::msg::Odometry` | for ego velocity. | -| ~/input/accel | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. | -| ~/input/objects | `autoware_auto_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. | -| ~/input/occupancy_grid_map | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. | -| ~/input/traffic_signals | `autoware_perception_msgs::msg::TrafficSignalArray` | traffic signals information from the perception module | -| ~/input/lateral_offset | `tier4_planning_msgs::msg::LateralOffset` | lateral offset from the | -| ~/input/vector_map | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map information. | -| ~/input/route | `autoware_auto_mapping_msgs::msg::LaneletRoute` | current route from start to goal. | +| Name | Type | Description | Required? | +|:---------------------------|:-------------------------------------------------------|:--------------------------------------------------------------------------------------|-----------| +| ~/input/odometry | `nav_msgs::msg::Odometry` | for ego velocity. | ○ | +| ~/input/accel | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. | ○ | +| ~/input/objects | `autoware_auto_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. | ○ | +| ~/input/occupancy_grid_map | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. | ○ | +| ~/input/traffic_signals | `autoware_perception_msgs::msg::TrafficSignalArray` | traffic signals information from the perception module | ○ | +| ~/input/vector_map | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map information. | ○ | +| ~/input/route | `autoware_auto_mapping_msgs::msg::LaneletRoute` | current route from start to goal. | ○ | +| ~/input/scenario | `tier4_planning_msgs::msg::Scenario` | | ○ | +| ~/input/lateral_offset | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift | △ | +○ Mandatory △ Optional #### Optional -| Name | Type | Description | -| :--------------------- | :---------------------------------------- | :---------------------- | -| ~/input/lateral_offset | `tier4_planning_msgs::msg::LateralOffset` | lateral offset from the | +The following inputs are not needed + +| Name | Type | Description | +| :--------------------- | :---------------------------------------- | :----------------------------------- | +| ~/input/lateral_offset | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift | ## General features of behavior path planner