From 93ba58edf74ab27f5f885b4aec66747610cc5ebb Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Thu, 9 Nov 2023 13:38:04 +0900 Subject: [PATCH] Tiled image Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_planner/README.md | 49 ++-- .../image/behavior_modules.svg | 269 ------------------ .../image/checking_module_transition.png | Bin 0 -> 46021 bytes .../image/supported_module_avoidance.svg | 58 ++++ ...ported_module_avoidance_by_lane_change.svg | 58 ++++ .../image/supported_module_goal_planner.svg | 57 ++++ .../image/supported_module_lane_change.svg | 39 +++ .../image/supported_module_lane_following.svg | 48 ++++ .../image/supported_module_start_planner.svg | 48 ++++ 9 files changed, 337 insertions(+), 289 deletions(-) delete mode 100644 planning/behavior_path_planner/image/behavior_modules.svg create mode 100644 planning/behavior_path_planner/image/checking_module_transition.png create mode 100644 planning/behavior_path_planner/image/supported_module_avoidance.svg create mode 100644 planning/behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg create mode 100644 planning/behavior_path_planner/image/supported_module_goal_planner.svg create mode 100644 planning/behavior_path_planner/image/supported_module_lane_change.svg create mode 100644 planning/behavior_path_planner/image/supported_module_lane_following.svg create mode 100644 planning/behavior_path_planner/image/supported_module_start_planner.svg diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md index 352f46444b812..37a8946328acb 100644 --- a/planning/behavior_path_planner/README.md +++ b/planning/behavior_path_planner/README.md @@ -8,13 +8,11 @@ The `behavior_path_planner` module is responsible to generate 2. **drivable area** that the vehicle can move (defined in the path msg), 3. **turn signal** command to be sent to the vehicle interface. -## Design +## Features -### Scene modules design +### Supported Scene Modules -#### Support modules - -Behavior path planner has following scene modules. +Behavior Path Planner has following scene modules. | Name | Description | Details | | :----------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------- | @@ -28,17 +26,27 @@ Behavior path planner has following scene modules. | Goal Planner | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](./docs/behavior_path_planner_start_planner_design.md) | | Side Shift | (for remote control) shift the path to left or right according to an external instruction. | [LINK](./docs/behavior_path_planner_side_shift_design.md) | -![behavior_modules](./image/behavior_modules.svg) - -All scene modules are implemented by inheriting base class `scene_module_interface.hpp`. + + + + + + + + + + + +
Lane Following ModuleAvoidance ModuleAvoidance by Lane Change Module
Lane Change ModuleStart Planner ModuleGoal Planner Module
-#### How to implement new module? +Users can refer to [Planning component design](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/#supported-functions) for some additional behavior. -WIP +#### How to add or implement new module? ---- +All scene modules are implemented by inheriting base class `scene_module_interface.hpp`. +The remainder of this subsection is work in progress (WIP). -### Planner Manager design +### Planner Manager The Planner Manager's responsibilities include: @@ -70,14 +78,15 @@ For more in-depth information, refer to [Manager design](https://autowarefoundat ### Output -| Name | Type | Description | -| :-------------------------- | :------------------------------------------------------- | :--------------------------------------------------------------------------------------------- | -| ~/input/path | `autoware_auto_planning_msgs::msg::PathWithLaneId` | the path generated by modules. | -| ~/input/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. | -| ~/input/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command. | -| ~/input/hazard_lights_cmd | `tier4_planning_msgs::msg::PathChangeModuleArray` | hazard lights command. | -| ~/input/ready_module | `tier4_planning_msgs::msg::PathChangeModule` | (for remote control) modules that are ready to be executed. | -| ~/input/running_modules | `tier4_planning_msgs::msg::PathChangeModuleArray` | (for remote control) current running module. | +| Name | Type | Description | QoS | +| :--------------------------- | :------------------------------------------------------- | :--------------------------------------------------------------------------------------------- | --- | +| ~/output/path | `autoware_auto_planning_msgs::msg::PathWithLaneId` | the path generated by modules. | | +| ~/output/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command. | | +| ~/output/hazard_lights_cmd | `tier4_planning_msgs::msg::PathChangeModuleArray` | hazard lights command. | | +| ~/output/turn_indicators_cmd | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand` | turn indicators command. | | +| ~/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. | | +| ~/output/ready_module | `tier4_planning_msgs::msg::PathChangeModule` | (for remote control) modules that are ready to be executed. | | +| ~/output/running_modules | `tier4_planning_msgs::msg::PathChangeModuleArray` | (for remote control) current running module. | | ## General features of behavior path planner diff --git a/planning/behavior_path_planner/image/behavior_modules.svg b/planning/behavior_path_planner/image/behavior_modules.svg deleted file mode 100644 index f76632c8d0a87..0000000000000 --- a/planning/behavior_path_planner/image/behavior_modules.svg +++ /dev/null @@ -1,269 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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