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fix type in the debug subsection
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@zulfaqar-azmi-t4
zulfaqar-azmi-t4 committed Nov 14, 2023
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20 changes: 10 additions & 10 deletions planning/behavior_path_planner/README.md
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Expand Up @@ -114,15 +114,15 @@ The Planner Manager's responsibilities include:

### 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` |
| Name | Type | Description | QoS Durability |
| :-------------------------------------- | :-------------------------------------------------- | :---------------------------------------------------------------------------------------- | -------------- |
| ~/debug/avoidance_debug_message_array | `tier4_planning_msgs::msg::AvoidanceDebugMsgArray` | debug message for avoidance. notify users reasons for avoidance path cannot be generated. | `volatile` |
| ~/debug/lane_change_debug_message_array | `tier4_planning_msgs::msg::LaneChangeDebugMsgArray` | debug message for lane change. notify users unsafe reason during lane changing process | `volatile` |
| ~/debug/maximum_drivable_area | `visualization_msgs::msg::MarkerArray` | shows maximum static drivable area. | `volatile` |
| ~/debug/turn_signal_info | `visualization_msgs::msg::MarkerArray` | TBA | `volatile` |
| ~/debug/bound | `visualization_msgs::msg::MarkerArray` | debug for static drivable area | `volatile` |
| ~/planning/path_candidate/\* | `autoware_auto_planning_msgs::msg::Path` | the path before approval. | `volatile` |
| ~/planning/path_reference/\* | `autoware_auto_planning_msgs::msg::Path` | reference path generated by each modules. | `volatile` |

!!! note

Expand Down Expand Up @@ -151,7 +151,7 @@ Static drivable area expansion operates under assumptions about the correct arra

!!! note

Click [here](./docs/behavior_path_planner_drivable_area_design.md) for details.
Further details can is provided in [Drivable Area Design](./docs/behavior_path_planner_drivable_area_design.md).

### Dynamic Drivable Area Algorithm

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