From b5b8728a4889ada0d4e9c45e9314a84dbf33253d Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Tue, 14 Nov 2023 13:03:52 +0900 Subject: [PATCH] fix type in the debug subsection --- planning/behavior_path_planner/README.md | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md index 5ac934ff42f62..b0ef8b059283e 100644 --- a/planning/behavior_path_planner/README.md +++ b/planning/behavior_path_planner/README.md @@ -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 @@ -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