scenario_selector

scenario_selector_node

scenario_selector_node is a node that switches trajectories from each scenario.

Input topics

Name	Type	Description
~input/lane_driving/trajectory	autoware_auto_planning_msgs::Trajectory	trajectory of LaneDriving scenario
~input/parking/trajectory	autoware_auto_planning_msgs::Trajectory	trajectory of Parking scenario
~input/lanelet_map	autoware_auto_mapping_msgs::HADMapBin
~input/route	autoware_auto_planning_msgs::HADMapRoute	route and goal pose
~input/odometry	nav_msgs::Odometry	for checking whether vehicle is stopped
is_parking_completed	bool (implemented as rosparam)	whether all split trajectory of Parking are published

Output topics

Name	Type	Description
~output/scenario	tier4_planning_msgs::Scenario	current scenario and scenarios to be activated
~output/trajectory	autoware_auto_planning_msgs::Trajectory	trajectory to be followed

Output TFs

None

How to launch

1. Write your remapping info in scenario_selector.launch or add args when executing roslaunch
2. roslaunch scenario_selector scenario_selector.launch
   • If you would like to use only a single scenario, roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch

Parameters

Parameter	Type	Description
update_rate	double	timer's update rate
th_max_message_delay_sec	double	threshold time of input messages' maximum delay
th_arrived_distance_m	double	threshold distance to check if vehicle has arrived at the trajectory's endpoint
th_stopped_time_sec	double	threshold time to check if vehicle is stopped
th_stopped_velocity_mps	double	threshold velocity to check if vehicle is stopped

Flowchart