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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#

uml diagram

uml diagram

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