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autoware_path_distance_calculator#

Purpose#

This node publishes a distance from the closest path point from the self-position to the end point of the path. Note that the distance means the arc-length along the path, not the Euclidean distance between the two points.

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

Name Type Description
/planning/scenario_planning/lane_driving/behavior_planning/path autoware_planning_msgs::msg::Path Reference path
/tf tf2_msgs/TFMessage TF (self-pose)

Output#

Name Type Description
~/distance tier4_debug_msgs::msg::Float64Stamped Publish a distance from the closest path point from the self-position to the end point of the path[m]

Parameters#

Node Parameters#

None.

Core Parameters#

None.

Assumptions / Known limits#

TBD.