autoware_scenario_selector
scenario_selector_node
scenario_selector_node
is a node that switches trajectories from each scenario.
Name |
Type |
Description |
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory |
trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory |
trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin |
|
~input/route |
autoware_planning_msgs::LaneletRoute |
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_planning_msgs::Trajectory |
trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launch
or add args when executing roslaunch
roslaunch autoware_scenario_selector scenario_selector.launch
- If you would like to use only a single scenario,
roslaunch autoware_scenario_selector dummy_scenario_selector_{scenario_name}.launch
Parameters
Name |
Type |
Description |
Default |
Range |
update_rate |
float |
timer's update rate |
10 |
≥0.0 |
th_max_message_delay_sec |
float |
threshold time of input messages' maximum delay |
1 |
≥0.0 |
th_arrived_distance_m |
float |
threshold distance to check if vehicle has arrived at the trajectory's endpoint |
1 |
≥0.0 |
th_stopped_time_sec |
float |
threshold time to check if vehicle is stopped |
1 |
≥0.0 |
th_stopped_velocity_mps |
float |
threshold velocity to check if vehicle is stopped |
0.01 |
≥0.0 |
enable_mode_switching |
boolean |
enable switching between scenario modes when ego is stuck in parking area |
1 |
N/A |
Flowchart
![uml diagram](data:image/svg+xml;base64,<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentStyleType="text/css" height="684px" preserveAspectRatio="none" style="width:249px;height:684px;background:#FFFFFF;" version="1.1" viewBox="0 0 249 684" width="249px" zoomAndPan="magnify"><title>onTimer</title><defs/><g><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacing" textLength="64.9209" x="90.8396" y="32.9951">onTimer</text><ellipse cx="112.2468" cy="57.2969" fill="#222222" rx="10" ry="10" style="stroke:#222222;stroke-width:1.0;"/><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" style="stroke:#181818;stroke-width:0.5;" width="119.6914" x="52.4011" y="87.2969"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="99.6914" x="62.4011" y="108.4355">get current pose</text><polygon fill="#F1F1F1" 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font-family="sans-serif" font-size="12" lengthAdjust="spacing" textLength="104.6309" x="59.9314" y="266.5171">initialize scenario</text><polygon fill="#F1F1F1" points="51.7388,196.9761,172.7549,196.9761,184.7549,208.9761,172.7549,220.9761,51.7388,220.9761,39.7388,208.9761,51.7388,196.9761" style="stroke:#181818;stroke-width:0.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="13.7017" x="116.2468" y="231.1865">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="121.0161" x="51.7388" y="212.7842">scenario is initialized?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="19.0083" x="184.7549" y="206.3818">yes</text><polygon fill="#F1F1F1" points="112.2468,299.3472,124.2468,311.3472,112.2468,323.3472,100.2468,311.3472,112.2468,299.3472" style="stroke:#181818;stroke-width:0.5;"/><rect fill="#F1F1F1" height="33.9688" rx="12.5" ry="12.5" 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![uml diagram](data:image/svg+xml;base64,<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentStyleType="text/css" height="996px" preserveAspectRatio="none" style="width:296px;height:996px;background:#FFFFFF;" version="1.1" viewBox="0 0 296 996" width="296px" zoomAndPan="magnify"><title>Scenario Transition</title><defs/><g><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacing" textLength="153.5625" x="69.8689" y="32.9951">Scenario Transition</text><ellipse cx="134.1501" cy="57.2969" fill="#222222" rx="10" ry="10" style="stroke:#222222;stroke-width:1.0;"/><polygon fill="#F1F1F1" points="48.0676,87.2969,220.2327,87.2969,232.2327,100.1016,220.2327,112.9063,48.0676,112.9063,36.0676,100.1016,48.0676,87.2969" style="stroke:#181818;stroke-width:0.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacing" textLength="19.0083" x="138.1501" y="123.1167">yes</text><text 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