Motion Velocity Planner
Overview
motion_velocity_planner
is a planner to adjust the trajectory velocity based on the obstacles around the vehicle.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
![Architecture](docs/MotionVelocityPlanner-InternalInterface.drawio.svg)
Each module calculates stop and slow down points to be inserted in the ego trajectory.
These points are assumed to correspond to the base_link
frame of the ego vehicle as it follows the trajectory.
This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.
![set_stop_velocity](docs/set_stop_velocity.drawio.svg)
Name |
Type |
Description |
~/input/trajectory |
autoware_planning_msgs::msg::Trajectory |
input trajectory |
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin |
vector map |
~/input/vehicle_odometry |
nav_msgs::msg::Odometry |
vehicle position and velocity |
~/input/accel |
geometry_msgs::msg::AccelWithCovarianceStamped |
vehicle acceleration |
~/input/dynamic_objects |
autoware_perception_msgs::msg::PredictedObjects |
dynamic objects |
~/input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 |
obstacle pointcloud |
~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
traffic light states |
~/input/virtual_traffic_light_states |
tier4_v2x_msgs::msg::VirtualTrafficLightStateArray |
virtual traffic light states |
~/input/occupancy_grid |
nav_msgs::msg::OccupancyGrid |
occupancy grid |
Output topics
Name |
Type |
Description |
~/output/trajectory |
autoware_planning_msgs::msg::Trajectory |
Ego trajectory with updated velocity profile |
~/output/velocity_factors |
autoware_adapi_v1_msgs::msg::VelocityFactorsArray |
factors causing change in the ego velocity profile |
Services
Name |
Type |
Description |
~/service/load_plugin |
autoware_motion_velocity_planner_node::srv::LoadPlugin |
To request loading a plugin |
~/service/unload_plugin |
autoware_motion_velocity_planner_node::srv::UnloadPlugin |
To request unloaded a plugin |
Node parameters
Parameter |
Type |
Description |
launch_modules |
vector\<string> |
module names to launch |
In addition, the following parameters should be provided to the node: