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.
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.
Input topics#
| 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/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:
- nearest search parameters;
- vehicle info parameters;
- common planning parameters;
- smoother parameters
- Parameters of each plugin that will be loaded.