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_auto_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.