Path Generator#
The path_generator node receives a route from mission_planner and converts the center line into a path.
If the route has waypoints set, it generates a path passing through them.
This package is a simple alternative of behavior_path_generator.
Path generation#
When input data is ready, it first searches for the lanelet closest to the vehicle.
If found, it gets the lanelets within a distance of backward_path_length behind and forward_path_length in front.
Their center lines are concatenated to generate a path.
If waypoints exist in the route, it replaces the overlapped segment of the center line with them. The overlap interval is determined as shown in the following figure.
Flowchart#
Input topics#
| Name | Type | Description |
|---|---|---|
~/input/odometry |
nav_msgs::msg::Odometry |
ego pose |
~/input/vector_map |
autoware_map_msgs::msg::LaneletMapBin |
vector map information |
~/input/route |
autoware_planning_msgs::msg::LaneletRoute |
current route from start to goal |
Output topics#
| Name | Type | Description | QoS Durability |
|---|---|---|---|
~/output/path |
autoware_internal_planning_msgs::msg::PathWithLaneId |
generated path | volatile |
Parameters#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| planning_hz | float | Planning frequency [Hz] | 10 | ≥0.0 |
| backward_path_length | float | Length of generated path behind vehicle [m] | 5 | ≥0.0 |
| forward_path_length | float | Length of generated path in front of vehicle [m] | 300 | ≥0.0 |
| waypoint_group_separation_threshold | float | Maximum distance at which consecutive waypoints are considered to belong to the same group [m] | 1 | ≥0.0 |
| waypoint_group_interval_margin_ratio | float | Ratio for determining length of switching section from centerline to waypoints | 10 | ≥0.0 |