Route Client#
This package contains a tool to send request to set route.
Usage#
Prepare a route file#
Prepare a YAML file containing route information. The file format is like following:
yaml
goal:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
segments:
- preferred:
id: 0
type: lane
alternatives:
- id: 1
type: lane
- preferred:
id: 2
type: lane
alternatives: []
- preferred:
id: 3
type: lane
alternatives:
- id: 4
type: lane
Send request to set route#
Execute following command.
bash
ros2 run autoware_route_client route_client.py <path_to_yaml_file>