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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:

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.

ros2 run autoware_route_client route_client.py <path_to_yaml_file>