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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.

Architecture

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.

set_stop_velocity

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/planning_factors/<MODULE_NAME> tier4_planning_msgs::msg::PlanningFactorsArray factors causing change in the ego velocity profile

Services#

Name Type Description
~/service/load_plugin autoware_motion_velocity_planner_node_universe::srv::LoadPlugin To request loading a plugin
~/service/unload_plugin autoware_motion_velocity_planner_node_universe::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: