obstacle_collision_checker#
Purpose#
obstacle_collision_checker is a module to check obstacle collision for predicted trajectory and publish diagnostic errors if collision is found.
Inner-workings / Algorithms#
Flow chart#
Algorithms#
Check data#
Check that obstacle_collision_checker receives no ground pointcloud, predicted_trajectory, reference trajectory, and current velocity data.
Diagnostic update#
If any collision is found on predicted path, this module sets ERROR level as diagnostic status else sets OK.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
~/input/trajectory |
autoware_planning_msgs::msg::Trajectory |
Reference trajectory |
~/input/trajectory |
autoware_planning_msgs::msg::Trajectory |
Predicted trajectory |
/perception/obstacle_segmentation/pointcloud |
sensor_msgs::msg::PointCloud2 |
Pointcloud of obstacles which the ego-vehicle should stop or avoid |
/tf |
tf2_msgs::msg::TFMessage |
TF |
/tf_static |
tf2_msgs::msg::TFMessage |
TF static |
Output#
| Name | Type | Description |
|---|---|---|
~/debug/marker |
visualization_msgs::msg::MarkerArray |
Marker for visualization |
Parameters#
| Name | Type | Description | Default value |
|---|---|---|---|
delay_time |
double |
Delay time of vehicle [s] | 0.3 |
footprint_margin |
double |
Foot print margin [m] | 0.0 |
max_deceleration |
double |
Max deceleration for ego vehicle to stop [m/s^2] | 2.0 |
resample_interval |
double |
Interval for resampling trajectory [m] | 0.3 |
search_radius |
double |
Search distance from trajectory to point cloud [m] | 5.0 |
Assumptions / Known limits#
To perform proper collision check, it is necessary to get probably predicted trajectory and obstacle pointclouds without noise.