autoware_scenario_selector

scenario_selector_node

scenario_selector_node is a node that switches trajectories from each scenario.

Input topics

Name	Type	Description
~input/lane_driving/trajectory	autoware_planning_msgs::Trajectory	trajectory of LaneDriving scenario
~input/parking/trajectory	autoware_planning_msgs::Trajectory	trajectory of Parking scenario
~input/lanelet_map	autoware_map_msgs::msg::LaneletMapBin
~input/route	autoware_planning_msgs::LaneletRoute	route and goal pose
~input/odometry	nav_msgs::Odometry	for checking whether vehicle is stopped
is_parking_completed	bool (implemented as rosparam)	whether all split trajectory of Parking are published

Output topics

Name	Type	Description
~output/scenario	tier4_planning_msgs::Scenario	current scenario and scenarios to be activated
~output/trajectory	autoware_planning_msgs::Trajectory	trajectory to be followed

Output TFs

None

How to launch

1. Write your remapping info in scenario_selector.launch or add args when executing roslaunch
2. roslaunch autoware_scenario_selector scenario_selector.launch
   • If you would like to use only a single scenario, roslaunch autoware_scenario_selector dummy_scenario_selector_{scenario_name}.launch

Parameters

Name	Type	Description	Default	Range
update_rate	float	timer's update rate	10	≥0.0
th_max_message_delay_sec	float	threshold time of input messages' maximum delay	1	≥0.0
th_arrived_distance_m	float	threshold distance to check if vehicle has arrived at the trajectory's endpoint	1	≥0.0
th_stopped_time_sec	float	threshold time to check if vehicle is stopped	1	≥0.0
th_stopped_velocity_mps	float	threshold velocity to check if vehicle is stopped	0.01	≥0.0
enable_mode_switching	boolean	enable switching between scenario modes when ego is stuck in parking area	1	N/A

Flowchart