Autoware.Auto
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This package provides a ROS2 node for the computational package recordreplay_planner
. This is done to separate the computation part from the ROS2-specific part. See the computational part for a rationale of what the functionality is to be used for.
This is a wrapper around recordreplay_planner
. Its behavior can be controlled via actions. It can record the ego state of the vehicle and play back a set of recorded states at a later time. It does stop for obstacles, from BoundingBoxArray
, publsihed in any tf
frame that can transform to VehicleKinematicState
's frame.
This node assumes that the recorded states can be played back without any tf
changes. There is an open issue in https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/issues/265 to address this limitation.
See the recordreplay_planner
design documentation for more details.
Actions:
This node uses two actions to control its behavior:
RecordTrajectory.action
is used to record a trajectory. It runs until canceled. While the action is running, the node subscribes to a VehicleKinematicState.msg
topic by a provided name and records all states that are published on that topic.ReplayTrajectory.action
is used to replay a trajectory. It runs until canceled. While the action is running, the node subscribes to the same VehicleKinematicState.msg
topic as when recording. When messages are published on that topic, the node publishes a trajectory starting approximately at that point (see the recordreplay_planner
design documentation on how that point is determined).The actions are defined in a separate package, recordreplay_planner_actions
.
Inputs:
autoware_auto_msgs/msg/VehicleKinematicState
is the state used as recorded points for replaym, and also to prune starting point of replay trajectoryautoware_auto_msgs/msg/BoundingBoxArray
is list of bounding boxes of obstacle, that thre reaply trajectory stops for to avoid collision.Outputs:
autoware_auto_msgs/msg/Trajectory
is the trajectory that gets publishedSee recordreplay_planner
.
TBD by a security specialist.
tf
supporttf
properly