Autoware.Auto
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This is the design document for the trajectory_spoofer
package.
This package provides a ROS2 node and class for generating trajectories that can be used for testing as a replacement for motion planning. This is done to be able test components that need a valid trajectory without being dependent on a motion planner or localization. Additionally, this module gives control over the type of trajectory generated and provides repeatability, unlike using a motion planner.
This package is intended to be used to test a controller in simulation only.
This node listens to a vehicle state and uses the first position received as the starting point in the trajectory. Based on parameters, the node uses the trajectory_spoofer
class to generate a trajectory. Trajectories are based on simple geometric patterns like a straight line or circle.
Trajectory will use the same TF frame as the incoming state message.
Parameters:
trajectory_type
='straight'trajectory_type
='circle'Inputs:
autoware_auto_msgs/msg/VehicleKinematicState
is the state that is set as the starting point and also triggers trajectory publishingOutputs:
autoware_auto_msgs/msg/Trajectory
is the trajectory that gets publishedLaunch:
$ros2 launch trajectory_spoofer trajectory_spoofer.launch.py
Not meant for production use.
Not meant for production use, only for limited testing and only in simulation.