This is the design document for the lane_planner_nodes package.

Purpose / Use cases

The LanePlannerNode is a ROS wrapper class for lane_planner.

Design

This inherits TrajectoryPlannerNodeBase class which defines common interface among different planners.

Implemented virtual functions:

• create_map_request: currently it requests for full map since have no way of knowing the size of map that includes all given map_primitive in the route.
• plan_trajectory: passes the input to LanePlanner class to plan trajectory.

Assumptions / Known limits

Inputs / Outputs / API

See TrajectoryPlannerNodeBase for inputs and outputs

Inner-workings / Algorithms

Error detection and handling

Security considerations

References / External links

Future extensions / Unimplemented parts

• reimplement createMapRequest function with planning_window size.

Related issues