Purpose / Use cases

This package provides a ROS2 node for the computational package parking_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.

Design

This is a wrapper around parking_planner. Its behavior can be controlled via single action, which is to plan a trajectory.

Assumptions / Known limits

See the parking_planner design documentation for more details.

Inputs / Outputs / API

Actions:

This node uses an action to control its behavior:

PlanParkingManeuver.action is used to plan a parking maneuver. It takes a while, and while it is running, it currently does not publish any updates. This is because the bulk of the computation happens in

The actions are defined the autoware_auto_msgs package.

Inputs:

Action call of type autoware_auto_msgs/action/PlanTrajectory

Outputs:

Response to the above action call, as well as publication of planned trajectories. One trajectory is published per action call.

Complexity

See parking_planner.

Security considerations

TBD by a security specialist.

Future extensions / Unimplemented parts

Proper tf support