Path Planning

This repository contains the pathplanning package and messages for the Smarty project.

Usage

To use this package, clone the repository into your workspace and build it with colcon.

cd $ROS2_SMARTY_WORKSPACE_DIR/src
git clone https://github.com/DHBW-Smart-Rollerz/pathplanning.git
cd ..
colcon build --symlink-install --packages-select pathplanning

After building the package, you can source the workspace and run the nodes.

source install/setup.bash
ros2 launch pathplanning pathplanning.launch.py

Launch Arguments

The launch file accepts the following arguments:

• debug: Enable debug mode (default: false)
• params_file: Path to the ROS parameters file (default: ros_params.yaml in the config folder)

ROS Parameters

The package uses the following ROS parameters:

Subscribers

• lane_points_subscriber: Topic to subscribe to for receiving lane detection results.

  • Default: '/lane_detection/result'

• image_subscriber: Topic to subscribe to for receiving bird's eye view images.

  • Default: '/camera/birds_eye'

• state_machine_subscriber: Topic to subscribe to for receiving state machine debug information.

  • Default: '/state_machine/debug'

• state_machine_lane_subscriber: Topic to subscribe to for receiving right lane information from the state machine.

  • Default: '/rightLane'

• remote_state_subscriber: Topic to subscribe to for receiving remote state information.

  • Default: '/remoteState'

• targetSteeringAngle_pub: Topic to publish the target steering angle.

  • Default: '/targetSteeringAngle'

Publishers

• image_debug_publisher: Topic to publish debug images for path planning.

  • Default: '/pathplanning/debug_image'

• path_planning_right_publisher: Topic to publish the right lane coefficients for path planning.

  • Default: '/pathplanning/right_lane_coefficients'

• path_planning_left_publisher: Topic to publish the left lane coefficients for path planning.

  • Default: '/pathplanning/left_lane_coefficients'

• ref_point_publisher: Topic to publish the reference pose for the controller.

  • Default: '/controller/ref_pose'

Additional Parameters

• trj_look_forward: Number of points to look forward in the trajectory. This parameter should be adapted to speed and runtime.

  • Default: 100

• active: Boolean flag to indicate whether the node is active.

  • Default: True

License

This repository is licensed under the MIT license. See LICENSE for details.