scenario_selector

scenario_selector_node

scenario_selector_node is a node that switches trajectories from each scenario.

Input topics

Name	Type	Description
~input/lane_driving/trajectory	autoware_auto_planning_msgs::Trajectory	trajectory of LaneDriving scenario
~input/parking/trajectory	autoware_auto_planning_msgs::Trajectory	trajectory of Parking scenario
~input/lanelet_map	autoware_auto_mapping_msgs::HADMapBin
~input/route	autoware_planning_msgs::LaneletRoute	route and goal pose
~input/odometry	nav_msgs::Odometry	for checking whether vehicle is stopped
is_parking_completed	bool (implemented as rosparam)	whether all split trajectory of Parking are published

Output topics

Name	Type	Description
~output/scenario	tier4_planning_msgs::Scenario	current scenario and scenarios to be activated
~output/trajectory	autoware_auto_planning_msgs::Trajectory	trajectory to be followed

Output TFs

None

How to launch

1. Write your remapping info in scenario_selector.launch or add args when executing roslaunch
2. roslaunch scenario_selector scenario_selector.launch
   • If you would like to use only a single scenario, roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch

Parameters

Parameter	Type	Description
update_rate	double	timer's update rate
th_max_message_delay_sec	double	threshold time of input messages' maximum delay
th_arrived_distance_m	double	threshold distance to check if vehicle has arrived at the trajectory's endpoint
th_stopped_time_sec	double	threshold time to check if vehicle is stopped
th_stopped_velocity_mps	double	threshold velocity to check if vehicle is stopped

Flowchart

@startuml
title onTimer
start

:get current pose;

if (all input data are ready?) then (yes)
else (no)
  stop
endif

if (scenario is initialized?) then (yes)
else (no)
  :initialize scenario;
endif

:select scenario;

:publish scenario;

:extract scenario trajectory;

if (scenario trajectory is empty?) then (yes)
else (no)
  :publish trajectory;
endif

stop
@enduml

@startuml
title Scenario Transition
start

if (current_scenario is completed?\n()) then (yes)
else (no)
  stop
endif

' Empty
if (scenario is initialized?) then (yes)
else (no)
  if (is in lane?) then (yes)
    :set LaneDriving;
  else (no)
    :set Parking;
  endif

  stop
endif

' LaneDriving
if (current scenario is LaneDriving?) then (yes)
  if (is in parking lot & goal is not in lane?) then (yes)
    :set Parking;
    stop
  endif
endif

' Parking
if (current scenario is Parking?) then (yes)
  if (parking is completed and is in lane?) then (yes)
    :set LaneDriving;
    stop
  endif
endif

:continue previous scenario;

stop
@enduml