Enable backward driving
Description
The basic node that handles planning / control is changed to enable backward driving.
Implementation considerations
Prerequisites
(1) Format of backward waypoints
- The index is ascending with respect to the direction of travel (same as forward waypoints)
- The posture is the front direction of the vehicle at each point (opposite to forward waypoints)
- The velocity at each point has a negative value.
(2) Format of vehicle_cmd in the backward direction
- The sign of velocity and acceleration is positive in the front direction of the vehicle.
Implementation
The following is a list of changes.
- core_planning
- planner
- Add driving direction search function to each nodes where the driving direction is an important factor.
- Change velocity calculation method to support negative velocity.
- controller
- Add shift change function.
- planner
- core_perception
- localizer, can_status_translator
- Apply negative velocity as localization result.
- localizer, can_status_translator
- awf_driver, simulator, vehicle_socket
- vehicle_driver
- Apply negative velocity as input and output.
- vehicle_driver
Additional information
The progress of each node is managed as follows. Please add if necessary.
- autoware/common
-
libwaypoint_follower common!29 (merged)
-
- autoware/core_perception
-
ndt_matching (merged before v1.12) -
can_status_translator (merged before v1.12)
-
- autoware/core_planning
-
waypoint_loader -
waypoint_replanner !24 (merged) -
lane_rule !22 (merged) -
lane_stop -
lane_select !21 (merged) -
astar_avoid !52 (merged) , !53 (closed) -
astar_navi !53 (closed) -
velocity_set !23 (merged) -
pure_pursuit !25 (merged) -
mpc_follower -
twist_filter -
twist_gate !43 (closed) , !42 (closed)
-
- autoware/simulation
-
wf_simulator
-
- driver/awf_drivers
- utilities/vehicle_socket
-
vehicle_sender utilities!43 (closed)
-
Edited by Joshua Whitley