Port behavior_velocity_planner from Tier IV Reference Architecture
Description
This issue is a part of #1166
behavior_velocity_planner
TierIV Autoware Architecture Proposal (T4AAP)
Package repository from T4AAP: https://github.com/tier4/AutowareArchitectureProposal.iv/tree/sync-with-internal-main/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
There you can find more information about the package.
Here are the Subs/Pubs list original repository.
I am putting them with their full names and no explanation what they are used for, they are described in the original README.md file.
When I'm done with the porting, I will update, simplify and explain them more clearly.
Subscribers
[awapi/traffic_light/put/traffic_light_status]: autoware_perception_msgs/msg/TrafficLightStateArray
[localization/twist]: geometry_msgs/msg/TwistStamped
[map/vector_map]: autoware_lanelet2_msgs/msg/MapBin
[perception/object_recognition/objects]: autoware_perception_msgs/msg/DynamicObjectArray
[perception/traffic_light_recognition/traffic_light_states]: autoware_perception_msgs/msg/TrafficLightStateArray
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states]: autoware_api_msgs/msg/CrosswalkStatus
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states]: autoware_api_msgs/msg/IntersectionStatus
[planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id]: autoware_planning_msgs/msg/PathWithLaneId
[sensing/lidar/no_ground/pointcloud]: sensor_msgs/msg/PointCloud2
Publishers
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot]: visualization_msgs/msg/MarkerArray
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk]: visualization_msgs/msg/MarkerArray
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area]: visualization_msgs/msg/MarkerArray
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection]: visualization_msgs/msg/MarkerArray
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path]: visualization_msgs/msg/MarkerArray
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line]: visualization_msgs/msg/MarkerArray
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light]: visualization_msgs/msg/MarkerArray
[planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/output/stop_reason]: diagnostic_msgs/msg/DiagnosticStatus
[planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_light_state]: autoware_perception_msgs/msg/LookingTrafficLightState
[planning/scenario_planning/lane_driving/behavior_planning/path]: autoware_planning_msgs/msg/Path
[planning/scenario_planning/status/stop_reasons]: autoware_planning_msgs/msg/StopReasonArray
Purpose
So that Autoware.Auto can have a velocity planner. And the car can react to various HD-Map elements using this velocity planner.
Desired Behavior
- It receives a path.
- Applies slow down constraints based on vector-map related rules such as:
- Crosswalk
- Detection Area (There are obstacles in places defined in HD map)
- Intersection
- Stop Line
- Traffic Light (After Cargo ODD)
- It publishes a trajectory with these velocity constraints applied.
Definition of Done
-
Create the skeleton package. -
Port basic functionality. -
Write simple tests for it. -
After @mitsudome-r's part is finished ( lane_change_planner
I think), test it with its outputs.
Edited by Mehmet Doğru