Generate parking maneuver from last waypoint on drive-able road surface into parking stall (Parking Planner)
Description
Parkopedia and Embotech will coordinate and ensure that the Parking Planner (this issue), Lanelet2 Map Loader (#470 (closed)), and the Global Planner (#447 (closed)) fit together properly.
Parkopedia Tasks
A reference path that starts on the road near the starting point and ends on the road near the designated parking spot will be published by a node. This reference path should contain reasonably-spaced waypoints that include position, heading, and desired velocity. All sub-tasks for this task are tracked in #447 (closed).
Embotech Tasks
The planner will subscribe to a topic on which the reference path is produced. Once a reference path is published, the Parking Planner will perform a three-stage maneuver: Maneuver from the starting position to the start of the on-road reference (avoiding obstacles), follow the on-road reference to the end at a position near the parking spot, then maneuver into the parking spot avoiding obstacles.
Definition of Done
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Provide feedback and discussion on the map and global planning side in #447 (closed) -
Ensure that all the information for the planning side will be available -
Implement Parking Planner (#186 (closed)) -
Create stub architecture for Parking Planner (including design document) -
Implement actual planning code and tests -
Create ROS Wrapper Node to interface with Behavior Planner (#549 (closed)) -
Create documentation on using the Parking Planner
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