Integrate RecordReplay planner with the LGSVL
Description
It should be possible to use the RecordReplay planner from LGSVL: One should be able to record a manually driven trajectory (by triggering recording), then either automatically (preferred) or manually reset the position and trigger a replay of the trajectory (that the MPC controller should then follow).
I would be happy to collaborate on this, but it would be good if someone more versed with ROS2 and Autoware could take the lead on the integration work itself.
Purpose
The idea of this feature is to make it possible to test various scenarios for the controller interactively at first, but then also non-interactively in integration tests once the RecordReplay planner gains the ability to play back from a rosbag2 file.
Desired Behavior
There should be controls within the simulator (a keybinding or a button, for example) to:
- Trigger recording
- Stop recording
- (Reset position, if that is automatically possible)
- Trigger replay
- Stop replay In replay mode, it would be desirable to feed the replayed trajectory to the MPC controller, so this is somewhat related to #208 (closed).
Definition of Done
-
(Figure out if/how ROS actions can be triggered from LGSVL) -
Add controls for the above-mentioned actions to controller -
Add some notes on how the feature is to be used (@smerkli-embotech can do that)