Resolve "Create dummy trajectory spoofer"
Description
It generates dummy trajectories, that can be used for testing of the controller.
Can be launched by the command
ros2 launch trajectory_spoofer trajectory_spoofer.launch.py
- For more details, see the issue #233 (closed).
Notes for Reviewer
- Can generate only 2 types of trajectories, straight and circle as shown in #233 (closed)
- Does not implement ramp-up to target velocity and directly applies target velocity
- can launch with controller but does not work properly
ros2 launch autoware_auto_avp_demo integration_trajectory_spoof_mpc_control_lgsvl.launch.py
- left/right variation of circle not implemented
- Many other standard testing trajectories like curvature, figure of eight, sine wave can be added later but not implement here.
Checklist
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Documentation was updated
Edited by Joshua Whitley