From 07c62c108dcf4f528996c92dec0d22c9b9129e3c Mon Sep 17 00:00:00 2001 From: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Date: Thu, 9 Jan 2025 18:13:28 +0900 Subject: [PATCH] docs(simple_pure_pursuit): add README (#2) * add parameter description Signed-off-by: mitukou1109 * add README Signed-off-by: mitukou1109 --------- Signed-off-by: mitukou1109 --- .../autoware_simple_pure_pursuit/README.md | 24 ++++++++++ .../schema/simple_pure_pursuit.schema.json | 44 +++++++++++++++++++ 2 files changed, 68 insertions(+) create mode 100644 control/autoware_simple_pure_pursuit/README.md create mode 100644 control/autoware_simple_pure_pursuit/schema/simple_pure_pursuit.schema.json diff --git a/control/autoware_simple_pure_pursuit/README.md b/control/autoware_simple_pure_pursuit/README.md new file mode 100644 index 00000000..ef9343dc --- /dev/null +++ b/control/autoware_simple_pure_pursuit/README.md @@ -0,0 +1,24 @@ +# Simple Pure Pursuit + +The `simple_pure_pursuit` node receives a reference trajectory from `motion_velocity_smoother` and calculates the control command using the pure pursuit algorithm. + +## Flowchart + +![Flowchart](https://www.plantuml.com/plantuml/png/LOuxSWCn28PxJa5fNy5Rn4NkiKCaB3D1Q4T2XMyVeZZEH8q6_iV7TJXrdrN1nPMnsUvIkSFQ0roSFlcTd3QG6vvaO8u1ErD-l9tHxsnuUl0u0-jWG1pU3c3BSWCelSq3KvYTzzJCUzFuQoNBOVqk32tTEMDffF_xCDxbc1yguxvQyPdSbhGuY3-aS2RIj6kp8Zwp6EalS7kfmvcxMDd9Yl86aSLr8i0Bz0pziM21hk6TLRy0) + +## Input topics + +| Name | Type | Description | +| :------------------- | :------------------------------------------ | :------------------------------- | +| `~/input/odometry` | `nav_msgs::msg::Odometry` | ego odometry | +| `~/input/trajectory` | `autoware_planning_msgs::msg::Trajectory` | reference trajectory | + +## Output topics + +| Name | Type | Description | QoS Durability | +| :------------------------- | :------------------------------------ | :-------------- | :------------- | +| `~/output/control_command` | `autoware_control_msgs::msg::Control` | control command | `volatile` | + +## Parameters + +{{ json_to_markdown("control/autoware_simple_pure_pursuit/schema/simple_pure_pursuit.schema.json") }} \ No newline at end of file diff --git a/control/autoware_simple_pure_pursuit/schema/simple_pure_pursuit.schema.json b/control/autoware_simple_pure_pursuit/schema/simple_pure_pursuit.schema.json new file mode 100644 index 00000000..76b353fa --- /dev/null +++ b/control/autoware_simple_pure_pursuit/schema/simple_pure_pursuit.schema.json @@ -0,0 +1,44 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Simple Pure Pursuit Node", + "type": "object", + "definitions": { + "autoware_simple_pure_pursuit": { + "type": "object", + "properties": { + "lookahead_gain": { + "type": "number", + "description": "Gain for lookahead distance calculation: {lookahead distance} = lookahead_gain * {target velocity} + lookahead_min_distance", + "minimum": 0.0 + }, + "lookahead_min_distance": { + "type": "number", + "description": "Minimum lookahead distance [m]", + "minimum": 0.0 + }, + "speed_proportional_gain": { + "type": "number", + "description": "Gain for longitudinal acceleration calculation: {longitudinal acceleration} = speed_proportional_gain * ({target velocity} - {current velocity})", + "minimum": 0.0 + }, + "use_external_target_vel": { + "type": "boolean", + "description": "Whether to use external target velocity" + }, + "external_target_vel": { + "type": "number", + "description": "External target velocity [m/s]", + "minimum": 0.0 + } + }, + "required": [ + "lookahead_gain", + "lookahead_min_distance", + "speed_proportional_gain", + "use_external_target_vel", + "external_target_vel" + ], + "additionalProperties": false + } + } +}