/qp_planner

Primary LanguageC++

Frenet Planner

How to build

  • colcon
    • colcon build --packages-up-to qp_planner
    • colcon build --packages-select qp_planner
  • catkin_make
    • catkin_make --pkg qp_planner

How to launch

  • From a sourced terminal:

    • roslaunch qp_planner qp_planner.launch
    • roslaunch qp_planner qp_planner.launch obstacle_radius_from_center_point:=2.0 linear_velocity_kmh:=5.0 only_testing_modified_global_path:=false min_radius:=1.6

Parameters

Launch file available parameters:

Parameter Type Description
initial_velocity_kmh Double Generate a trajectory which have this linear veocity at the first waypoint. Unit is kmh. Default 2.1.
velocity_kmh_before_obstalce Double Target decelerated velocity when confronting a obstale. Unit is kmh. Default 1.0.
distance_before_obstacle Double Target keep-away distance when facing a obstalce. Unit is m. Default 7.0.
obstalce_radius_from_center_point Double Radius using for collision check. Unit is m. Default 3.0.
min_latetal_referencing_offset_for_avoidance Double Minimum lateral offset for a reference point when performing an avoiding manuever. Unit is m. Default 5.0.
max_latetal_referencing_offset_for_avoidance Double Maximum lateral offset for a reference point when performing an avoiding manuever. Unit is m. Default 8.0.
cost_diff_waypoints_coef Double Coefficient for cost(running cost) calculation with reference waypoints. Scale from 0.0 to 1.0. Default 0.0.
cost_diff_last_waypoint_coef Double Coefficient for cost(terminal cost) calculation with last reference waypoint. Scale from 0.0 to 1.0. Default 1.0.
jerk_cost_coef Double Coefficient for cost calculation in terms of jerk. Scale from 0.0 to 1.0. Default 0.25.
required_time_cost_coef Double Coefficient for cost calculation in terms of required time. Scale from 0.0 to 1.0. Default 1.0.
comfort_accerelation_cost_coef Double Coefficient for cost calculation in terms of acceleration. Scale from 0.0 to 1.0. Default 0.0.
lookahead_distance_per_kmh_for_reference_point Double Ratio for deciding referece point based on current_velocity. Unit is m/kmh. Default 2.0.
converge_distance_per_kmh_for_stop Double Ratio for deciding a distance at which starting the deceleration for stop. Unit is m/kmh. Default 2.36.

Subscribed topics

Topic Type Objective
/current_pose geometry_msgs::PoseStamped WIP
/current_velocity geometry_msgs::TwistStamped WIP
/base_waypoints autoware_msgs::Lane WIP
/detection/lidar_detector/objects autoware_msgs::DetectedObjectArray WIP

Published topics

Topic Type Objective
/final_waypoints autoware_msgs::Lane WIP
/qp_planner_debug_markes visualization_msgs::MarkerArray WIP