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| # Kinematic Evaluator | ||
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| TBD | ||
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| ## Parameters | ||
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| {{json_to_markdown("evaluator/kinematic_evaluator/schema/kinematic_evaluator.schema.json")}} |
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evaluator/kinematic_evaluator/schema/kinematic_evaluator.schema.json
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for kinematic_evaluator_node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "kinematic_evaluator_node": { | ||
| "type": "object", | ||
| "properties": { | ||
| "output_file": { | ||
| "type": "string", | ||
| "default": "kinematic_metrics.results", | ||
| "description": "Name of the file to which kinematic metrics are written. If empty, metrics are not written to a file." | ||
| }, | ||
| "selected_metrics": { | ||
| "type": "string", | ||
| "default": "velocity_stats", | ||
| "description": "The specific metrics selected for evaluation." | ||
| } | ||
| }, | ||
| "required": ["output_file", "selected_metrics"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/kinematic_evaluator_node" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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232 changes: 232 additions & 0 deletions
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planning/autoware_freespace_planner/schema/freespace_planner.schema.json
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for freespace_planner", | ||
| "type": "object", | ||
| "definitions": { | ||
| "freespace_planner_params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "planning_algorithm": { | ||
| "type": "string", | ||
| "enum": ["astar", "rrtstar"], | ||
| "default": "astar", | ||
| "description": "Planning algorithm to use, options: astar, rrtstar." | ||
| }, | ||
| "waypoints_velocity": { | ||
| "type": "number", | ||
| "default": 5.0, | ||
| "description": "velocity in output trajectory (currently, only constant velocity is supported." | ||
| }, | ||
| "update_rate": { | ||
| "type": "number", | ||
| "default": 10.0, | ||
| "description": "timer's update rate" | ||
| }, | ||
| "th_arrived_distance_m": { | ||
| "type": "number", | ||
| "default": 1.0, | ||
| "description": "Threshold for considering the vehicle has arrived at its goal." | ||
| }, | ||
| "th_stopped_time_sec": { | ||
| "type": "number", | ||
| "default": 1.0, | ||
| "description": "Time threshold for considering the vehicle as stopped." | ||
| }, | ||
| "th_stopped_velocity_mps": { | ||
| "type": "number", | ||
| "default": 0.01, | ||
| "description": "Velocity threshold for considering the vehicle as stopped." | ||
| }, | ||
| "th_course_out_distance_m": { | ||
| "type": "number", | ||
| "default": 1.0, | ||
| "description": "Threshold distance for considering the vehicle has deviated from its course." | ||
| }, | ||
| "vehicle_shape_margin_m": { | ||
| "type": "number", | ||
| "default": 1.0, | ||
| "description": "Margin around the vehicle shape for planning." | ||
| }, | ||
| "replan_when_obstacle_found": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "Replan path when an obstacle is found." | ||
| }, | ||
| "replan_when_course_out": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "Replan path when the vehicle deviates from its course." | ||
| }, | ||
| "time_limit": { | ||
| "type": "number", | ||
| "default": 30000.0, | ||
| "description": "Time limit for the planner." | ||
| }, | ||
| "max_turning_ratio": { | ||
| "type": "number", | ||
| "default": 0.5, | ||
| "description": "Maximum turning ratio, relative to the actual turning limit of the vehicle." | ||
| }, | ||
| "turning_steps": { | ||
| "type": "number", | ||
| "default": 1, | ||
| "description": "Number of steps for turning." | ||
| }, | ||
| "theta_size": { | ||
| "type": "number", | ||
| "default": 144, | ||
| "description": "Number of discretized angles for search." | ||
| }, | ||
| "angle_goal_range": { | ||
| "type": "number", | ||
| "default": 6.0, | ||
| "description": "Range of acceptable angles at the goal." | ||
| }, | ||
| "lateral_goal_range": { | ||
| "type": "number", | ||
| "default": 0.5, | ||
| "description": "Lateral range of acceptable goal positions." | ||
| }, | ||
| "longitudinal_goal_range": { | ||
| "type": "number", | ||
| "default": 2.0, | ||
| "description": "Longitudinal range of acceptable goal positions." | ||
| }, | ||
| "curve_weight": { | ||
| "type": "number", | ||
| "default": 0.5, | ||
| "description": "Weight for curves in the cost function." | ||
| }, | ||
| "reverse_weight": { | ||
| "type": "number", | ||
| "default": 1.0, | ||
| "description": "Weight for reverse movement in the cost function." | ||
| }, | ||
| "direction_change_weight": { | ||
| "type": "number", | ||
| "default": 1.5, | ||
| "description": "Weight for direction changes in the cost function." | ||
| }, | ||
| "obstacle_threshold": { | ||
| "type": "number", | ||
| "default": 100, | ||
| "description": "Threshold for considering an obstacle in the costmap." | ||
| }, | ||
| "astar": { | ||
| "type": "object", | ||
| "properties": { | ||
| "only_behind_solutions": { | ||
| "type": "boolean", | ||
| "default": false, | ||
| "description": "Consider only solutions behind the vehicle." | ||
| }, | ||
| "use_back": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "Allow reverse motion in A* search." | ||
| }, | ||
| "expansion_distance": { | ||
| "type": "number", | ||
| "default": 0.5, | ||
| "description": "Distance for expanding nodes in A* search." | ||
| }, | ||
| "distance_heuristic_weight": { | ||
| "type": "number", | ||
| "default": 1.0, | ||
| "description": "Weight for the distance heuristic in A* search." | ||
| }, | ||
| "smoothness_weight": { | ||
| "type": "number", | ||
| "default": 0.5, | ||
| "description": "Weight for the smoothness heuristic in A* search." | ||
| } | ||
| }, | ||
| "required": [ | ||
| "only_behind_solutions", | ||
| "use_back", | ||
| "expansion_distance", | ||
| "distance_heuristic_weight", | ||
| "smoothness_weight" | ||
| ] | ||
| }, | ||
| "rrtstar": { | ||
| "type": "object", | ||
| "properties": { | ||
| "enable_update": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "Enable updates in RRT*." | ||
| }, | ||
| "use_informed_sampling": { | ||
| "type": "boolean", | ||
| "default": true, | ||
| "description": "Use informed sampling in RRT*." | ||
| }, | ||
| "max_planning_time": { | ||
| "type": "number", | ||
| "default": 150.0, | ||
| "description": "Maximum planning time for RRT*." | ||
| }, | ||
| "neighbor_radius": { | ||
| "type": "number", | ||
| "default": 8.0, | ||
| "description": "Radius for neighboring nodes in RRT*." | ||
| }, | ||
| "margin": { | ||
| "type": "number", | ||
| "default": 0.1, | ||
| "description": "Margin for RRT* sampling." | ||
| } | ||
| }, | ||
| "required": [ | ||
| "enable_update", | ||
| "use_informed_sampling", | ||
| "max_planning_time", | ||
| "neighbor_radius", | ||
| "margin" | ||
| ] | ||
| } | ||
| }, | ||
| "required": [ | ||
| "planning_algorithm", | ||
| "waypoints_velocity", | ||
| "update_rate", | ||
| "th_arrived_distance_m", | ||
| "th_stopped_time_sec", | ||
| "th_stopped_velocity_mps", | ||
| "th_course_out_distance_m", | ||
| "vehicle_shape_margin_m", | ||
| "replan_when_obstacle_found", | ||
| "replan_when_course_out", | ||
| "time_limit", | ||
| "max_turning_ratio", | ||
| "turning_steps", | ||
| "theta_size", | ||
| "angle_goal_range", | ||
| "lateral_goal_range", | ||
| "longitudinal_goal_range", | ||
| "curve_weight", | ||
| "reverse_weight", | ||
| "direction_change_weight", | ||
| "obstacle_threshold", | ||
| "astar", | ||
| "rrtstar" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/freespace_planner_params" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |
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11
...utoware_behavior_path_planner_common/docs/behavior_path_planner_develop_maps.md
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| # Develop purpose maps | ||
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| ## road_shoulders | ||
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| The road_shoulders lanelet map consist of a variety of pick-up/drop-off site maps with road_shoulder tags including: | ||
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| - pick-up/drop-off sites on the side of street lanes | ||
| - pick-up/drop-off sites on the side of curved lanes | ||
| - pick-up/drop-off sites inside a private area | ||
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|  |
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...h_planner/autoware_behavior_path_planner_common/docs/road_shoulder_test_map.png
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