{"id":23687800,"url":"https://github.com/dhbw-smart-rollerz/pathplanning","last_synced_at":"2026-03-04T10:32:15.030Z","repository":{"id":254257736,"uuid":"845910445","full_name":"DHBW-Smart-Rollerz/pathplanning","owner":"DHBW-Smart-Rollerz","description":"Pathplanning for the smarty pipeline","archived":false,"fork":false,"pushed_at":"2026-02-27T08:14:12.000Z","size":186,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"jazzy","last_synced_at":"2026-02-27T12:57:15.431Z","etag":null,"topics":["pathplanning","ros2","smarty"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/DHBW-Smart-Rollerz.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2024-08-22T06:58:55.000Z","updated_at":"2025-11-21T08:11:52.000Z","dependencies_parsed_at":null,"dependency_job_id":"ae0e4a96-7eb2-48a7-a232-40267183d4d6","html_url":"https://github.com/DHBW-Smart-Rollerz/pathplanning","commit_stats":null,"previous_names":["dhbw-smart-rollerz/pathplanning"],"tags_count":0,"template":false,"template_full_name":"DHBW-Smart-Rollerz/ros2_example_package","purl":"pkg:github/DHBW-Smart-Rollerz/pathplanning","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DHBW-Smart-Rollerz%2Fpathplanning","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DHBW-Smart-Rollerz%2Fpathplanning/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DHBW-Smart-Rollerz%2Fpathplanning/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DHBW-Smart-Rollerz%2Fpathplanning/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/DHBW-Smart-Rollerz","download_url":"https://codeload.github.com/DHBW-Smart-Rollerz/pathplanning/tar.gz/refs/heads/jazzy","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DHBW-Smart-Rollerz%2Fpathplanning/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":30078308,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-03-04T08:01:56.766Z","status":"ssl_error","status_checked_at":"2026-03-04T08:00:42.919Z","response_time":59,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["pathplanning","ros2","smarty"],"created_at":"2024-12-29T23:56:23.148Z","updated_at":"2026-03-04T10:32:14.998Z","avatar_url":"https://github.com/DHBW-Smart-Rollerz.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Path Planning\n\n[![Build Test](https://github.com/DHBW-Smart-Rollerz/pathplanning/actions/workflows/build-test.yaml/badge.svg)](https://github.com/DHBW-Smart-Rollerz/pathplanning/actions/workflows/build-test.yaml)\n\nThis repository contains the pathplanning package and messages for the Smarty project.\n\n## Usage\n\nTo use this package, clone the repository into your workspace and build it with colcon.\n\n```bash\ncd $ROS2_SMARTY_WORKSPACE_DIR/src\ngit clone https://github.com/DHBW-Smart-Rollerz/pathplanning.git\ncd ..\ncolcon build --symlink-install --packages-select pathplanning\n```\n\nAfter building the package, you can source the workspace and run the nodes.\n\n```bash\nsource install/setup.bash\nros2 launch pathplanning pathplanning.launch.py\n```\n\n## Launch Arguments\n\nThe launch file accepts the following arguments:\n\n- `debug`: Enable debug mode (default: false)\n- `params_file`: Path to the ROS parameters file (default: ros_params.yaml in the config folder)\n\n## ROS Parameters\n\nThe package uses the following ROS parameters:\n\n### Subscribers\n\n- **lane_points_subscriber**: Topic to subscribe to for receiving lane detection results.\n  - Default: `'/lane_detection/result'`\n\n- **image_subscriber**: Topic to subscribe to for receiving bird's eye view images.\n  - Default: `'/camera/birds_eye'`\n\n- **state_machine_subscriber**: Topic to subscribe to for receiving state machine debug information.\n  - Default: `'/state_machine/debug'`\n\n- **state_machine_lane_subscriber**: Topic to subscribe to for receiving right lane information from the state machine.\n  - Default: `'/rightLane'`\n\n- **remote_state_subscriber**: Topic to subscribe to for receiving remote state information.\n  - Default: `'/remoteState'`\n\n- **targetSteeringAngle_pub**: Topic to publish the target steering angle.\n  - Default: `'/targetSteeringAngle'`\n\n### Publishers\n\n- **image_debug_publisher**: Topic to publish debug images for path planning.\n  - Default: `'/pathplanning/debug_image'`\n\n- **path_planning_right_publisher**: Topic to publish the right lane coefficients for path planning.\n  - Default: `'/pathplanning/right_lane_coefficients'`\n\n- **path_planning_left_publisher**: Topic to publish the left lane coefficients for path planning.\n  - Default: `'/pathplanning/left_lane_coefficients'`\n\n- **ref_point_publisher**: Topic to publish the reference pose for the controller.\n  - Default: `'/controller/ref_pose'`\n\n### Additional Parameters\n\n- **trj_look_forward**: Number of points to look forward in the trajectory. This parameter should be adapted to speed and runtime.\n  - Default: `100`\n\n- **active**: Boolean flag to indicate whether the node is active.\n  - Default: `True`\n\n## License\n\nThis repository is licensed under the MIT license. See [LICENSE](LICENSE) for details.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdhbw-smart-rollerz%2Fpathplanning","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fdhbw-smart-rollerz%2Fpathplanning","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdhbw-smart-rollerz%2Fpathplanning/lists"}