https://github.com/dhbw-smart-rollerz/pathplanning
Pathplanning for the smarty pipeline
https://github.com/dhbw-smart-rollerz/pathplanning
pathplanning ros2 smarty
Last synced: 4 months ago
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Pathplanning for the smarty pipeline
- Host: GitHub
- URL: https://github.com/dhbw-smart-rollerz/pathplanning
- Owner: DHBW-Smart-Rollerz
- License: mit
- Created: 2024-08-22T06:58:55.000Z (almost 2 years ago)
- Default Branch: jazzy
- Last Pushed: 2026-02-27T08:14:12.000Z (4 months ago)
- Last Synced: 2026-02-27T12:57:15.431Z (4 months ago)
- Topics: pathplanning, ros2, smarty
- Language: Python
- Homepage:
- Size: 182 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Path Planning
[](https://github.com/DHBW-Smart-Rollerz/pathplanning/actions/workflows/build-test.yaml)
This repository contains the pathplanning package and messages for the Smarty project.
## Usage
To use this package, clone the repository into your workspace and build it with colcon.
```bash
cd $ROS2_SMARTY_WORKSPACE_DIR/src
git clone https://github.com/DHBW-Smart-Rollerz/pathplanning.git
cd ..
colcon build --symlink-install --packages-select pathplanning
```
After building the package, you can source the workspace and run the nodes.
```bash
source install/setup.bash
ros2 launch pathplanning pathplanning.launch.py
```
## Launch Arguments
The launch file accepts the following arguments:
- `debug`: Enable debug mode (default: false)
- `params_file`: Path to the ROS parameters file (default: ros_params.yaml in the config folder)
## ROS Parameters
The package uses the following ROS parameters:
### Subscribers
- **lane_points_subscriber**: Topic to subscribe to for receiving lane detection results.
- Default: `'/lane_detection/result'`
- **image_subscriber**: Topic to subscribe to for receiving bird's eye view images.
- Default: `'/camera/birds_eye'`
- **state_machine_subscriber**: Topic to subscribe to for receiving state machine debug information.
- Default: `'/state_machine/debug'`
- **state_machine_lane_subscriber**: Topic to subscribe to for receiving right lane information from the state machine.
- Default: `'/rightLane'`
- **remote_state_subscriber**: Topic to subscribe to for receiving remote state information.
- Default: `'/remoteState'`
- **targetSteeringAngle_pub**: Topic to publish the target steering angle.
- Default: `'/targetSteeringAngle'`
### Publishers
- **image_debug_publisher**: Topic to publish debug images for path planning.
- Default: `'/pathplanning/debug_image'`
- **path_planning_right_publisher**: Topic to publish the right lane coefficients for path planning.
- Default: `'/pathplanning/right_lane_coefficients'`
- **path_planning_left_publisher**: Topic to publish the left lane coefficients for path planning.
- Default: `'/pathplanning/left_lane_coefficients'`
- **ref_point_publisher**: Topic to publish the reference pose for the controller.
- Default: `'/controller/ref_pose'`
### Additional Parameters
- **trj_look_forward**: Number of points to look forward in the trajectory. This parameter should be adapted to speed and runtime.
- Default: `100`
- **active**: Boolean flag to indicate whether the node is active.
- Default: `True`
## License
This repository is licensed under the MIT license. See [LICENSE](LICENSE) for details.