The Spliner package is a ROS package designed to perform splining around obstacles. It provides a node that subscribes to obstacle and waypoint information, processes this data, and publishes splined waypoints and spline markers. This package is implemented in Python and uses the rospy and dynamic_reconfigure libraries for ROS interactions and dynamic parameter tuning. The main node spliner_node.py is launched with the headtohead.launch file from the stack_master package.
evasion_dist: Sets the orthogonal distance of the apex to the obstacle, determining how far the spline will deviate from the obstacle.obs_traj_tresh: Sets the threshold of the obstacle towards the raceline to be considered for evasion, determining which obstacles will be considered for splining around.spline_bound_mindist: Sets the minimum distance that splines may be from the track bounds in meters, ensuring that the spline does not get too close to the track boundaries.pre_apex_0: Sets the first distance in front of the apex in meters, used in the calculation of the spline.pre_apex_1: Sets the second distance in front of the apex in meters, used in the calculation of the spline.pre_apex_2: Sets the third distance in front of the apex in meters, used in the calculation of the spline.post_apex_0: Sets the first distance behind the apex in meters, used in the calculation of the spline.post_apex_1: Sets the second distance behind the apex in meters, used in the calculation of the spline.post_apex_2: Sets the third distance behind the apex in meters, used in the calculation of the spline.kd_obs_pred: Sets the gain for the obstacle prediction, used in the calculation of the obstacle prediction.fixed_pred_time: Sets the fixed prediction time, used in the calculation of the obstacle prediction.
The parameters kd_obs_pred, fixed_pred_time are only used with some obstacle prediction methods, so they might not always affect the behaviour.
This node subscribes to:
/perception/obstacles: Subscribes to the obstacle array./car_state/odom_frenet: Reads the car's state/global_waypoints: Subscribes to global waypoints./global_waypoints_scaled: Subscribes to the scaled global waypoints to obtain the current target velocities.
The node publishes to:
/planner/avoidance/markers: Publishes spline markers./planner/avoidance/otwpnts: Publishes splined waypoints./planner/avoidance/considered_OBS: Publishes markers for the closest obstacle./planner/avoidance/propagated_obs: Publishes markers for the propagated obstacle./planner/avoidance/latency: Publishes the latency of the spliner node. (only if measuring is enabled)
TODO