Autoware.ai – Astar Avoid

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SKU: N/A Category:
Version 0.0.3-x86_64
Input ports
  • Cost Map (nav_msgs/OccupancyGrid)
  • Current Pose (geometry_msgs/PoseStamped)
  • Current Velocity (geometry_msgs/TwistStamped)
  • Base Waypoints (autoware_msgs/Lane)
  • Closest Waypoint (std_msgs/Int32)
  • Obstacle Waypoint (std_msgs/Int32)
Output Ports
  • Safety Waypoints (autoware_msgs/Lane)
  • Debug (nav_msgs/Path)
Properties
  • Angle Goal Range
  • Avoidance Start Velocity
  • Avoidance Velocity
  • Closest Search Size
  • Curve Weight
  • Distance Heuristic Weight
  • Enable Avoidance
  • Lateral Goal Range
  • Longitudinal Goal Range
  • Minimum Turning Radius
  • Obstacle Threshold
  • Potential Weight
  • Replanning Interval
  • Reverse Weight
  • Robot Base2Back
  • Robot Length
  • Robot Width
  • Safety Waypoints Size
  • Search Waypoints Delta
  • Search Waypoints Size
  • Theta Size
  • Astar Time Limit
  • Update Rate
  • Use Back
  • Use Potential Heuristic
  • Use Wavefront Heuristic
References

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