Autoware.ai – OpenPlanner (Global)

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Additional information

Version 0.0.3-x86_64
Input ports
  • Current Pose (geometry_msgs/PoseStamped)
  • Current Velocity (geometry_msgs/TwistStamped)
  • Initial Pose (geometry_msgs/PoseStamped)
  • Goal Position (geometry_msgs/PoseStamped)
  • Vector Map - Lane Array (vector_map_msgs/LaneArray)
  • Vector Map - Point Array (vector_map_msgs/PointArray)
  • Vector Map - DT Lane Array (vector_map_msgs/DTLaneArray)
  • Vector Map - Cross Road Array (vector_map_msgs/CrossRoadArray)
  • Vector Map - Area Array (vector_map_msgs/AreaArray)
  • Vector Map - Line Array (vector_map_msgs/LineArray)
  • Vector Map - Stop Line Array (vector_map_msgs/StopLineArray)
  • Vector Map - Signal Array (vector_map_msgs/SignalArray)
  • Vector Map - Vector Array (vector_map_msgs/VectorArray)
  • Vector Map - Curb Array (vector_map_msgs/CurbArray)
  • Vector Map - Road Edge Array (vector_map_msgs/RoadEdgeArray)
  • Vector Map - Way Area Array (vector_map_msgs/WayAreaArray)
  • Vector Map - CrossWalk Array (vector_map_msgs/CrossWalkArray)
  • Vector Map - Node Array (vector_map_msgs/NodeArray)
Output Ports
  • Lane Waypoints (autoware_msgs/LaneArray)
  • Global Waypoints Marker Array (visualization_msgs/MarkerArray)
  • Vector Map Center Lines Marker Array (visualization_msgs/MarkerArray)
  • OpenPlanner Destinations Marker Array (visualization_msgs/MarkerArray)
Properties
  • Enable Dynamic Map Update
  • Enable Lane Change
  • Enable Replan
  • Enable Smoothing
  • Path Density
References None

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