Yaml file updates to show all available planners

Author: brijesh2709

GEMstack/onboard/planning/trajectory_planning_component.py

@@ -684,68 +684,3 @@ def update(self, state: AllState):
             print('[DEBUG] Current Velocity of the Car: LOOK!', curr_v, self.desired_speed)
             print("[DEBUG] YieldTrajectoryPlanner.update: Returning trajectory with", len(traj.points), "points.")
         return traj
-    
-
-
-class SplinePlanner(Component):
-    """Follows route by smoothing coarse waypoints into a quintic spline."""
-    def __init__(self):
-        super().__init__()
-        self.route_progress = None
-        self.t_last         = None
-
-        # how far ahead to plan (m), and sampling speed & dt
-        self.lookahead_dist = 10.0
-        self.v_des          = 2.0
-        self.dt             = 0.02
-
-        # the spline engine
-        self._spline = QuinticHermiteSplinePlanner(self.v_des, self.dt)
-
-    def state_inputs(self):
-        return ['all']
-
-    def state_outputs(self):
-        return ['trajectory']
-
-    def rate(self):
-        return 10.0  # Hz
-
-    def update(self, state: AllState) -> Trajectory:
-        t = state.t
-        if self.t_last is None:
-            self.t_last = t
-
-        # keep route_progress up to date
-        veh = state.vehicle
-        curr = np.array([veh.pose.x, veh.pose.y])
-
-        if self.route_progress is None:
-            self.route_progress = 0.0
-        _, new_param = state.route.closest_point_local(
-            curr.tolist(),
-            (self.route_progress - 5.0,
-             self.route_progress + 5.0)
-        )
-        self.route_progress = new_param
-
-        # extract a look-ahead segment from the route
-        seg: Path = state.route.trim(
-            self.route_progress,
-            self.route_progress + self.lookahead_dist
-        )
-
-        pts_raw: List[List[float]] = [
-            list(pt) for pt in seg.points
-        ]
-
-        spline_pts, spline_times = self._spline.build(pts_raw)
-
-        traj = Trajectory(
-            frame  = seg.frame,
-            points = spline_pts.tolist(),
-            times  = spline_times.tolist()
-        )
-
-        self.t_last = t
-        return traj

launch/inspection.yaml

@@ -20,6 +20,8 @@ drive:
                 state_machine: ['IDLE', 'NAV', 'INSPECT', 'FINISH']
         # save_lidar_data : capture_lidar_camera_data.SaveInspectionData
         motion_planning: longitudinal_planning.YieldTrajectoryPlanner
+        # motion_planning: trajectory_planning_component.LongitudinalPlanner
+        # motion_planning: trajectory_planning_component.QuinticSplineScurveTrajectoryPlanner
             # type: RouteToTrajectoryPlanner
             # args: [null]  #desired speed in m/s.  If null, this will keep the route untimed for the trajectory tracker
         trajectory_tracking:

launch/parking_simulation.yaml

@@ -21,6 +21,8 @@ drive:
         route_planning_component:
             type: RoutePlanningComponent
         motion_planning: longitudinal_planning.YieldTrajectoryPlanner
+        # motion_planning: trajectory_planning_component.LongitudinalPlanner
+        # motion_planning: trajectory_planning_component.QuinticSplineScurveTrajectoryPlanner
             # type: RouteToTrajectoryPlanner
             # args: [null]  #desired speed in m/s.  If null, this will keep the route untimed for the trajectory tracker
         trajectory_tracking:
@@ -104,6 +106,8 @@ variants:
                     route_planning_component:
                         type: RoutePlanningComponent
                     motion_planning: longitudinal_planning.YieldTrajectoryPlanner
+                    # motion_planning: trajectory_planning_component.LongitudinalPlanner
+                    # motion_planning: trajectory_planning_component.QuinticSplineScurveTrajectoryPlanner
                     trajectory_tracking:
                         type: pure_pursuit.PurePursuitTrajectoryTracker
                         args: {desired_speed: 2.5}  #approximately 5mph

launch/planning.yaml

@@ -53,8 +53,7 @@ drive:
             desired_speed: 2.0
             deceleration: 2.0
             emergency_brake: 8.0
-        # motion_planning: longitudinal_planning.YieldTrajectoryPlanner
-        # motion_planning: yield_spline_planner.SplinePlanner
+        # motion_planning: trajectory_planning_component.QuinticSplineScurveTrajectoryPlanner
 log:
     # Specify the top-level folder to save the log files.  Default is 'logs'
     #folder : 'logs' 
@@ -142,7 +141,7 @@ variants:
 
                     planning_component_example:
                         type: PlanningComponentExample
-                        
+
                     route_planning_component:
                         type: RoutePlanningComponentExample
 
@@ -152,8 +151,8 @@ variants:
                         desired_speed: 2.0
                         deceleration: 2.0
                         emergency_brake: 8.0
-                    # motion_planning: longitudinal_planning.YieldTrajectoryPlanner
-                    # motion_planning: yield_spline_planner.SplinePlanner
+
+                    # motion_planning: trajectory_planning_component.QuinticSplineScurveTrajectoryPlanner
 
                     trajectory_tracking:
                         type: pure_pursuit.PurePursuitTrajectoryTracker