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karlkurzer / path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle
http://karlkurzer.github.io/path_planner/
BSD 3-Clause "New" or "Revised" License
1.49k stars 526 forks source link

Driving direction #47

Closed MGorksTHAB closed 2 years ago

MGorksTHAB commented 2 years ago

Hey Karl,

I am relatively new to ROS and have a question regarding output data. I would like to find out the driving direction of the vehicle. In the visualization tool a change of direction is clearly visible, but it is not reflected in the topics (for example in /sPathVehicle). Is there a possibility that I am overlooking?

As I understand the code a direction change is taken into account in the path selection, however the selected direction is then not published.

Thanks a lot for your help.

With kind regards

karlkurzer commented 2 years ago

That's a good question :-) I took a quick look, but I suppose that I just don't publish that information. How is the change in direction reflected in rviz? That could be an indication where to look for that information in the code.

Best Karl

MGorksTHAB commented 2 years ago

Thanks a lot for the really quick reply.

With the reference to the visualization I only meant that a change of direction is visually recognizable when looking at the path.

Also in the visualization tool rviz I think the information is not directly available.

At which point in the code is the final information about the direction of travel available? Unfortunately, this is not directly recognizable to me. I would really appreciate it if you could help me out here.

With kind regards

karlkurzer commented 2 years ago

Hey, the direction is being determined here (and following), but I don't think it's annotated anywhere: https://github.com/karlkurzer/path_planner/blob/1441cdfd988b237703ff888247c4a63c5630bc30/src/node3d.cpp#L75