Adding a node subscribing the trajectory points output

[lethal233]

References:

• Autoware planning module design
• ROS2 Documentation
• Planning debugging tools
• The Time Series Visualization Tool

Procedures:

• Add a module
• Compile
• Check the output of the module

[lethal233]

In Autoware Docker, remember to source install/setup.bash

Inspect ROS topics:

ros2 topic info <topic_name>

If you want to list all publishers and subscribers in detail, use:

ros2 topic info --v <topic_name>

[lethal233]

To see the information published in the topic:

1. Start the Autoware (planning, or something else), e.g.,

   ros2 launch scenario_test_runner scenario_test_runner.launch.py \
   architecture_type:=awf/universe \
   record:=false \
   scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
   sensor_model:=sample_sensor_kit \
   vehicle_model:=sample_vehicle

2. Open another terminal, step into the docker, source the bash, and type ros2 topic echo <topic_name>
3. You will see data like this (taking ros2 topic ech/planning/scenario_planning/trajectory for example):

   - time_from_start:
   sec: 0
   nanosec: 0
   pose:
   position:
     x: 3790.567281193354
     y: 73810.59814503009
     z: -2.7922909968937697
   orientation:
     x: 0.002396582037636447
     y: -0.009927773817067928
     z: 0.23464891275807337
     w: 0.9720265343307394
   longitudinal_velocity_mps: 0.0
   lateral_velocity_mps: 0.0
   acceleration_mps2: 0.10000000149011612
   heading_rate_rps: 0.0
   front_wheel_angle_rad: 0.0
   rear_wheel_angle_rad: 0.0

[lethal233]

sora@71722e36d87c:~/Desktop/shilonl/autoware$ ros2 topic echo /planning/hazard_lights_cmd
---
stamp:
  sec: 1706048508
  nanosec: 258304479
command: 1
---
stamp:
  sec: 1706048508
  nanosec: 359006121
command: 1
---
stamp:
  sec: 1706048508
  nanosec: 459840986
command: 1
---
stamp:
  sec: 1706048508
  nanosec: 561205923
command: 1
---
stamp:
  sec: 1706048508
  nanosec: 660190346
command: 1
---
stamp:
  sec: 1706048508
  nanosec: 759686456
command: 1