CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
Currently, plan_delegator's timeout value for calling a tactical plugin's "plan_trajectory" service is hardcoded as 100 ms, and an enhancement would be to make this value a configurable parameter.
Reasoning for new functionality
Currently, plan_delegator's timeout value for calling a tactical plugin's "plan_trajectory" service is hardcoded as 100 ms; however, during integration testing at Suntrax it was found that lane change trajectories can occasionally take longer than this. A recent PR #2074 speeds up the lane change trajectory generation considerably, but occasionally a lane change of longer length can still take longer than 100 ms.
An enhancement would be to make this timeout value a configurable parameter to support testing using a vector map or test environment with longer lanelet lengths (which correlates to longer lane change trajectory generation time). With this update, the timeout duration can be increased for specific test events without needing to push the updated value to the codebase.
JonSmet
commented
1 year ago
Summary
Currently, plan_delegator's timeout value for calling a tactical plugin's "plan_trajectory" service is hardcoded as 100 ms, and an enhancement would be to make this value a configurable parameter.
Reasoning for new functionality
Currently, plan_delegator's timeout value for calling a tactical plugin's "plan_trajectory" service is hardcoded as 100 ms; however, during integration testing at Suntrax it was found that lane change trajectories can occasionally take longer than this. A recent PR #2074 speeds up the lane change trajectory generation considerably, but occasionally a lane change of longer length can still take longer than 100 ms.
An enhancement would be to make this timeout value a configurable parameter to support testing using a vector map or test environment with longer lanelet lengths (which correlates to longer lane change trajectory generation time). With this update, the timeout duration can be increased for specific test events without needing to push the updated value to the codebase.