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You can find description of these concepts on the following page: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/
In practice, the route is calculated by the router and is then used by the behavior planners to calculate a path. Finally, motion planning calculates a trajectory from the path and it is sent to the controller. |
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Hi,
When I read the code of planning and control, I see some ros2 topics with name like "route", "path", and "trajectory". I'm new to those words (or concepts), any rules or conventions for it?
Thanks.
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