Sample prediction module for a vehicle in the simulation framework.
Either forwards the perceived objects without predicting their motion (no_prediction.launch
) or predicts vehicles with constant velocity along the centerline of possible lanelet sequences and other objects with constant position (lane_prediction.launch
).
- this package is part of the simulation framework
- see coincarsim_getting_started for installation and more details
- started within the a vehicle launchfile of the simulation_initialization_ros_tool
-
parameters that need to be passed to the launchfile
sample_prediction.launch
:-
vehicle_id: Id of the vehicle, needs to be unique within the framework
-
vehicle_ns: Namespace of the vehicle, needs to be unique within the framework
-
perc_pred_obj_topic: Topic for the perceived objects
-
pred_plan_obj_topic: Topic for the predicted objects
-
-
the lanelet2_map (for
lane_prediction.launch
) is retrieved via the packagelanelet2_interface_ros
- fork this repo
- use your own algorithms for predicting the motion of perceived objects
- ensure that
/$(arg vehicle_ns)/$(arg pred_plan_obj_topic)
is published- all internal ROS communication stays within the prediction namespace
Pascal Böhmler, Nick Engelhardt, Tobias Kronauer, Alexander Naumann, Maximilian Naumann
This package is distributed under the 3-Clause BSD License, see LICENSE.