trajectory_loader

A node for loading a trajectory from a CSV file and publishing it as a ROS 2 topic.

Installation

rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=On --packages-up-to trajectory_loader

Usage

ros2 launch trajectory_loader trajectory_loader.launch.py csv_path:=<path_to_csv_file>

API

Output

Name	Type	Description
~/output/trajectory	autoware_auto_planning_msgs::msg::Trajectory	Vehicle trajectory.

Parameters

Name	Type	Description
csv_path	string	Path to trajectory file.
update_rate	float	Trajectory publisher frequency.
delimiter	string	CSV file delimiter.
is_header	bool	If CSV file contains header.
col_x	int	X coordinate column index.
col_y	int	Y coordinate column index.
col_yaw	int	Yaw column index.
col_vel	int	Velocity column index.

References / External links