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