Routing
November 6, 2023 · View on GitHub
Introduction
The Routing module generates high level navigation information based on requests.
The Routing module depends on a routing topology file, usually named routing_map.* in apollo.
The routing map can be genreated using this command:
bash scripts/generate_routing_topo_graph.sh
Directory Structure
modules/routing/
├── BUILD
├── common
├── conf
├── core
├── cyberfile.xml
├── dag
├── graph
├── launch
├── proto
├── README_cn.md
├── README.md
├── routing.cc
├── routing_component.cc
├── routing_component.h
├── routing.h
├── strategy
├── tools
└── topo_creator
Input
- Map data
- Routing request (Start and end location)
Output
- Routing navigation information
configs
| file path | type / struct | Description |
|---|---|---|
modules/routing/conf/routing_config.pb.txt | apollo::routing::RoutingConfig | routing config |
modules/routing/conf/routing.conf | gflags | gflags config |
Flags
| flagfile | type | Description |
|---|---|---|
modules/routing/common/routing_gflags.cc | cc | routing flags define |
modules/routing/common/routing_gflags.h | h | routing flags header |
How to Launch
cyber_launch start modules/routing/launch/routing.launch