README

目录

• task-manager
  • Introduction
  • Directory Structure
    • Input
    • Output
  • configs
  • Flags
    • How to Launch
  • 文档意见反馈

task-manager

Introduction

Task manager generates a series of tasks, including path planning, obstacle avoidance, traffic rule compliance, etc., based on the input map data and routing instructions (start and end positions). These tasks will be scheduled and executed in the form of Cyber concatenation to ensure that the vehicle is able to make correct driving decisions based on the real-time traffic conditions while traveling.

Directory Structure

modules/task_manager
├── BUILD
├── common
├── conf
├── cyberfile.xml
├── cycle_routing_manager.cc
├── cycle_routing_manager.h
├── dag
├── parking_routing_manager.cc
├── parking_routing_manager.h
├── proto
├── README.md
├── task_manager_component.cc
└── task_manager_component.h

Input

Name	Type	Description
msg	apollo::task_manager::Task	task
msg	apollo::localization::LocalizationEstimate	localization
msg	apollo::planning::PlanningCommand	planning command
msg	planning::ADCTrajectory	planning trajectory

Output

Name	Type	Description
msg	apollo::external_command::LaneFollowCommand	lane follow command

configs

file path	type / struct	Description
modules/task_manager/conf/task_manager_config.pb.txt	apollo::task_manager::TaskManagerConfig	task manager config
modules/task_manager/conf/task_manager.conf	gflags	gflags config

Flags

flagfile	type	Description
modules/task_manager/common/task_manager_gflags.cc	cc	task manager flags define
modules/task_manager/common/task_manager_gflags.h	h	task manager flags header

How to Launch

cyber_launch start modules/task_manager/launch/task_manager.launch

文档意见反馈

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