add readme and schema

Author: 4swinv

planning/auto_parking/README.md

@@ -0,0 +1,102 @@
+# auto_aprking
+
+## auto_parking_node
+
+`auto_parking_node` is a node that enables automated valet parking by puplishing appropriate goal poses.
+
+### Input topics
+
+| Name                             | Type                                    | Description                           |
+| -------------------------------- | --------------------------------------- | --------------------------------------|
+| `~/input/engage`                 | autoware_auto_vehicle_msgs::msg::Engage | status of autoware AUTONOMOUS         |
+| `~/input/lanelet_map_bin`        | autoware_auto_mapping_msgs::HADMapBin   | vector map, for drivable areas        |
+| `~/input/occupancy_grid`         | nav_msgs::msg::OccupancyGrid            | occupancy grid from costmap generator |
+| `~input/odometry`                | nav_msgs::Odometry                      | for getting current pose              |
+
+### Output topics
+
+| Name                     | Type                                    | Description                                    |
+| ------------------------ | --------------------------------------- | ---------------------------------------------- |
+| `~/output/fixed_goal`    | geometry_msgs::msg::PoseStamped         | current goal published by auto_parking         |
+| `~/output/active_status` | std_msgs::msg::Bool                     | active status of auto_park node                |
+
+### Service
+
+| Name                     | Type                                    | Description                       |
+| ------------------------ | --------------------------------------- | --------------------------------- |
+| `~/service/set_active`   | std_srvs::srv::SetBool                  | set active status of node         |
+
+### Client
+
+| Name                 | Type                                    | Description                                    |
+| -------------------- | --------------------------------------- | ---------------------------------------------- |
+| `~/service/engage`   | tier4_external_api_msgs::srv::Engage    | client to engage AUTONOMOUS mode               |
+
+### How to launch
+
+1. Write your remapping info in `auto-parking.launch.xml` or add args when executing `roslaunch`
+2. Launch node using `ros2 launch auto-parking auto-parking.launch.xml`
+3. Call service to start auto parking after placing ego on map `ros2 service call /planning/auto_parking/set_status std_srvs/srv/SetBool "{data: True}"`
+3. To stop/reset call with False arg `ros2 service call /planning/auto_parking/set_status std_srvs/srv/SetBool "{data: False}"`
+
+### Parameters
+
+{{ json_to_markdown("schema/auto_parking.schema.json") }}
+
+
+### Flowchart
+
+```plantuml
+@startuml
+title onTimer
+start
+
+if (active?) then (yes)
+else (no)
+  stop
+endif
+
+if (all input data are ready?) then (yes)
+else (no)
+  :set active false;
+  stop
+endif
+
+:get current pose;
+
+if (parking lot goal not set and set AutoParking init?) then (yes):
+  :publish parking lot goal;
+else (no)
+  stop
+endif
+
+if (parking lot goal set and Arrived?) then (yes):
+  :set active false;
+  stop
+endif
+
+if (parking space goal not set and inside ParkingLot?) then (yes):
+  :findParkingSapce;
+  :publish parking space goal;
+endif
+
+if (parking space goal set and inside ParkingLot?) then (yes):
+  :check if parking space goal still valid;
+  if (not valid) then (yes):
+    :publish parking lot goal;
+    :continue search;
+  endif
+endif
+
+if (parking space goal set and Arrived?) then (yes):
+  stop
+endif
+
+if (autonomous not engaged?) then (yes):
+  :engage autonomous;
+endif
+
+stop
+@enduml
+```
+

planning/auto_parking/schema/auto_parking.schema.json

@@ -0,0 +1,54 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Auto Parking Node",
+  "type": "object",
+  "definitions": {
+    "auto_parking": {
+      "type": "object",
+      "properties": {
+        "update_rate": {
+          "type": "number",
+          "description": "timer's update rate",
+          "default": "5.0",
+          "minimum": 0.0
+        },
+        "th_arrived_distance_m": {
+          "type": "number",
+          "description": "threshold distance to check if vehicle has arrived at the trajectory's endpoint",
+          "default": "1.0",
+          "minimum": 0.0
+        },
+        "th_parking_space_distance_m": {
+          "type": "number",
+          "description": "threshold radius within which to search parking spaces",
+          "default": "10.0",
+          "minimum": 0.0
+        },
+        "vehicle_shape_margin_m": {
+          "type": "number",
+          "description": "vehcile margin for astar search",
+          "default": "0.2",
+          "minimum": 0.0
+        }
+      },
+      "required": [
+        "update_rate",
+        "th_arrived_distance_m",
+        "th_parking_space_distance_m",
+        "vehicle_shape_margin_m"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/auto_parking"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}