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docs(surround obstacle checker): update documentation (tier4#878)
* docs(surround_obstacle_checker): update pub/sub topics & params Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(surround_obstacle_checker): remove unused files Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(surround_obstacke_checker): update purpose Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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‎planning/surround_obstacle_checker/README.md

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## Purpose
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`surround_obstacle_checker` is a module to prevent moving if any obstacles is near stopping ego vehicle.
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This module runs only when ego vehicle is stopping.
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This module subscribes required data (ego-pose, obstacles, etc), and publishes zero velocity limit to keep stopping if any of stop conditions are satisfied.
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## Inner-workings / Algorithms
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### Flow chart
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![surround_obstacle_checker_flow](./media/surround_obstacle_checker_flow.svg)
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```plantuml
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@startuml
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![check_distance](./media/check_distance.drawio.svg)
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title surround obstacle checker
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start
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if (Check state) then
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:State::STOP;
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if (Is stop required?) then (yes)
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else (no)
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:Clear velocity limit;
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:Set state to State::PASS;
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endif
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else
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:State::PASS;
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if (Is stop required?) then (yes)
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:Set velocity limit;
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:Set state to State::STOP;
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else (no)
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endif
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endif
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:Publish stop reason;
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stop
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@enduml
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```
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<div align="center">
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<img src="./media/check_distance.drawio.svg" width=80%>
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</div>
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### Algorithms
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| Name | Type | Description |
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| ---------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------------------ |
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| `~/input/trajectory` | `autoware_auto_planning_msgs::msg::Trajectory` | Reference trajectory |
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| `/perception/obstacle_segmentation/pointcloud` | `sensor_msgs::msg::PointCloud2` | Pointcloud of obstacles which the ego-vehicle should stop or avoid |
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| `/perception/object_recognition/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Dynamic objects |
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| `/localization/kinematic_state` | `nav_msgs::msg::Odometry` | Current twist |
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### Output
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| Name | Type | Description |
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| -------------------------- | ------------------------------------------- | ------------------------ |
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| `~/output/trajectory` | `autoware_auto_planning_msgs/Trajectory` | Modified trajectory |
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| `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason |
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| `~/output/stop_reasons` | `tier4_planning_msgs::msg::StopReasonArray` | Stop reasons |
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| `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization |
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| Name | Type | Description |
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| --------------------------------------- | ----------------------------------------------------- | ---------------------------- |
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| `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command |
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| `~/output/max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | Velocity limit command |
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| `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason |
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| `~/output/stop_reasons` | `tier4_planning_msgs::msg::StopReasonArray` | Stop reasons |
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| `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization |
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## Parameters
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| `surround_check_recover_distance` | `double` | If no object exists in this distance, transit to "non-surrounding-obstacle" status [m] | 0.8 |
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| `state_clear_time` | `double` | Threshold to clear stop state [s] | 2.0 |
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| `stop_state_ego_speed` | `double` | Threshold to check ego vehicle stopped [m/s] | 0.1 |
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| `stop_state_entry_duration_time` | `double` | Threshold to check ego vehicle stopped [s] | 0.1 |
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## Assumptions / Known limits
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‎planning/surround_obstacle_checker/media/surround_obstacle_checker_flow.svg

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‎planning/surround_obstacle_checker/media/surround_obstacle_checker_flow.uml

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‎planning/surround_obstacle_checker/surround_obstacle_checker-design.ja.md

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### Flow chart
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![surround_obstacle_checker_flow](./media/surround_obstacle_checker_flow.svg)
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```plantuml
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@startuml
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![check_distance](./media/check_distance.drawio.svg)
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title surround obstacle checker
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start
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if (Check state) then
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:State::STOP;
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if (Is stop required?) then (yes)
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else (no)
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:Clear velocity limit;
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:Set state to State::PASS;
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endif
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else
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:State::PASS;
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if (Is stop required?) then (yes)
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:Set velocity limit;
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:Set state to State::STOP;
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else (no)
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endif
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endif
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:Publish stop reason;
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stop
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@enduml
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```
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<div align="center">
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<img src="./media/check_distance.drawio.svg" width=80%>
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</div>
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### Algorithms
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| Name | Type | Description |
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| ---------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------------------ |
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| `~/input/trajectory` | `autoware_auto_planning_msgs::msg::Trajectory` | Reference trajectory |
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| `/perception/obstacle_segmentation/pointcloud` | `sensor_msgs::msg::PointCloud2` | Pointcloud of obstacles which the ego-vehicle should stop or avoid |
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| `/perception/object_recognition/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Dynamic objects |
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| `/localization/kinematic_state` | `nav_msgs::msg::Odometry` | Current twist |
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### Output
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| Name | Type | Description |
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| -------------------------- | ------------------------------------------- | ------------------------ |
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| `~/output/trajectory` | `autoware_auto_planning_msgs/Trajectory` | Modified trajectory |
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| `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason |
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| `~/output/stop_reasons` | `tier4_planning_msgs::msg::StopReasonArray` | Stop reasons |
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| `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization |
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| Name | Type | Description |
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| --------------------------------------- | ----------------------------------------------------- | ---------------------------- |
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| `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command |
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| `~/output/max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | Velocity limit command |
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| `~/output/no_start_reason` | `diagnostic_msgs::msg::DiagnosticStatus` | No start reason |
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| `~/output/stop_reasons` | `tier4_planning_msgs::msg::StopReasonArray` | Stop reasons |
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| `~/debug/marker` | `visualization_msgs::msg::MarkerArray` | Marker for visualization |
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## Parameters
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| `surround_check_recover_distance` | `double` | If no object exists in this distance, transit to "non-surrounding-obstacle" status [m] | 0.8 |
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| `state_clear_time` | `double` | Threshold to clear stop state [s] | 2.0 |
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| `stop_state_ego_speed` | `double` | Threshold to check ego vehicle stopped [m/s] | 0.1 |
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| `stop_state_entry_duration_time` | `double` | Threshold to check ego vehicle stopped [s] | 0.1 |
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## Assumptions / Known limits
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