Routing Monitor
Maintained by Nova
Overview
The Routing Monitor Node is responsible for monitoring and processing route information for navigation purposes. It subscribes to the /planning/rough_route topic to receive a rough route, processes it, and republishes the smoothed route on the /planning/smooth_route topic. Additionally, it provides a service for setting the route and handles clock synchronization.
In:
Out:
- /planning/smooth_route Path
smooth_route_pub_tick(self):
Continuously publishes the smoothed route with synchronized timestamps. It ensures that the route message is updated with the latest clock information.
request_refined_route(self):
Requests a refined route from the MapManager service. It takes the initial and destination points from the rough route, constructs a request, and sends it to the service. Once the request is sent, the function tracks its state to prevent multiple requests and ensures that the route is refined only once.