Routing

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

shell

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

bash

cyber_launch start modules/routing/launch/routing.launch