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

shell

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

bash

cyber_launch start modules/task_manager/launch/task_manager.launch