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• Routing phase: Select route sufficiently far into the future. However the timeline is not precisely defined at this stage.
• Planning phase: Fix route and phase. Only the speed profile can be changed to avoid collisions. The planning phase considers a constant (but configurable) time span (currently 48 sec).
• Buffering phase: Fully define and commit trajectory. The purpose of the buffer phase is to allow for delays, both in sending the commands over the network and in the planning phase. For a particularly difficult collision avoidance, the planning phase may have a long computation time. The buffer phase can "absorb" this delay jitter.

Apply

Start via Lab Control Center

If you use the real lab application, make sure that the supporting software (LCC, IPS) is running and that the vehicles are online (only the ID LED is still blinking, all three other LEDs are turned on) and placed on the map. Assure that you activated Lab mode in the LCC. Then load your example in the LCC and hit "Deploy". The example does not start, if collision cannot be avoided. Therefore make sure not to have to many vehicles selected. Usually up to 10 vehicles will work fine.

Start via Terminal

In a new terminal, run:

cd ~/dev/software/central_routing_example
./run.bash 2,3,5,7,11

The list of integers in the run command must be the exact list of vehicle IDs for the active vehicles or upload it your compiled program . The resulting trajectories will be shown in the LCC.