Documentation on OpenPlanner (Autoware)

edit

Thanks, the video is indeed helpful. But I was looking for more of a written instruction and explanations. specially regarding with obstacle detection and re planning. i.e. I cannot see which nodes have to run to detect an object, locate it and using openplanner the robot changes it's direction or lane to choose the safer path. Thanks!

check the OpenPlanner paper https://www.fujipress.jp/jrm/rb/robot... also check other videos at OpenPlanner YouTube channel.

Hi Hatem, I tried to replicate the result in the video on youtube with the most recent version of Autoware on ROS Kinetic, but I was not able to. I am not sure what is wrong as I don't know how to backpropegate the error. i.e. is the obstacle detected properly? is the planner receiving the detected obstacle? etc. Cheers, Thanks.

Can you give me details, or just make video of your steps to use OpenPlanner.

I am localising the vehicle using proper nodes then: ray_ground_filter vel_pose_connect lidar_euclidean_cluster_detect lidar_kf_contour_track costmap_generator op_global_planner astar_avoid velocity_set pure_pursuit + op local planning nodes. I can see that the object in the world is being tracked via lidar tracker and is published under /tracked_objects. ThankS!

one thing I can think of is the /tracked_object frame. in lidar_euclidean_cluster_detect can you set the output frame to "map" instead of "velodyne"

Thanks Hatem, your solution worked for locating objects correctly in the environments. But I found why it did not work, the problem is within op_motion_predictor. For some reason outputs of this node, indicate no obstacles around the vehicle, although I observed and made sure that input to this node - /tracked_objects - is non-empty. I am not sure how to solve this tho...

Are you sure you have vector map loaded by op_local_planner ? check this function in op_motion_predictor_core.cpp , callbackGetTrackedObjects