How to avoid obstacle using velocity_set in autoware? [closed]

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Hi yfshe! This is my launch file of motion planning:

<launch>

<include file="$(find runtime_manager)/scripts/vehicle_socket.launch"/>

<include file="$(find astar_planner)/launch/obstacle_avoid.launch"/>

<include file="$(find astar_planner)/launch/velocity_set.launch"/>

<node pkg="rostopic" type="rostopic" name="config_waypoint_follower_rostopic" args="pub -l /config/waypoint_follower autoware_config_msgs/ConfigWaypointFollower '{ header: auto, param_flag: 0, velocity: 14, lookahead_distance: 4.2, lookahead_ratio: 2.0, minimum_lookahead_distance: 6.0, displacement_threshold: 0.0, relative_angle_threshold: 0.0 }' "/>

<include file="$(find waypoint_follower)/launch/pure_pursuit.launch"/>

<include file="$(find waypoint_follower)/launch/twist_filter.launch"/>

</launch>

Did you set points_topic for velocity_set in launch file? By the way, do you know how to debug Autoware node? It would be very useful if you can print key variable while Autoware is running.

I set points_topic to points_no_ground.

What do you mean about debug Autoware node? I knew how to use ros command line such as: rosnode list, rostopic list, rostopic echo, ...

What is the output of "rostopic echo points_no_groind", is that normal points cloud data?

What I mean debug is: modify source code, add some std::cout, rebuild, change executable file, run with "roslaunch --screen xxx.launch", check output...

Thank you! I successfully configure Autoware to avoid obstacles using only data from lidar. Now, I will learn how to configure Autoware to find a new path when encountering obstacles. :))

Can you share how to configure it? Now I want to implement this function. Thank you very much