Open planner stack and dp planner

asked 2020-04-03 03:56:03 -0600

Mackou

196 ●37 ●55 ●50

updated 2020-04-03 03:57:18 -0600

Hello everyone.

I am currently trying to get OP planner avoid and stop before obstacles, so far without success.

So far the nodes I use are :

Global planning :

op_global_planner

Local planning :

op_common_params
op_behavior_selector
op_motion_predictor
op_trajectory_evaluator
op_trajectory_generator

Obstacle detection : - ray_ground_filter - lidar_euclidean_cluster_detect - imm_ukf_pda_track

It works perfectly to generate a path and follow it. Roll out trajectories are also generated. The problem is that nothing subscribes to any obstacle detection topic.

Do you know if this is supposed to work like this ? And how to get OP use detected objects ?

I also stumbled across this GitHub issue about dp_planner and it seems that it includes object detection. I also checked the Autoware Package and it seems that it contains parameters related to object detection. But of course no documentation.

Should I drop all the op_xxx packages and use dp_planner instead ? Do they work together ?

There is no information anywhere.

@Hatem , You helped me before, would you be so kind to have a look at this too ? 🙏

Of course anyone is welcome to give me a hint here.

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answered 2020-04-03 04:19:36 -0600

Hatem
443 ●2 ●27 ●10

Hello,

No problem, I can help.

I just fixed this issue for Autoware1.13 yesterday :)

The issue is that imm_ukf_pda_track output the Objects data in "velodyne" frame. But OpenPlanner expects it to be in "map" frame. also the topic names are different.

so how to solve this problem:

Solution 1:

In lidar_euclidean_cluster_detect, set the output frame to be "map"
Use lidar_kf_contour_tracker.

Solution 2:

Add a bridge node that transform the output from imm_ukf_pda_track to "map" frame and publish it with the same topic as in op_motion_predictor.

Hope This is helpful.

Regards,

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if you want to fresh fixed version use the one from branch openplanner.1.13, but it is not tested yet

Hatem ( 2020-04-03 04:20:50 -0600 )edit

@Hatem Thanks a lot for your answer.

I have tried to set the output frame of lidar_euclidean_cluster_detect to "map" . But now the detected boxes are shifted in rviz, is that normal ?

Also /lidar_kf_contour_tracker subscribes to /cloud_clusters but lidar_euclidean_cluster_detect publishes in /points_cluster

Do I need to republish it ?

Mackou ( 2020-04-03 04:42:49 -0600 )edit

the topics do not match

[ERROR] [1585907078.578334622]: Client [/lidar_kf_contour_track] wants topic /cloud_clusters to have datatype/md5sum [autoware_msgs/CloudClusterArray/5bdd7c958335da845b88351aab5141d4], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection.

Mackou ( 2020-04-03 04:46:24 -0600 )edit

It is visualization issue, The visualization only expect velodyne frame.

And you don't need the cloud cluster topic , you can disable that in lidar kf contour tracker

Only use detected objects topic.

Openplanner publish visualization information in map frame. You can use it.

Regards

Hatem ( 2020-04-03 04:55:10 -0600 )edit

@Hatem thanks again.

How do I disable the cloud cluster topic in kf contour tracker ?

How do I use detected objects ? What should subscribe to it ? And in what topic ?

[EDIT] I managed to make OP use the tracked objects but it doesnt avoid them at all. Any idea ?

Mackou ( 2020-04-03 05:39:48 -0600 )edit

@Hatem

Here is what my current status look like : https://imgur.com/a/x8qy8Yk I have the object detected in open planner, and I have the red detected_polygon.

But OP doesnt take it into account when generating the trajectories and the car just bump into the obstacle. Any idea ?

Mackou ( 2020-04-03 08:55:14 -0600 )edit

Make sure Enable Following & Enable Avoidance is checked
In pure pursuit make sure you select Waypoint not Dialog.

Hatem ( 2020-04-03 09:26:42 -0600 )edit

@Hatem Thanks again.

enableFollowing is true. I dont have any enableAvoidance, but enableSwerving is true.

In pure pursuit I dont have any parameter related to waypoint or Dialog. Where do I set this ?

Also I am not sure the object is really taken into account as I dont see any stopline in rviz

Im really stuck here

Mackou ( 2020-04-03 10:26:24 -0600 )edit

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answered 2022-01-14 08:26:09 -0600

quliang
1

@Mackou, Hi, guys I also find this problem. And in order to use lidar_kf_contour_track, I remaped the topic "/detection/lidar_detector/cloud_clusters" to "/cloud_clusters", which is published by the node lidar_euclidean_cluster. And I got the /tracked_objects topic . But it's still no use for openplanner and all the local trajectories are green. And I also tested in Carla-Autoware, and I use ground truth from carla instead of perception from autoware. To my surprise, I find those trajectories blocked by obstacles turned to red. And the ego vehicle can avoid obstacles.

But I still totally have no idea about how to use the perception node (lidar_euclidean_cluster -> lidar_kf_contour_track) -> OpenPlanner. Could anyone give some details?

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