How to implement avoid obstacle with open_planner in Autoware?

asked 2020-11-11 02:57:01 -0600

cwhong

58 ●1 ●6 ●8 http://www.github.com/c1hong

updated 2020-11-17 00:04:00 -0600

Hi, I used Autoware 1.12.0 in Ubuntu 16.04

I want to avoid obstacle with open planner. Now, I used these below nodes.

lidar_euclidean_cluster_detect
lidar_kf_contour_track
op_global_planner
op_common_params
op_trajectory_generator
op_trajectory_evaluator
op_behavior_selector
pure_pursuit
twist_filter

I have vector_map, /current_pose, /points_raw already. That's why I didn't use the ndt_matching node.

How to avoid obstacle with those nodes?

This is rviz of current situation. There's no 'red' path.. image description

please answer on this question. Thank you!

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Comments

@Hatem Would you be able to answer this question?

Josh Whitley ( 2020-12-03 08:57:55 -0600 )edit

sure, thanks.

Hatem ( 2020-12-06 21:20:02 -0600 )edit

Thank you!

Josh Whitley ( 2020-12-07 05:43:19 -0600 )edit

@cwhong

Hello.

I enabled the same nodes as you mentioned, but I can't see the bunch of green lines before the car. Could you tell me how to turn them on? Thank you.

wangludong ( 2021-01-11 00:53:58 -0600 )edit

So what do you see in rviz now? Can you see everything except the green line? ex) vectormap_center_lines etc.

cwhong ( 2021-01-11 01:14:59 -0600 )edit

@cwhong

Please check the image.

https://ibb.co/SwpfYrq

I placed an obstacle before my car and wanted to overtake it, but my car just stopped then.I think these green lines(maybe called roll out trajectory) are big deal.

wangludong ( 2021-01-11 01:33:48 -0600 )edit

I think that green line doesn't appear seems to be the 'local planner' not working properly. Please check below nodes. op_common_params, op_trajectory_generator, op_trajectory_evaluator, op_behavior_selector. In op_common_params(config), please check 'roll_out_num'. I set that 8.

cwhong ( 2021-01-11 01:51:33 -0600 )edit

@wangludong after checking your setting for rollout num, check your op_trajectory_generator node. after that check the rviz and turn off and on the rollout feature once. sometimes it can be the issue.