Inconsistent Behavior of local planner object avoidance
Hello,
I am facing this issue with a local planner where it seems to ignore the object after a while. Technically speaking, as long as an object is in front of the car, the vehicle should not move. However, in our case, the vehicle may stop but then continues its course as if the object was never in front of it.
I have a video recording where I walk in front of the car. The lidar contour tracker picks me up. But as you can see the object avoidance only picks me up momentarily but forgets that I am in front of the car. It lines should stay red as long as I am in front of the car.
For first few minutes, I am walking in front of the car which gets picked up by kf tracker but the lanes don't turn red. They do sometimes, which is somewhat odd.
If any more information is needed, please ask me in the comments.
@Hatem (If you have a way to fix this, please let me know.)
I can't get any useful information from the video. please visualize all OpenPlanner outputs (trajectories + behavior state)
@Hatem, I accidentally added the wrong link. I was supposed to add this link. https://youtu.be/r-uhXnTNoIE
That is too much to check. have you succeeded to create simple simulation test. using op_perception_simulator + kf_lidar_controur_tracker (in simulation mode) check if the pipeline works step by step. then use sensor based perception then use ndt localization then use car controller
@Hatem I tested using Moriyama map and it works fine with it. Then I moved on to sensor-based perception. I am using GPS-based localization. I can make a better video recording that shows all the steps better.
Yes pleas, make short and focus on one issue at a time