Closed geopimik closed 5 months ago
For the warnings, I changed the way how the waypoints array is formed to remoe duplciation of the position of waypoints https://github.com/AnishShr/autoware_mini_practice/blob/21d92c582d289c5f9fc24b477ca34f7889b10b66/practice_4/nodes/planning/global/lanelet2_global_planner.py#L80-L84
Changed the class variable type self.goal_pos
, so it takes in Point
type variable directly. Later in the function lanelet_sequence_to_waypoints
, this entire Point
variable is modified
https://github.com/AnishShr/autoware_mini_practice/blob/c71a69bcfbfb7071c0ed2c2e93e8f80dd1b3e670/practice_4/nodes/planning/global/lanelet2_global_planner.py#L155
https://github.com/AnishShr/autoware_mini_practice/blob/c71a69bcfbfb7071c0ed2c2e93e8f80dd1b3e670/practice_4/nodes/planning/global/lanelet2_global_planner.py#L108-L127
OK
When I run your code, I get these warning messages in the console:
This comes from shapely when you use the
project
function (synonym to line_locate_point). I think the reason is there:https://github.com/AnishShr/autoware_mini_practice/blob/5c8d1539daaad6caef1ba55738b713cf215e0ac0/practice_4/nodes/planning/global/lanelet2_global_planner.py#L74-L81
This check at the end does not remove duplicate points because every waypoint is a new instance, and even if the coordinates match, they are still separate instances of the Waypoint() object.