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HKUST-Aerial-Robotics / EPSILON

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where is the navi_path in eudm #28

Closed xunkaixin closed 10 months ago

xunkaixin commented 10 months ago

i can not find navi_path in eudm, the para of GetRefLaneForStateByBehavior always "std::vector()"

fanyu2021 commented 10 months ago

i can not find navi_path in eudm, the para of GetRefLaneForStateByBehavior always "std::vector()"

I can't understand your meaning. Give an example please!

xunkaixin commented 10 months ago

  1. example: in eudm_planner.cc,
    "if (mapitf->GetEgoLaneIdByPosition(std::vector(), &ego_lane_id_by_pos) != kSuccess)"

  2. in function of “GetNearestLaneIdUsingState”, the para "navi_path" doesn't seem to be working

  3. i just want to pass the global path into EUDM to determine the driving path, Or other ways to pass in the global path

can you give me some advice

fanyu2021 commented 10 months ago
  1. example: in eudm_planner.cc, "if (mapitf->GetEgoLaneIdByPosition(std::vector(), &ego_lane_id_by_pos) != kSuccess)"
  2. in function of “GetNearestLaneIdUsingState”, the para "navi_path" doesn't seem to be working
  3. i just want to pass the global path into EUDM to determine the driving path, Or other ways to pass in the global path

can you give me some advice

1.construct navi_path data struct, and give it to this function; 2.caculate the nearest path by distance just as the given code;

xunkaixin commented 10 months ago

i have look into and test the code, i find the ego car run random way. it can change lane, but not run along the global pah. once cross road, the ego car may run straight or turn left or right