Closed geopimik closed 4 months ago
Made the changes in 00e500c. I hope that the closest_object_distance
is now calculated correctly. It seems to me that the value for self.current_pose_to_car_front
is too large and therefore I couldn't get the Closest obj dist
exactly right. The measuring tool also behaved weirdly. If I measured the distance from the base_link
exactly to the front of the car, it said around 4 meters, but if I moved a little further with my mouse, it said less than 3.5 meters.
OK
Currently, your simple local planner would stop before the obstacle like this:
It is roughly 4m before it as needed, but the
Closest obj dist
is showing 7.69m. So it is wrong here: https://github.com/Karljohan99/autoware_mini_practice/blob/a09abb4acfa7dc931d7fc454a4906f6bcbae5884/practice_6/nodes/planning/local/simple_local_planner.py#L183It is related how you interpret the following terms. I'll bring them here with our definitions:
object_distances
- from base_link to closest point of objectobject_braking_distances
- additional object specific braking distance (how close to an object we want to stop)It is up to you how you define them, but they need consistency. For example:
self.braking_safety_distance_goal
is not used. Since it is a parameter and someday we might change it to 10m, it would not change the behaviour. Need to fix it. https://github.com/Karljohan99/autoware_mini_practice/blob/a09abb4acfa7dc931d7fc454a4906f6bcbae5884/practice_6/nodes/planning/local/simple_local_planner.py#L168Summary:
closest_object_distance
correctly