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ZATiTech / open_planner

Integrated open source planner and related tools for autonomous navigation of autonomous vehicle and mobile robots
Apache License 2.0
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How to stop Autoware and open_planner #17

Open E00N777 opened 6 months ago

E00N777 commented 6 months ago

Hi,I've built a co-simulation of autoware.universe (ros galactic) and carla 0.9.13 successfully. But my tests require autoware and openplanner to be turned off and on again frequently，I tried closing the process, but it didn't work well，Is there an official script to automate the shutdown of Autoware and Open Planner?

hatem-darweesh commented 6 months ago

The Problem is the python process manager. the shutdown code in the bridge. I tried to fix this issue in the latest humble based version. but still sometimes the nodes don't get killed properly. I wish I could provide better insight. but this is just python problem, I am sure you can solve it easy with some digging if you have time.

E00N777 commented 6 months ago

Thanks for your reply! Actually I solved this problem using a very stupid method. Before starting the co-simulation of carla and autoware, I recorded all the process numbers in the current system, and then forcibly killed the process numbers that did not belong to the previous ones when they needed to be shut down. In this way, the co-simulation could be completely shut down. But the shortcomings are also obvious. After opening the test, you cannot do other things because it will be forcibly closed.I hope my method will be helpful to you

In addition, I would like to ask a question that has nothing to do with openplanner. Do you know how to make autoware faster? In my experiment its top speed was 20km/h, which is too slow and not conducive to my experiment