The vehicle never starts in simulating the local planning by using OpenPlanner

[wsung1]

Hi, Autoware! In order to run OpenPlanner, I've been following https://www.youtube.com/watch?v=FKM8v79X3_s (I'd appreciate @hatem-darweesh!). As I understand, this footage introduces two different ways of the local planning simulation using 1) ff_waypoint_follower [05:01~09:03] 2) pure_pursuit [09:04~10:45]

Am I right? I had no problem in performing the simulation with 1); however, not with 2). As shown below, the vehicle (model) never hit the road even after launching pure_pursuit. At the moment 2) starts (followed by 1)),

• way_planner is checked on
• (blue-colored) global path is active (as displayed in RViz)
• vel_pose_connect is checked on
• (dp_planner is checked off)

With the above conditions, I've just followed what @hatem-darweesh did in order of 1) wf_simulator 2) twist_filter 3) self-localize using 2D Pose Estimate in RViz 4) dp_planner 5) (finally,) pure_pursuit

But the vehicle (model) doesn't go. What can be the culprit of this problem? Thanks for reading, @hatem-darweesh :)

[hatem-darweesh]

1- Setup -> TF , Vehicle Model 2- Map -> Point Cloud map , Vector Map, TF 3- Computing: a) vel_pose_connect -> check "Simulation Mode" b) twist_filter and tf_simulator, then select start pose from RVIZ using "2D Pose Estimate" c) way_planner (after set map path), select goal pose from RVIZ using "2D Nav Goal" d) dp_planner (after set map path) e) pure_pursuit -> select Waypoint

Car should move.

Regards,

[wsung1]

Thanks for your reply, @hatem-darweesh! By following the sequence you gave, the vehicle model is now moving!

[hatem-darweesh]

Great, Can you share with us what was wrong with your steps, so I can consider in the tutorial.

Regards,

[wsung1]

I think I was wrong in setting start and goal positions on RViz with way_planner. As demonstrated, this step should be done after wf_simulator and before dp_planner. I'd appreciate your support, @hatem-darweesh!

[hatem-darweesh]

A lot of these issues is solved with the new OpenPlanner 1.5 if you have spare time give it a try feature/OpenPlanner and tutorial video is on the OpenPlanner youtube channel.

[DmitryRedin]

@hatem-darweesh, In which coordinate system(map, world, ...) is the goal point(2D Nav Goal) set?

[hatem-darweesh]

@DmitryRedin OpenPlanner uses map coordinates , and to use 2D Nav Goal it should be in world coordinates because the global planner convert it to map coordinate