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autowarefoundation / autoware_ai

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[Feature] costmap_generator #452

Closed k0suke-murakami closed 5 years ago

k0suke-murakami commented 5 years ago

New Feature: costmap_generator

The costmap_generator node will subscribe: /points_no_ground (sensor_msgs::PointCloud2) /prediction/moving_predictor/objects (autoware_msgs::DetectedObjectArray) /tf vector_map

publish: /semantics/costmap (grid_map::GridMap) /semantics/costmap_generator/occupancy_grid(nav_msgs::OccupancyGrid)

Expected behavior:

Generate an useful costmap for the planning module based on the output of the perception module. Relevant PR: https://github.com/CPFL/Autoware/pull/1594

kennedywai commented 5 years ago

Nice, is this available now to for testing the node?

kennedywai commented 5 years ago

I have been planning not to use vector map to achieve Hybrid A* and trying to build a global costmap like ROS used to do in ROS Navigation Stack.

k0suke-murakami commented 5 years ago

Thank you for the comment. Okay! I will design so that you could pick up topics whichever you want to subscribe

k0suke-murakami commented 5 years ago

Please check the result

Only using /points_no_ground screenshot from 2018-12-12 19-21-04

Using /points_no_ground and /prediction/moving_predictor/objects screenshot from 2018-12-12 19-23-55

Using /points_no_ground, /prediction/moving_predictor/objects and /vectormap screenshot from 2018-12-12 19-28-18

kennedywai commented 5 years ago

@cirpue49 Thank you for posting this! I will find a time to test this later on! BTW is this costmap generator only for local costmap instead of converting point cloud map to global costmap?

k0suke-murakami commented 5 years ago

What do you mean by "only for local costmap instead of converting point cloud map to global costmap" ?

kennedywai commented 5 years ago

@cirpue49 That means costmap generator is not for building static costmaps?

k0suke-murakami commented 5 years ago

@kennedywai Sorry for the delay. If you mean "static costmaps" by generating costmap for static objects, it can be possible.

You can subscribe to the static objects. Topic: "/detection/lidar_detector/objects" from euclidean cluster.