JWhitleyWork
commented
3 years ago @marcusvinicius178 Both of your ROS Answers questions were answered at https://answers.ros.org/question/377659/occupangygrid-map-issue-ray_ground_filter-fails-to-generate-costmap-on-autowareai/ and https://answers.ros.org/question/377308/autowareai-perception-failure-agent-not-detected-in-rviz/. Since this is not a confirmed bug, ROS Answers is the correct location to have the discussion. Please continue there, as recommended in several places.
marcusvinicius178
Operating system and version:
Description of the bug
The Occupancy_grid Mapping does not update the map properly as you can check here: https://www.youtube.com/watch?v=9gbq60B6Yb0&list=PL_d_YiRmUA3nnTRmF8QJKyPoEQhrdvpP2&index=23 And as consequence the motion planner rarely draws the trajectory correctly to avoid the obstacle. I followed several different tutorials that are supposed to build a COSTMAP:
1 - Launch Costmap_Generator to enable the Occupancy_grid_map topic: Tutorial followed: https://gitlab.com/autowarefoundation/autoware.ai/core_planning/tree/9a3856cc3097cfb2c43db6d9c3083589d658e35b/costmap_generator
Attempts and Results: Shaliun_Map: https://www.youtube.com/watch?v=XzzuvGpbHug&list=PL_d_YiRmUA3nnTRmF8QJKyPoEQhrdvpP2&index=6&t=1509s Borregas_Ave: https://www.youtube.com/watch?v=XSKYE1Oxq-c&list=PL_d_YiRmUA3nnTRmF8QJKyPoEQhrdvpP2&index=12&t=261s San_Franciso: https://youtu.be/LiSB2RkFow4
2 - Launch of Road Occupancy Processor enable /(occupancy_road_status e /gridmap_road_status topics)
Tutorial: https://autoware.readthedocs.io/en/feature-documentation_rtd/DevelopersGuide/PackagesAPI/semantics/road_occupancy_processor.html
Attempts/Results;
San Francisco: https://studio.youtube.com/video/xZqLfI_NfYs/edit San Francisco – Debug dos tópicos que falham com Terminal e RQT (Graficamente): https://youtu.be/mlo_S8NiQgo Shalun: https://youtu.be/b9o0L0SxSaI
3 - Alternative Options
Tutorial: https://autoware.readthedocs.io/en/feature-documentation_rtd/DevelopersGuide/PackagesAPI/semantics/object_map.html
a) /realtime_cost_map --→ Enabled by points2costmap node b) /grid_map_wayarea e /occupancy_wayarea → Enabled by package wararea2grid c) /filtered_grid_map → Enabled by grid_map_filter node
Debug Video of the attempts above: https://youtu.be/b9o0L0SxSaI
What is strange is that these costmap generators works with rosbag data or with the first Autoware project from Nayoga university, as the videos below display:
Grid Map Filter https://www.youtube.com/watch?v=bl-nG8Zv-C0
WayArea To Grid https://www.youtube.com/watch?v=UkcO4V-0NOw
Road Occupancy Processor https://www.youtube.com/watch?v=7BLmnC-fb3I
Costmap Generator: https://www.youtube.com/watch?v=f7kSVJ23Mtw
A summarize of the Result, is that even when the map costmap is produced, it is not updated properly, or even if the obstacle is recognized and the motion planner gets this obstacle input to plan the path properly, the car does not follow the path drawed for the motion planner and stop infinitely behing the obstacle. I would like the car performed an evasive maneuver,but it does not. As you can check in video below, BETWEEN minute 26 and minute 27: https://www.youtube.com/watch?v=XzzuvGpbHug&list=PL_d_YiRmUA3nnTRmF8QJKyPoEQhrdvpP2&index=7&t=1512s
Another attempt here on CubeTown map. Starts from minute 38 to minute 41:
https://www.youtube.com/watch?v=w6_beZtlLBg
The Ego vehicle hits the NPC car.
Steps to reproduce the bug
To reproduce the errors commented above is just follow the videos I have posted on youtube links above. Or follow this tutorial: https://www.svlsimulator.com/docs/system-under-test/autoware-instructions/. But before trigger the Localization Module on runtime_manager, check the following packages boxes on runtime_manager:
Finally keep following the tutorial above and launch the LOCALIZATION, MISSION_PLANNING, MOTION_PLANNING TABS to get the result I had.
Expected behavior
I expected that the Costmap would be created and updated very quickly with robustness. And Afterwards that the MotionPlanner, in this case A*, would get as input the obstacle, draw the trajectory that avoids the obstalce and finally send the proper command velocities to the control to follow this trajectory and perform the evasive maneuever. Actually I expected the Percepetion module and the Planning module of Autoware.AI worked as these modules works very very easily and with robustness in ApolloAuto, as I have done in this simulation:
https://www.youtube.com/watch?v=bApS6gzyo7s&list=PL_d_YiRmUA3nnTRmF8QJKyPoEQhrdvpP2&index=4&t=253s
Actual behavior
The topics occupancy_grid_map or occupancy_road does not generates the map properly. If you try with much effort 10 times it is going to create the map with the proper obstacles less than 10% of the attempts. And when it does, the Planning module will not send proper controls to allow the car avoid the collision, and the car will stay stopped forever behind the obstacle, even with the evasive manuever already created by the motion planner.
Screenshots
Additional Information
Pictures and additional information are described below in ROS Answers:
https://answers.ros.org/question/377659/occupangygrid-map-issue-ray_ground_filter-fails-to-generate-costmap-on-autowareai/
https://answers.ros.org/question/377308/autowareai-perception-failure-agent-not-detected-in-rviz/
https://answers.ros.org/question/377659/occupangygrid-map-issue-ray_ground_filter-fails-to-generate-costmap-on-autowareai/