search

autowarefoundation / autoware_ai

Apache License 2.0
21 stars 7 forks source link

Obstacle not detected by OpenPlanner while using Gazebo Environment. #784

Closed vivekgourav closed 3 years ago

vivekgourav commented 3 years ago

Hello,

To use the OpenPlanner, I have built a custom vector map (.kml) using AssureMappingTool. Currently, I have just added 1 single lane with waypoints defined. This path is taken as a reference by the Global Planner.

The local planner (OpenPlanner) is able to perform obstacle avoidance when a point is published in rviz. However, when the simulation was done inusing Gazebo models, the planner fails to detect the obstacle.

I thought the problem was with /points_raw being published to world frame instead of map frame. But i am stuck at this point. If you have any suggestions on how to solve this issue, please let me know.

Screenshot (29) Screenshot (30)

JWhitleyWork commented 3 years ago

Per our Support Guiidelines, please start with a post to ROS Answers with the autoware tag.