Op flag is not working with op_planner (autoware.ai 1.14)

[jiamingZhong93]

These are the nodes I activated:

• vel_pose_connect
• op_global_planner
• pure_pursuit
• twist_filter
• wf_simulatior
• op_common_params
• op_trajectory_generator
• op_motion_predictor
• op_trajectory_evaluator
• op_behavior_selector
• op_perception_simulator
• lidar_kf_contour_track

I can run the planning and control simulation and show in RVIZ. However, the Op Flag just didn't work when I tried to add obstacle in the RVIZ.

[hatem-darweesh]

Op flag has nothing to do with OpenPlanner. To insert static object to use with op_perception_simulator use "2D Nav Goal".

[jiamingZhong93]

Op flag has nothing to do with OpenPlanner. To insert static object to use with op_perception_simulator use "2D Nav Goal".

Thank you Hatem for quick comment!

As you suggested, I run the op_perception_simulator and a new button Plant_flag appearred on the RVIZ. And, this time I could pin the Plant_flag (blue circle) on the map.

However, these Plant_flags did not function as an obstacles. The robot just drives directly across. I have tried differend op_plan parameters (parameters in the pic bellow might not be appropriate) and the robot always drive through. Is there anything I did not operate correctly?

By the way, I guess the "2D Nav Goal" is only used for setting destination, and you actually mean "Plant_flag", right?

Thanks again!

[hatem-darweesh]

No I really mean "2D Nav Goal"! I neve use "Plant_flag" or "Op flag" in my life.

[hatem-darweesh]

also check this question: https://answers.ros.org/question/390380/autoware-hatem-1130-object-avoidance-not-working/

[jiamingZhong93]

also check this question: https://answers.ros.org/question/390380/autoware-hatem-1130-object-avoidance-not-working/

Thank you so much Hatem! This issue close! Thank you!