Open squizz617 opened 3 years ago
@squizz617 There are two problems here:
In order to help resolve these issues, I need to know the following:
Thanks for the comment @JWhitleyWork !
Here's the requested information:
op_global_planner
pure_pursuit
"{ header: auto, param_flag: 0, velocity: 6.0, lookahead_distance: 4.0, lookahead_ratio: 0.5, minimum_lookahead_distance: 4.0, displacement_threshold: 0.0, relative_angle_threshold: 0.0 }"
@hatem-darweesh might be able to help with problem 1 since that's part of the OpenPlanner implementation.
For the control algorithm, you will need to set minimum_lookahead_distance
to something closer (try 1.0) in order to handle trajectories that close to the vehicle.
Hi @squizz617 There was a lot of issues for OpenPlanner 1.5 to work with CARLA Maps, 1- how do you convert the map. 2- what format you ended using (Vector Map, lanelet2, KML) 3- what version of OpenPlanner you using.
Currently latest OpenPlanner 2.0 is workin on top of Release 1.13 -> https://github.com/hatem-darweesh we have working group specially for that, check the news and development, also document explain how to use openplanner.1.13
https://app.slack.com/client/T3BKJGA7J/C01PTJT7YTX download the OpenPlannet_presentation.pdf Currently we are merging with Autoware.15 release (latest master)
In the other repository , you are using Autoware 1.13 as it is, only OpenPlanner include the new fixed and developments.
Thanks for the information @hatem-darweesh .
1 - I've used the vector maps provided by CARLA at carla-autoware and autoware-contents. Not sure how they converted them.
2- The planner is using the vector map (Aisan).
3- I ran the autoware/autoware:1.14.0-melodic-cuda
container as is. Not sure what's the version of OpenPlanner, but the one included in the container is https://github.com/Autoware-AI/core_planning/tree/1.14.0/op_global_planner
, which is behind your fork.
Just to confirm, are the other issues I reported (#45 and #47) also related to the issues with OpenPlanner & CARLA maps that you've mentioned?
Which Town(s) map you have this issue with ? what I can do is to check map connectivity and if it works find with op global planner
Thank you. The current issue consistently happens in Town04.
Bug report
Required information:
autoware/autoware:1.14.0-melodic-cuda
, as specified in the Dockerfile ofhttps://github.com/carla-simulator/carla-autoware
at commit975b6f3
.Description of the bug
autoware/autoware:1.14.0-melodic-cuda
), Carla 0.9.10.1 (docker image:carlasim/carla:0.9.10.1
) as a simulator and carla-autoware-bridge at975b6f3
as a bridge.Steps to reproduce the bug
Expected behavior
Global path should start from the lane that the vehicle is on.
Actual behavior
Global path starts from the lane next to the vehicle, and the vehicle clumsily pursue the path, ending up crashing.
Screenshots
Additional information