How to set new destinations for ego vehicle?

carla-simulator / carla-autoware

Integration of AutoWare AV software with the CARLA simulator

MIT License

252 stars 86 forks source link

How to set new destinations for ego vehicle? #109

Closed AminoACID123 closed 3 years ago

AminoACID123 commented 3 years ago

Right now I am able to get the car moving by setting 2d nav goal in rviz. But it seems that I cannot set new destinations for the car, even when it's reached the current destination. Are there any suggestions for this?

joel-mb commented 3 years ago

Hi @AminoACID123 , Unfortunately, this is a limitation introduced by the global planner of the OpenPlanner package. For more advanced behaviors I suggest you using the newest versions of this package (https://gitlab.com/hatem-darweesh-autoware.ai/core_planning/-/tree/openplanner.1.13). Please, take into account that the newest versions of the OpenPlanner is maintained by its creator but it's not part of the official Autoware repository. Hope this helps!

AminoACID123 commented 3 years ago

I'll have a try. Thanks for your advice. By the way, what is the max detection distance of Autoware?

joel-mb commented 3 years ago

@AminoACID123 I'm afraid that I cannot give you a concrete number. I think this is highly dependent on the configuration of your detection nodes and the configuration of the sensors. I suggest you taking a look to the different parameters Autoware accepts as well as trying different parameters for the CARLA sensors. You can take as a starting point the configuration of the agent provided in this repo:

CARLA sensor configuration: https://github.com/carla-simulator/carla-autoware/blob/master/carla-autoware-agent/agent/config/sensors.json
Autoware agent launch files: https://github.com/carla-simulator/carla-autoware/tree/master/carla-autoware-agent/agent/launch

AminoACID123 commented 3 years ago

I see. Thank you very much.