ASSURE mapping tool for latest requirements for autonomous parking demo

[congphase]

This issue is originated from Autoware.Auto's gitlab issue

Expectation: a simple lane that can be used to set a start pose and a goal pose for lanelet2_global_path_planner(_nodes)

How to re-produce my issue:

• My map data:
  • .pcd: link
  • .osm: link
  • map_publisher.param.yaml, map_publisher_vehicle.param.yaml, lanelet2_map_provider.param.yaml, autonomoustuff_parking_lot_lgsvl.yaml: link
• Error log:

[ERROR] [lanelet2_global_planner_node_exe-14]: process has died [pid 23500, exit code -11, cmd '/home/anhnv/AutowareAuto/install/lanelet2_global_planner_nodes/lib/lanelet2_global_planner_nodes/lanelet2_global_planner_node_exe --ros-args -r __node:=lanelet2_global_planner_node -r __node:=lanelet2_global_planner_node -r __ns:=/planning -r HAD_Map_Client:=/had_maps/HAD_Map_Service -r vehicle_kinematic_state:=/vehicle/vehicle_kinematic_state'].

• Reason: parking settings missing, causing parking_id_list to be null.

• Current situation: Don't know how to create a simple lanelet2 map with parking settings with ASSURE mapping tool.

Thank you, Mr. Hatem Darweesh

[hatem-darweesh]

To understand this issue, you can't generate parking trajectory using the lanelet map? or you can't generate any trajectory ?

what are the parking settings? can you share with me reference to those lanelet2 items. are you talking about drop pick up point and drop off point, and parking spot ?

[congphase]

you can't generate parking trajectory using the lanelet map? or you can't generate any trajectory ?

--> The autoware_auto_avp_demo can't generate any trajectory with any start pose (2D estimation) and goal pose I set. It yelled the error log as my above comment.

what are the parking settings?

--> I meant they are parking_spots, parking_access, ref_lanelet, and other possible tags that make a lane capable of picking a start and pose goal on. Their map allows start and goal pose being set at parking spots, or, on a lane with "parking settings". That's what I meant about "parking settings". Looking at their .osm file, there are so many settings that I don't know how to bring them in my map to fit with my pcd, and successfully generate a trajectory.

Can you just take a look at their .osm file, and my .pcd file. And help me with creating a very simple semantic map only for this area in the circle?

[hatem-darweesh]

I am Sorry, This will need lots of modifications and reviewing lots of Autoware.Auto design documents. I will add it to the future development list. Maybe by the end of this year. Sorry again. My advice: Study the Autoware.Auto map requirements and use JOSM to create your map.

[congphase]

That's a sad thing to hear. Anyway, thank you a lot for the warm welcome, Mr. Hatem.

Hope the next release of ASSURE mapping tool will attract a large number of users.