CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
The library we are currently using has limitations where combining individual splines will result in gap along the map due to cubic spline. This ultimately results in inaccurate curvatures and speeds along certain sections in the map. We would like to use a library that can curve fit the entire map or better handle those inflection points using existing library.
Since current library's license is not compatible with ours, ideally we would want a better library that addresses both issues.
CARMA still runs well without this, but performance could be better.
[ ] Anomaly report (something appears to not work correctly)
[X] Enhancement request (describe the enhancement being requested)
[ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)
Descriptive summary
See above.
Carma version where this issue was discovered
carma-platform 3.3.0 +
Expected behavior
There is no gaps in recreated maps.
Actual behavior
The library cannot curve fit curves like S curve (because it can't find a function that has 2 or more y values for a single x)
Therefore there is a gaps in a recreated map which is affecting curvature/speed calculation
Steps to reproduce the actual behavior
Turn on DEBUG level on inlanecruising_plugin
Run unit test of full_generation in that package (pick a point where there is a big curve).
Plot original points, curvatures, speeds and observe
MishkaMN
commented
3 years ago
Types of Issue
The library we are currently using has limitations where combining individual splines will result in gap along the map due to cubic spline. This ultimately results in inaccurate curvatures and speeds along certain sections in the map. We would like to use a library that can curve fit the entire map or better handle those inflection points using existing library.
Since current library's license is not compatible with ours, ideally we would want a better library that addresses both issues.
CARMA still runs well without this, but performance could be better.
Descriptive summary
See above.
Carma version where this issue was discovered
carma-platform 3.3.0 +
Expected behavior
There is no gaps in recreated maps.
Actual behavior
The library cannot curve fit curves like S curve (because it can't find a function that has 2 or more y values for a single x) Therefore there is a gaps in a recreated map which is affecting curvature/speed calculation
Steps to reproduce the actual behavior
Turn on DEBUG level on inlanecruising_plugin Run unit test of
full_generationin that package (pick a point where there is a big curve). Plot original points, curvatures, speeds and observeRelated work
https://github.com/usdot-fhwa-stol/carma-platform/issues/936 (current library's license is also incompatible with ours)