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 :
[ ] 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
Route generation in Carma is meant to use HD mapping to create a route from the vehicle's position to a specified destination point in the route.csv file. There is currently no logic that uses the vehicle's position as the starting point in the generation process. Instead, the route's starting point is determined by the first set of coordinates in the route.csv file.
Carma version where this issue was discovered
carma-platform develop 3.4.0
Expected behavior
The route uses the vehicle's current position as the starting point when creating the route to be followed.
Actual behavior
See the description above.
Steps to reproduce the actual behavior
Start Carma
Open the UI and select the route
Open Rviz and localize. Once localization is complete, the route indicators will show the start of the route corresponding to the lanelet of the first coordinate listed in the route.csv file in /opt/carma/route.
msmcconnell
commented
3 years ago
Types of Issue
Descriptive summary
Route generation in Carma is meant to use HD mapping to create a route from the vehicle's position to a specified destination point in the route.csv file. There is currently no logic that uses the vehicle's position as the starting point in the generation process. Instead, the route's starting point is determined by the first set of coordinates in the route.csv file.
Carma version where this issue was discovered
carma-platform develop 3.4.0
Expected behavior
The route uses the vehicle's current position as the starting point when creating the route to be followed.
Actual behavior
See the description above.
Steps to reproduce the actual behavior
Related work