How to enable blinkers (indicator lights) in Autoware.ai when turning?

asked 2020-05-05 15:20:17 -0500

edgar
3 ●1 ●2 ●2

Might be abit too general question, but maybe someone can give a good starting point.

How to best implement the functionality of flashing blinkers (indicator lights) when turning using Autoware.ai and possibly openplanner?

There is LaneType attribute in map (lane.csv) where 0 - forward, 1 - turn left, 2 - turn right

Also have found following topics:

/indicator_cmd (autoware_msgs/IndicatorCmd)
/lamp_cmd (autoware_msgs/IndicatorCmd)
/turn_signal_cmd (dbw_mkz_msgs/TurnSignal)

Open to all suggestions.

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the values in lane.csv is used for global planning. and it is not semantically the same as activating blinkers. open planner currently doesn't send this information.

Hatem ( 2020-05-07 03:40:02 -0500 )edit

Thank you! So, there is nothing in openplanner currently that is sending the information for turning on egocar's blinkers when it is turning?

There is for example: PlanningHelpers::GetIndicatorsFromPath - so this and all the other inidicator related stuff in code is to determine and predict the actions of other vehicles?

edgar ( 2020-05-07 10:22:17 -0500 )edit

Exactly, it is only for intention estimation. the logic for the ego vehicle decision making should be more complicated than this.

Hatem ( 2020-05-08 12:17:34 -0500 )edit

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answered 2020-05-06 19:45:39 -0500

Josh Whitley

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It looks like twist_gate listens to /lamp_cmd, which is usually produced by Decision Maker. twist_gate should then pass this along as part of the VehicleCmd message type to your vehicle interface (looks like you're using a DataSpeed DBW system). You may need to have some node parse out the lamp_cmd from the VehicleCmd and send a message to /turn_signal_cmd to activate it in your DBW system as this is not part of Autoware.ai currently.

In fact, if you would like to contribute a DataSpeed interface package to Autoware.ai, contributions are always welcome! (keeping in mind that feature additions will end at the end of 2020 as described here)

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Thank You for your answer!

No, not DataSpeed DBW. Actually AStuff PACMod :). I've copied a bit wrong thing into my original post. So there is /turn_signal_command (automotive_platform_msgs/TurnSignalCommand) in PacMOD

So do I understand correctly? SSC_interface listens to /vehicle_cmd and it includes also information of blinkers: /lamp_cmd. It publishes /ssc/turn_signal_command that should trigger the corresponding vehicle controllers and thus blinkers, if said so in /lamp_cmd message.

So I need to get the information to /lamp_cmd, but currently it seems that in OpenPlanner there is nothing that publishes anything about egocar blinkers.

edgar ( 2020-05-07 11:09:22 -0500 )edit

Yes, this appears to be correct. Since you are using AutonomouStuff's SSC, I would recommend getting in touch with their support team. Their Open Autonomy Team may be able to provide a quick fix for this issue.

Please remember to accept this answer (the checkbox under the up/down buttons) if it was helpful.

Josh Whitley ( 2020-05-07 14:24:26 -0500 )edit

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How to enable blinkers (indicator lights) in Autoware.ai when turning?

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How to enable blinkers (indicator lights) in Autoware.ai when turning?