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Autoware open planner only works with vector map?

asked 2019-05-29 02:46:29 -0600

IanCol
253 ●8 ●14 ●19

Hi there,

I am using the open planner local planner (op_local_planner). It seems to work well with the op_global_planner. Is it possible to use the op_local_planner with the waypoint loader? so that you can follow pre-recorded paths instead of the vectormap centerlines?

Thanks!

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answered 2019-06-01 08:42:35 -0600

Hatem
443 ●2 ●27 ●10

It should work fine with waypoints loader,on the master version there is a bug, The local planner check if there is a vector map or not. I can send you lines number and changes if you wish.

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Ah, maybe that bug is the cause of the issues I was seeing. Unfortunately I didn't capture them, but there were errors complaining about the global path not matching the vector map or something.

Is there an open PR for this fix? might be easier to point me to that instead of a list of changes. If not, feel free to send whatever you have on it Thanks!