Autoware-freespace_planner to avoid the static or dynamic objects

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You shouldn't need a vector map for running the free-space planner. You can try to run costmap_generator, grid_map_filter, vel_pose_connect, astar_navi, astar_avoid, velocity_set, twist_filter, and pure_pursuit.

Yes. I have tried as your comments said. The waypoints are still the same after waypoints_loader procedure, even the lidar detects the static objects with lidar_euclidean_cluster_detect. I don't think the local planning algorithm astar is working.

astar_navi publishes /lane_waypoints_array topic instead of waypoints_loader by specifying goal pose with "2D Nav Goal" on Rviz.

Did you find the solution? A star module has problem, which can not compile success.