Autoware-freespace_planner to avoid the static or dynamic objects

asked 2019-06-30 03:06:09 -0500

Dr.Amit gravatar image

How to use Autoware-freespace_planner to avoid the static or dynamic objects? Is the vector map a necessary requirement?

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Comments

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.

i_robot_flight gravatar imagei_robot_flight ( 2019-07-01 15:57:24 -0500 )edit

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.

Dr.Amit gravatar imageDr.Amit ( 2019-07-02 08:18:16 -0500 )edit

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

aohsato gravatar imageaohsato ( 2019-07-11 08:26:31 -0500 )edit