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Documentation on OpenPlanner (Autoware)

asked 2019-08-22 23:16:39 -0500

cassini.huygens gravatar image

updated 2019-11-17 21:53:32 -0500

Hi all,

I was wondering if there is any documentation on using openplanner on autoware. I found the publication about open planner which explains the package itself in details but there is no instruction on how to use it, what nodes to launch and etc.

Update: This question is about detecting and using obstacle information in deciding on lane trajectories the vehicle should take.

With Obstacle: image description No Obstacle: image description Thanks. Cheers .

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answered 2019-09-10 07:46:22 -0500

Hatem gravatar image

Hello, you can check the videos from Regards,

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Thanks, the video is indeed helpful. But I was looking for more of a written instruction and explanations. specially regarding with obstacle detection and re planning. i.e. I cannot see which nodes have to run to detect an object, locate it and using openplanner the robot changes it's direction or lane to choose the safer path. Thanks!

cassini.huygens gravatar image cassini.huygens  ( 2019-09-20 16:17:10 -0500 )edit

check the OpenPlanner paper also check other videos at OpenPlanner YouTube channel.

Hatem gravatar image Hatem  ( 2019-09-22 02:35:55 -0500 )edit

Hi Hatem, I tried to replicate the result in the video on youtube with the most recent version of Autoware on ROS Kinetic, but I was not able to. I am not sure what is wrong as I don't know how to backpropegate the error. i.e. is the obstacle detected properly? is the planner receiving the detected obstacle? etc. Cheers, Thanks.

cassini.huygens gravatar image cassini.huygens  ( 2019-10-20 19:36:49 -0500 )edit

Can you give me details, or just make video of your steps to use OpenPlanner.

Hatem gravatar image Hatem  ( 2019-10-21 01:50:37 -0500 )edit

I am localising the vehicle using proper nodes then: ray_ground_filter vel_pose_connect lidar_euclidean_cluster_detect lidar_kf_contour_track costmap_generator op_global_planner astar_avoid velocity_set pure_pursuit + op local planning nodes. I can see that the object in the world is being tracked via lidar tracker and is published under /tracked_objects. ThankS!

cassini.huygens gravatar image cassini.huygens  ( 2019-10-21 23:32:04 -0500 )edit

one thing I can think of is the /tracked_object frame. in lidar_euclidean_cluster_detect can you set the output frame to "map" instead of "velodyne"

Hatem gravatar image Hatem  ( 2019-10-27 01:46:15 -0500 )edit

Thanks Hatem, your solution worked for locating objects correctly in the environments. But I found why it did not work, the problem is within op_motion_predictor. For some reason outputs of this node, indicate no obstacles around the vehicle, although I observed and made sure that input to this node - /tracked_objects - is non-empty. I am not sure how to solve this tho...

cassini.huygens gravatar image cassini.huygens  ( 2019-11-06 18:44:26 -0500 )edit

Are you sure you have vector map loaded by op_local_planner ? check this function in op_motion_predictor_core.cpp , callbackGetTrackedObjects

Hatem gravatar image Hatem  ( 2019-11-07 00:11:28 -0500 )edit

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Asked: 2019-08-22 23:16:39 -0500

Seen: 2,528 times

Last updated: Feb 29 '20